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[driver] Add vl53l5, vl53l7, vl53l8 drivers
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‎.gitmodules‎

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[submodule "ext/segger/rtt"]
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path = ext/segger/rtt
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url = https://github.com/modm-ext/segger-rtt.git
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[submodule "ext/vl53/vl53"]
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path = ext/vl53/vl53
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url = https://github.com/modm-ext/vl53-partial.git

‎ext/vl53/vl53‎

Submodule vl53 added at e41b856

‎ext/vl53/vl53.cpp‎

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/*
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* Copyright (c) 2025, Henrik Hose
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*
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* This file is part of the modm project.
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*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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// ----------------------------------------------------------------------------
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#include "vl53_transport.hpp"
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extern "C" {
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#include "vl53_platform.h"
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uint8_t
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VL53_RdByte(VL53_Platform *p_platform, uint16_t RegisterAddress, uint8_t *p_value)
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{
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auto *iface = static_cast<modm::Vl53TransportBase *>(p_platform->transport);
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return iface->readByte(RegisterAddress, p_value);
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}
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uint8_t
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VL53_WrByte(VL53_Platform *p_platform, uint16_t RegisterAddress, uint8_t value)
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{
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auto *iface = static_cast<modm::Vl53TransportBase *>(p_platform->transport);
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return iface->writeByte(RegisterAddress, value);
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}
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uint8_t
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VL53_WrMulti(VL53_Platform *p_platform, uint16_t RegisterAddress, uint8_t *p_values, uint32_t size)
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{
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auto *iface = static_cast<modm::Vl53TransportBase *>(p_platform->transport);
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return iface->writeMulti(RegisterAddress, p_values, size);
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}
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uint8_t
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VL53_RdMulti(VL53_Platform *p_platform, uint16_t RegisterAddress, uint8_t *p_values, uint32_t size)
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{
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auto *iface = static_cast<modm::Vl53TransportBase *>(p_platform->transport);
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return iface->readMulti(RegisterAddress, p_values, size);
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}
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void
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VL53_SwapBuffer(uint8_t *buffer, uint16_t size)
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{
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uint32_t i, tmp;
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for (i = 0; i < size; i = i + 4)
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{
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tmp = (buffer[i] << 24) | (buffer[i + 1] << 16) | (buffer[i + 2] << 8) | (buffer[i + 3]);
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memcpy(&(buffer[i]), &tmp, 4);
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}
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}
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uint8_t
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VL53_WaitMs(VL53_Platform*, uint32_t TimeMs)
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{
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modm::this_fiber::sleep_for(std::chrono::milliseconds(TimeMs));
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return 0;
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}
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uint8_t
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VL53_Reset_Sensor(VL53_Platform *p_platform)
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{
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auto *iface = static_cast<modm::Vl53TransportBase *>(p_platform->transport);
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return iface->resetSensor();
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}
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}

‎ext/vl53/vl53.lb‎

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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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#
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# Copyright (c) 2025, Henrik Hose
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#
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# This file is part of the modm project.
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#
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# This Source Code Form is subject to the terms of the Mozilla Public
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# License, v. 2.0. If a copy of the MPL was not distributed with this
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# file, You can obtain one at http://mozilla.org/MPL/2.0/.
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# -----------------------------------------------------------------------------
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class Vl53l5cx(Module):
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def init(self, module):
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module.name = "vl53l5cx"
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module.description = "Driver for ST VL53L5CX Multi-Zone Time-of-Flight Sensor"
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def prepare(self, module, options):
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return True
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def build(self, env):
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env.outbasepath = "modm/ext"
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env.copy("vl53/vl53l5cx/src")
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env.copy("vl53/vl53l5cx/inc")
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env.copy("vl53/vl53l5cx/LICENSE.txt")
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env.collect(":build:path.include", "modm/ext/vl53/vl53l5cx/inc")
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class Vl53lmz(Module):
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def init(self, module):
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module.name = "vl53lmz"
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module.description = "Driver for ST VL53L7 and VL53L8 Multi-Zone Time-of-Flight Sensors"
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def prepare(self, module, options):
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return True
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def build(self, env):
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env.outbasepath = "modm/ext"
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env.copy("vl53/vl53lmz/src")
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env.copy("vl53/vl53lmz/inc")
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env.copy("vl53/vl53lmz/LICENSE.txt")
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env.collect(":build:path.include", "modm/ext/vl53/vl53lmz/inc")
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def init(module):
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module.name = ":vl53"
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module.description = """\
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# ST's VL53 Time-of-Flight ULD Drivers
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Currently supported sensors:
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- With VL53LMZ driver: VL53L7CX, VL53L7CH, VL53L8CX, VL53L8CH
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- VL53L5CX driver
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"""
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def prepare(module, options):
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module.add_submodule(Vl53l5cx())
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module.add_submodule(Vl53lmz())
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module.depends(
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":architecture:spi.device",
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":architecture:i2c.device",
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":architecture:fiber",
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":driver:i2c.eeprom")
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return True
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def build(env):
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env.outbasepath = "modm/src/modm/driver/vl53"
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env.copy("vl53.cpp")
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env.copy("vl53_transport.hpp")
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env.copy("vl53_transport_impl.hpp")
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env.outbasepath = "modm/ext/vl53"
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env.collect(":build:path.include", "modm/ext/vl53")
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env.copy("vl53_platform.h")

