sfDevXM125Distance.h

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#pragma once
 
#include "sfDevXM125Core.h"
 
// Defines
 
/* ****************************** Distance Values ****************************** */
 
const uint32_t SFE_XM125_DISTANCE_MAJOR_VERSION_MASK = 0xffff0000;
const uint32_t SFE_XM125_DISTANCE_MINOR_VERSION_MASK = 0x0000ff00;
const uint32_t SFE_XM125_DISTANCE_PATCH_VERSION_MASK = 0x000000ff;
const uint32_t SFE_XM125_DISTANCE_NUMBER_DISTANCES_MASK = 0x0000000f;
const uint32_t SFE_XM125_DISTANCE_NEAR_START_EDGE_MASK = 0x00000100;
const uint32_t SFE_XM125_DISTANCE_MEASURE_DISTANCE_ERROR_MASK = 0x00000400;
const uint32_t SFE_XM125_DISTANCE_TEMPERATURE_MASK = 0xffff0000;
const uint32_t SFE_XM125_DISTANCE_RSS_REGISTER_OK_MASK = 0x00000001;
const uint32_t SFE_XM125_DISTANCE_CONFIG_CREATE_OK_MASK = 0x00000002;
const uint32_t SFE_XM125_DISTANCE_SENSOR_CREATE_OK_MASK = 0x00000004;
const uint32_t SFE_XM125_DISTANCE_DETECTOR_CREATE_OK_MASK = 0x00000008;
const uint32_t SFE_XM125_DISTANCE_DETECTOR_BUFFER_OK_MASK = 0x00000010;
const uint32_t SFE_XM125_DISTANCE_SENSOR_BUFFER_OK_MASK = 0x00000020;
const uint32_t SFE_XM125_DISTANCE_CALIBRATION_BUFFER_OK_MASK = 0x00000040;
const uint32_t SFE_XM125_DISTANCE_CONFIG_APPLY_OK_MASK = 0x00000080;
const uint32_t SFE_XM125_DISTANCE_SENSOR_CALIBRATE_OK_MASK = 0x00000100;
const uint32_t SFE_XM125_DISTANCE_DETECTOR_CALIBRATE_OK_MASK = 0x00000200;
const uint32_t SFE_XM125_DISTANCE_RSS_REGISTER_ERROR_MASK = 0x00010000;
const uint32_t SFE_XM125_DISTANCE_CONFIG_CREATE_ERROR_MASK = 0x00020000;
const uint32_t SFE_XM125_DISTANCE_SENSOR_CREATE_ERROR_MASK = 0x00040000;
const uint32_t SFE_XM125_DISTANCE_DETECTOR_CREATE_ERROR_MASK = 0x00080000;
const uint32_t SFE_XM125_DISTANCE_DETECTOR_BUFFER_ERROR_MASK = 0x00100000;
const uint32_t SFE_XM125_DISTANCE_SENSOR_BUFFER_ERROR_MASK = 0x00200000;
const uint32_t SFE_XM125_DISTANCE_CALIBRATION_BUFFER_ERROR_MASK = 0x00400000;
const uint32_t SFE_XM125_DISTANCE_CONFIG_APPLY_ERROR_MASK = 0x00800000;
const uint32_t SFE_XM125_DISTANCE_SENSOR_CALIBRATE_ERROR_MASK = 0x01000000;
const uint32_t SFE_XM125_DISTANCE_DETECTOR_CALIBRATE_ERROR_MASK = 0x02000000;
const uint32_t SFE_XM125_DISTANCE_DETECTOR_ERROR_MASK = 0x10000000;
const uint32_t SFE_XM125_DISTANCE_BUSY_MASK = 0x80000000;
const uint32_t SFE_XM125_DISTANCE_CALIBRATION_NEEDED_MASK = 0x00000200;
 
const uint32_t SFE_XM125_DISTANCE_ALL_ERROR_MASK =
    (SFE_XM125_DISTANCE_RSS_REGISTER_ERROR_MASK | SFE_XM125_DISTANCE_CONFIG_CREATE_ERROR_MASK |
     SFE_XM125_DISTANCE_SENSOR_CREATE_ERROR_MASK | SFE_XM125_DISTANCE_DETECTOR_CREATE_ERROR_MASK |
     SFE_XM125_DISTANCE_DETECTOR_BUFFER_ERROR_MASK | SFE_XM125_DISTANCE_SENSOR_BUFFER_ERROR_MASK |
     SFE_XM125_DISTANCE_CALIBRATION_BUFFER_ERROR_MASK | SFE_XM125_DISTANCE_CONFIG_APPLY_ERROR_MASK |
     SFE_XM125_DISTANCE_SENSOR_CALIBRATE_ERROR_MASK | SFE_XM125_DISTANCE_DETECTOR_CALIBRATE_ERROR_MASK |
     SFE_XM125_DISTANCE_DETECTOR_ERROR_MASK | SFE_XM125_DISTANCE_BUSY_MASK);
 