‎ext/vl53/vl53_platform.h‎

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/**
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*
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* Copyright (c) 2021 STMicroelectronics.
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* All rights reserved.
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*
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*
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* This software component is provided to you as part of a software package and
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* applicable license terms are in the Package_license file. If you received this
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* software component outside of a package or without applicable license terms,
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* the terms of the BSD-3-Clause license shall apply.
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* You may obtain a copy of the BSD-3-Clause at:
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* https://opensource.org/licenses/BSD-3-Clause
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*
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******************************************************************************
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*/
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#ifndef VL53_PLATFORM_H_
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#define VL53_PLATFORM_H_
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#pragma once
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#if __has_include("modm_config_vl53.h")
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#include "modm_config_vl53.h"
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#endif
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#include <stdint.h>
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#include <string.h>
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/*
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* @brief The macro below is used to define the number of target per zone sent
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* through I2C. This value can be changed by user, in order to tune I2C
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* transaction, and also the total memory size (a lower number of target per
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* zone means a lower RAM). The value must be between 1 and 4.
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*/
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#define VL53L5CX_NB_TARGET_PER_ZONE 1U
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/*
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* @brief The macro below can be used to avoid data conversion into the driver.
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* By default there is a conversion between firmware and user data. Using this macro
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* allows to use the firmware format instead of user format. The firmware format allows
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* an increased precision.
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*/
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// #define VL53L5CX_USE_RAW_FORMAT
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/*
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* @brief All macro below are used to configure the sensor output. User can
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* define some macros if he wants to disable selected output, in order to reduce
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* I2C access.
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*/
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// #define VL53L5CX_DISABLE_AMBIENT_PER_SPAD
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// #define VL53L5CX_DISABLE_NB_SPADS_ENABLED
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// #define VL53L5CX_DISABLE_NB_TARGET_DETECTED
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// #define VL53L5CX_DISABLE_SIGNAL_PER_SPAD
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// #define VL53L5CX_DISABLE_RANGE_SIGMA_MM
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// #define VL53L5CX_DISABLE_DISTANCE_MM
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// #define VL53L5CX_DISABLE_REFLECTANCE_PERCENT
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// #define VL53L5CX_DISABLE_TARGET_STATUS
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// #define VL53L5CX_DISABLE_MOTION_INDICATOR
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/*
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* @brief The macro below is used to define the number of target per zone sent
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* through I2C. This value can be changed by user, in order to tune I2C
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* transaction, and also the total memory size (a lower number of target per
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* zone means a lower RAM usage).
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*/
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#define VL53LMZ_NB_TARGET_PER_ZONE 1
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/*
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* @brief All macro below are used to configure the sensor output. User can
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* define some macros if he wants to disable selected output, in order to reduce
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* I2C access.
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*/
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// #define VL53LMZ_DISABLE_AMBIENT_PER_SPAD
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// #define VL53LMZ_DISABLE_NB_SPADS_ENABLED
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// #define VL53LMZ_DISABLE_NB_TARGET_DETECTED
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// #define VL53LMZ_DISABLE_SIGNAL_PER_SPAD
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// #define VL53LMZ_DISABLE_RANGE_SIGMA_MM
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// #define VL53LMZ_DISABLE_DISTANCE_MM
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// #define VL53LMZ_DISABLE_REFLECTANCE_PERCENT
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// #define VL53LMZ_DISABLE_TARGET_STATUS
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// #define VL53LMZ_DISABLE_SCI
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/**
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* @brief Structure VL53_Platform needs to be filled by the customer,
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* depending on his platform. At least, it contains the VL53 I2C address.
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* Some additional fields can be added, as descriptors, or platform
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* dependencies. Anything added into this structure is visible into the platform
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* layer.
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*/
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typedef struct
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{
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/* To be filled with customer's platform. At least an I2C address/descriptor
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* needs to be added */
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/* Example for most standard platform : I2C address of sensor */
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uint16_t address;
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void *transport;
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} VL53_Platform;
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/*
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* @brief The macro below is used to define the number of target per zone sent
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* through I2C. This value can be changed by user, in order to tune I2C
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* transaction, and also the total memory size (a lower number of target per
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* zone means a lower RAM). The value must be between 1 and 4.
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*/
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#define VL53_NB_TARGET_PER_ZONE 1U
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/*
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* @brief The macro below can be used to avoid data conversion into the driver.
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* By default there is a conversion between firmware and user data. Using this macro
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* allows to use the firmware format instead of user format. The firmware format allows
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* an increased precision.
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*/
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// #define VL53_USE_RAW_FORMAT
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/*
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* @brief All macro below are used to configure the sensor output. User can
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* define some macros if he wants to disable selected output, in order to reduce
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* I2C access.
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*/
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// #define VL53_DISABLE_AMBIENT_PER_SPAD
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// #define VL53_DISABLE_NB_SPADS_ENABLED
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// #define VL53_DISABLE_NB_TARGET_DETECTED
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// #define VL53_DISABLE_SIGNAL_PER_SPAD
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// #define VL53_DISABLE_RANGE_SIGMA_MM
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// #define VL53_DISABLE_DISTANCE_MM
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// #define VL53_DISABLE_REFLECTANCE_PERCENT
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// #define VL53_DISABLE_TARGET_STATUS
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// #define VL53_DISABLE_MOTION_INDICATOR
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/**
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* @param (VL53_Platform*) p_platform : Pointer of VL53 platform
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* structure.
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* @param (uint16_t) Address : I2C location of value to read.
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* @param (uint8_t) *p_values : Pointer of value to read.
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* @return (uint8_t) status : 0 if OK
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*/
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uint8_t
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VL53_RdByte(VL53_Platform *p_platform, uint16_t RegisterAdress, uint8_t *p_value);
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/**
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* @brief Mandatory function used to write one single byte.
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* @param (VL53_Platform*) p_platform : Pointer of VL53 platform
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* structure.
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* @param (uint16_t) Address : I2C location of value to read.
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* @param (uint8_t) value : Pointer of value to write.
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* @return (uint8_t) status : 0 if OK
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*/
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uint8_t
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VL53_WrByte(VL53_Platform *p_platform, uint16_t RegisterAdress, uint8_t value);
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/**
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* @brief Mandatory function used to read multiples bytes.
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* @param (VL53_Platform*) p_platform : Pointer of VL53 platform
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* structure.
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* @param (uint16_t) Address : I2C location of values to read.
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* @param (uint8_t) *p_values : Buffer of bytes to read.
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* @param (uint32_t) size : Size of *p_values buffer.
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* @return (uint8_t) status : 0 if OK
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*/
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uint8_t
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VL53_RdMulti(VL53_Platform *p_platform, uint16_t RegisterAdress, uint8_t *p_values, uint32_t size);
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/**
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* @brief Mandatory function used to write multiples bytes.
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* @param (VL53_Platform*) p_platform : Pointer of VL53 platform
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* structure.
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* @param (uint16_t) Address : I2C location of values to write.
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* @param (uint8_t) *p_values : Buffer of bytes to write.
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* @param (uint32_t) size : Size of *p_values buffer.
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* @return (uint8_t) status : 0 if OK
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*/
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uint8_t
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VL53_WrMulti(VL53_Platform *p_platform, uint16_t RegisterAdress, uint8_t *p_values, uint32_t size);
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/**
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* @brief Optional function, only used to perform an hardware reset of the
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* sensor. This function is not used in the API, but it can be used by the host.
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* This function is not mandatory to fill if user don't want to reset the
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* sensor.
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* @param (VL53_Platform*) p_platform : Pointer of VL53 platform
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* structure.
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* @return (uint8_t) status : 0 if OK
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*/
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uint8_t
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VL53_Reset_Sensor(VL53_Platform *p_platform);
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/**
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* @brief Mandatory function, used to swap a buffer. The buffer size is always a
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* multiple of 4 (4, 8, 12, 16, ...).
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* @param (uint8_t*) buffer : Buffer to swap, generally uint32_t
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* @param (uint16_t) size : Buffer size to swap
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*/
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void
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VL53_SwapBuffer(uint8_t *buffer, uint16_t size);
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/**
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* @brief Mandatory function, used to wait during an amount of time. It must be
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* filled as it's used into the API.
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* @param (VL53_Platform*) p_platform : Pointer of VL53 platform
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* structure.
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* @param (uint32_t) TimeMs : Time to wait in ms.
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* @return (uint8_t) status : 0 if wait is finished.
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*/
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uint8_t
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VL53_WaitMs(VL53_Platform *p_platform, uint32_t TimeMs);
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#endif // _PLATFORM_H_

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