const uint32_t SFE_XM125_DISTANCE_MAJOR_VERSION_MASK_SHIFT = 16;
const uint32_t SFE_XM125_DISTANCE_MINOR_VERSION_MASK_SHIFT = 8;
const uint32_t SFE_XM125_DISTANCE_RSS_REGISTER_ERROR_MASK_SHIFT = 15;
const uint32_t SFE_XM125_DISTANCE_CONFIG_CREATE_ERROR_MASK_SHIFT = 16;
const uint32_t SFE_XM125_DISTANCE_SENSOR_CREATE_ERROR_MASK_SHIFT = 17;
const uint32_t SFE_XM125_DISTANCE_DETECTOR_CREATE_ERROR_MASK_SHIFT = 18;
const uint32_t SFE_XM125_DISTANCE_DETECTOR_BUFFER_ERROR_MASK_SHIFT = 19;
const uint32_t SFE_XM125_DISTANCE_SENSOR_BUFFER_ERROR_MASK_SHIFT = 20;
const uint32_t SFE_XM125_DISTANCE_CALIBRATION_BUFFER_ERROR_MASK_SHIFT = 21;
const uint32_t SFE_XM125_DISTANCE_CONFIG_APPLY_ERROR_MASK_SHIFT = 22;
const uint32_t SFE_XM125_DISTANCE_SENSOR_CALIBRATE_ERROR_MASK_SHIFT = 23;
const uint32_t SFE_XM125_DISTANCE_DETECTOR_CALIBRATE_ERROR_MASK_SHIFT = 24;
const uint32_t SFE_XM125_DISTANCE_DETECTOR_ERROR_MASK_SHIFT = 27;
const uint32_t SFE_XM125_DISTANCE_BUSY_MASK_SHIFT = 30;
const uint32_t SFE_XM125_DISTANCE_NEAR_START_EDGE_MASK_SHIFT = 8;
const uint32_t SFE_XM125_DISTANCE_CALIBRATION_NEEDED_MASK_SHIFT = 9;
const uint32_t SFE_XM125_DISTANCE_MEASURE_DISTANCE_ERROR_MASK_SHIFT = 10;
const uint32_t SFE_XM125_DISTANCE_TEMPERATURE_MASK_SHIFT = 16;
const uint32_t SFE_XM125_DISTANCE_DETECTOR_STATUS_MASK_SHIFT = 30;
 
const uint32_t SFE_XM125_DISTANCE_DETECTOR_STATUS_MASK = 0b10010000111111110000000011111111;
 
const uint16_t SFE_XM125_DISTANCE_VERSION = 0x00;
typedef struct
{
    uint32_t distance_major : 16;
    uint32_t distance_minor : 8;
    uint32_t distance_patch : 8;
} sfe_xm125_distance_version_t;
 
const uint16_t SFE_XM125_DISTANCE_PROTOCOL_STATUS = 0x01;
typedef struct
{
    uint32_t distance_protocol_state_error : 1;
    uint32_t distance_packet_length_error : 1;
    uint32_t distance_address_error : 1;
    uint32_t distance_write_failed : 1;
    uint32_t distance_write_to_read_only : 1;
    uint32_t reserved1 : 27;
} sfe_xm125_distance_protocol_status_t;
 
const uint16_t SFE_XM125_DISTANCE_MEASURE_COUNTER = 0x02;
 
const uint16_t SFE_XM125_DISTANCE_DETECTOR_STATUS = 0x03;
typedef struct
{
    uint32_t distance_rss_register_ok : 1;
    uint32_t distance_config_create_ok : 1;
    uint32_t distance_sensor_create_ok : 1;
    uint32_t distance_detector_create_ok : 1;
    uint32_t distance_detector_buffer_ok : 1;
    uint32_t distance_sensor_buffer_ok : 1;
    uint32_t distance_calibration_buffer_ok : 1;
    uint32_t distance_config_apply_ok : 1;
    uint32_t distance_sensor_calibrate_ok : 1;
    uint32_t distance_detector_calibrate_ok : 1;
    uint32_t reserved1 : 6;
    uint32_t distance_rss_register_error : 1;
    uint32_t distance_config_create_error : 1;
    uint32_t distance_sensor_create_error : 1;
    uint32_t distance_detector_create_error : 1;
    uint32_t distance_detector_buffer_error : 1;
    uint32_t distance_sensor_buffer_error : 1;
    uint32_t distance_calibration_buffer_error : 1;
    uint32_t distance_config_apply_error : 1;
    uint32_t distance_sensor_calibrate_error : 1;
    uint32_t distance_detector_calibrate_error : 1;
    uint32_t reserved2 : 2;
    uint32_t distance_detector_error : 1;
    uint32_t reserved3 : 2;
    uint32_t distance_busy : 1;
} sfe_xm125_distance_detector_status_t;
 
const uint16_t SFE_XM125_DISTANCE_RESULT = 0x10;
typedef struct
{
    uint32_t distance_num_distances : 4;
    uint32_t rsvd1 : 4; // skips "reserved" bits
    uint32_t distance_near_start_edge : 1;
    uint32_t distance_calibration_needed : 1;
    uint32_t distance_measure_distance_error : 1;
    uint32_t reserved1 : 5;
    uint32_t distance_temperature : 16;
} sfe_xm125_distance_result_t;
 
const uint16_t SFE_XM125_DISTANCE_PEAK0_DISTANCE = 0x11;
const uint16_t SFE_XM125_DISTANCE_PEAK1_DISTANCE = 0x12;
const uint16_t SFE_XM125_DISTANCE_PEAK2_DISTANCE = 0x13;
const uint16_t SFE_XM125_DISTANCE_PEAK3_DISTANCE = 0x14;
const uint16_t SFE_XM125_DISTANCE_PEAK4_DISTANCE = 0x15;
const uint16_t SFE_XM125_DISTANCE_PEAK5_DISTANCE = 0x16;
const uint16_t SFE_XM125_DISTANCE_PEAK6_DISTANCE = 0x17;
const uint16_t SFE_XM125_DISTANCE_PEAK7_DISTANCE = 0x18;
const uint16_t SFE_XM125_DISTANCE_PEAK8_DISTANCE = 0x19;
const uint16_t SFE_XM125_DISTANCE_PEAK9_DISTANCE = 0x1a;
const uint16_t SFE_XM125_DISTANCE_PEAK0_STRENGTH = 0x1b;
const uint16_t SFE_XM125_DISTANCE_PEAK1_STRENGTH = 0x1c;
const uint16_t SFE_XM125_DISTANCE_PEAK2_STRENGTH = 0x1d;
const uint16_t SFE_XM125_DISTANCE_PEAK3_STRENGTH = 0x1e;
const uint16_t SFE_XM125_DISTANCE_PEAK4_STRENGTH = 0x1f;
const uint16_t SFE_XM125_DISTANCE_PEAK5_STRENGTH = 0x20;
const uint16_t SFE_XM125_DISTANCE_PEAK6_STRENGTH = 0x21;
const uint16_t SFE_XM125_DISTANCE_PEAK7_STRENGTH = 0x22;
const uint16_t SFE_XM125_DISTANCE_PEAK8_STRENGTH = 0x23;
const uint16_t SFE_XM125_DISTANCE_PEAK9_STRENGTH = 0x24;
 
// Default Value: 250mm
const uint16_t SFE_XM125_DISTANCE_START = 0x40;
const uint16_t sfe_xm125_distance_start_default = 250;
 
// Default Value: 3000mm
const uint16_t SFE_XM125_DISTANCE_END = 0x41;
const uint16_t sfe_xm125_distance_end_default = 3000;
 
// Default Value: 0
const uint16_t SFE_XM125_DISTANCE_MAX_STEP_LENGTH = 0x42;
const uint16_t sfe_xm125_distance_max_step_length_default = 0;
 
// Default Value: True
const uint16_t SFE_XM125_DISTANCE_CLOSE_RANGE_LEAKAGE = 0x43;
const bool sfe_xm125_distance_close_range_leakage_default = true;
 
// Default Value: 15000
const uint16_t SFE_XM125_DISTANCE_SIGNAL_QUALITY = 0x44;
const uint16_t sfe_xm125_distance_signal_quality_default = 15000;
 
// Default: PROFILE5 (enum)
const uint16_t SFE_XM125_DISTANCE_MAX_PROFILE = 0x45;
typedef enum
{
    XM125_DISTANCE_PROFILE1 = 1,
    XM125_DISTANCE_PROFILE2 = 2,
    XM125_DISTANCE_PROFILE3 = 3,
    XM125_DISTANCE_PROFILE4 = 4,
    XM125_DISTANCE_PROFILE5 = 5,
} sfe_xm125_distance_profile_t;
 
// Default Value: CFAR (enum)
const uint16_t SFE_XM125_DISTANCE_THRESHOLD_METHOD = 0x46;
typedef enum
{
    XM125_DISTANCE_FIXED_AMPLITUDE = 1,
    XM125_DISTANCE_RECORDED = 2,
    XM125_DISTANCE_CFAR = 3,
    XM125_DISTANCE_FIXED_STRENGTH = 4,
} sfe_xm125_distance_threshold_method_t;
 
// Default Value: STRONGEST (enum)
const uint16_t SFE_XM125_DISTANCE_PEAK_SORTING = 0x47;
typedef enum
{
    XM125_DISTANCE_CLOSEST = 1,
    XM125_DISTANCE_STRONGEST = 2,
} sfe_xm125_distance_peak_sorting_t;
 
// Default Value: 100
const uint16_t SFE_XM125_DISTANCE_NUM_FRAMES_RECORDED_THRESH = 0x48;
const uint16_t sfe_xm125_distance_num_frames_recorded_thresh_default = 100;
 
// Default Value: 100000
const uint16_t SFE_XM125_DISTANCE_FIXED_AMPLITUDE_THRESHOLD_VAL = 0x49;
const uint32_t sfe_xm125_distance_fixed_amp_thresh_val_default = 100000;
 
// Default Value: 500
const uint16_t SFE_XM125_DISTANCE_THREHSOLD_SENSITIVITY = 0x4a;
const uint16_t sfe_xm125_distance_threshold_sensitivity_default = 500;
 
// Default Value: GENERIC
const uint16_t SFE_XM125_DISTANCE_REFLECTOR_SHAPE = 0x4b;
typedef enum
{
    XM125_DISTANCE_GENERIC = 1,
    XM125_DISTANCE_PLANAR = 2,
} sfe_xm125_distance_reflector_shape_t;
 
// Default Value: 0
const uint16_t SFE_XM125_DISTANCE_FIXED_STRENGTH_THRESHOLD_VAL = 0x4c;
const uint16_t sfe_xm125_distance_fixed_strength_threshold_val_default = 0;
 
// Default Value: False
const uint16_t SFE_XM125_DISTANCE_MEASURE_ON_WAKEUP = 0x80;
const bool sfe_xm125_distance_measure_on_wakup = false;
 
const uint16_t SFE_XM125_DISTANCE_COMMAND = 0x100;
typedef enum
{
    XM125_DISTANCE_APPLY_CONFIG_AND_CALIBRATE = 1,
    XM125_DISTANCE_MEASURE_DISTANCE = 2,
    XM125_DISTANCE_APPLY_CONFIGURATION = 3,
    XM125_DISTANCE_CALIBRATE = 4,
    XM125_DISTANCE_RECALIBRATE = 5,
    XM125_DISTANCE_ENABLE_UART_LOGS = 32,
    XM125_DISTANCE_DISABLE_UART_LOGS = 33,
    XM125_DISTANCE_LOG_CONFIGURATION = 34,
    XM125_DISTANCE_RESET_MODULE = 1381192737,
} sfe_xm125_distance_command_t;
 
const uint32_t SFE_XM125_DISTANCE_APPLY_CONFIGURATION = 1;
const uint32_t SFE_XM125_DISTANCE_START_DETECTOR = 2;
const uint32_t SFE_XM125_DISTANCE_STOP_DETECTOR = 3;
const uint32_t SFE_XM125_DISTANCE_CALIBRATE = 4;
const uint32_t SFE_XM125_DISTANCE_RECALIBRATE = 5;
const uint32_t SFE_XM125_DISTANCE_ENABLE_UART_LOGS = 32;
const uint32_t SFE_XM125_DISTANCE_DISABLE_UART_LOGS = 33;
const uint32_t SFE_XM125_DISTANCE_LOG_CONFIGURATION = 34;
const uint32_t SFE_XM125_DISTANCE_RESET_MODULE = 1381192737;
 
// Distance class definition
 
class sfDevXM125Distance : public sfDevXM125Core
{
  public:
    sfTkError_t begin(sfTkII2C *theBus = nullptr);
 
    sfTkError_t distanceSetup(uint32_t start = sfe_xm125_distance_start_default,
                              uint32_t end = sfe_xm125_distance_end_default);
 
    sfTkError_t detectorReadingSetup();
 
    sfTkError_t getDetectorVersion(uint32_t &major, uint32_t &minor, uint32_t &patch);
 
    sfTkError_t getDetectorError(uint32_t &error);
 
    sfTkError_t getDetectorErrorStatus(uint32_t &status);
 
    sfTkError_t getMeasureCounter(uint32_t &counter);
 
    sfTkError_t getDetectorStatus(uint32_t &status);
 
    sfTkError_t getNumberDistances(uint32_t &distance);
 
    sfTkError_t getNearStartEdge(uint32_t &edge);
 
    sfTkError_t getCalibrationNeeded(uint32_t &calibrate);
 
    sfTkError_t getMeasureDistanceError(uint32_t &error);
 
    sfTkError_t getTemperature(int16_t &temperature);
 
    //--------------------------------------------------------------------------------
    // Generic distance peak distance method
    sfTkError_t getPeakDistance(uint8_t num, uint32_t &peak);
 
    sfTkError_t getPeak0Distance(uint32_t &peak);
 
    sfTkError_t getPeak1Distance(uint32_t &peak);
 
    sfTkError_t getPeak2Distance(uint32_t &peak);
 
    sfTkError_t getPeak3Distance(uint32_t &peak);
 
    sfTkError_t getPeak4Distance(uint32_t &peak);
 
    sfTkError_t getPeak5Distance(uint32_t &peak);
 
    sfTkError_t getPeak6Distance(uint32_t &peak);
 
    sfTkError_t getPeak7Distance(uint32_t &peak);
 
    sfTkError_t getPeak8Distance(uint32_t &peak);
 
    sfTkError_t getPeak9Distance(uint32_t &peak);
 
    //--------------------------------------------------------------------------------
    // Generic distance peak strength method
    sfTkError_t getPeakStrength(uint8_t num, int32_t &peak);
 
    sfTkError_t getPeak0Strength(int32_t &peak);
 
    sfTkError_t getPeak1Strength(int32_t &peak);
 
    sfTkError_t getPeak2Strength(int32_t &peak);
 
    sfTkError_t getPeak3Strength(int32_t &peak);
 
    sfTkError_t getPeak4Strength(int32_t &peak);
 
    sfTkError_t getPeak5Strength(int32_t &peak);
 
    sfTkError_t getPeak6Strength(int32_t &peak);
 
    sfTkError_t getPeak7Strength(int32_t &peak);
 
    sfTkError_t getPeak8Strength(int32_t &peak);
 
    sfTkError_t getPeak9Strength(int32_t &peak);
 
    sfTkError_t getStart(uint32_t &startVal);
 
    sfTkError_t setStart(uint32_t start);
 
    sfTkError_t getEnd(uint32_t &end);
 
    sfTkError_t setEnd(uint32_t end);
 
    sfTkError_t getMaxStepLength(uint32_t &length);
 
    sfTkError_t setMaxStepLength(uint32_t length);
 
    sfTkError_t getCloseRangeLeakageCancellation(bool &range);
 
    sfTkError_t setCloseRangeLeakageCancellation(bool range);
 
    sfTkError_t getSignalQuality(uint32_t &signal);
 
    sfTkError_t setSignalQuality(uint32_t signal);
 
    sfTkError_t getMaxProfile(uint32_t &profile);
 
    sfTkError_t setMaxProfile(uint32_t profile);
 
    sfTkError_t getThresholdMethod(uint32_t &method);
 
    sfTkError_t setThresholdMethod(uint32_t method);
 
    sfTkError_t getPeakSorting(uint32_t &peak);
 
    sfTkError_t setPeakSorting(uint32_t peak);
 
    sfTkError_t getNumFramesRecordedThreshold(uint32_t &thresh);
 
    sfTkError_t setNumFramesRecordedThreshold(uint32_t thresh);
 
    sfTkError_t getFixedAmpThreshold(uint32_t &thresh);
 
    sfTkError_t setFixedAmpThreshold(uint32_t thresh);
 
    sfTkError_t getThresholdSensitivity(uint32_t &thresh);
 
    sfTkError_t setThresholdSensitivity(uint32_t thresh);
 
    sfTkError_t getReflectorShape(uint32_t &shape);
 
    sfTkError_t setReflectorShape(uint32_t shape);
 
    sfTkError_t getFixedStrengthThresholdValue(int32_t &thresh);
 
    sfTkError_t setFixedStrengthThresholdValue(int32_t thresh);
 
    sfTkError_t getMeasureOneWakeup(bool &measure);
 
    sfTkError_t setMeasureOneWakeup(bool measure);
 
    sfTkError_t setCommand(uint32_t command);
 
    sfTkError_t applyConfiguration();
 
    sfTkError_t start();
 
    sfTkError_t stop();
 
    sfTkError_t calibrate();
 
    sfTkError_t recalibrate();
 
    sfTkError_t enableUartLogs();
 
    sfTkError_t disableUartLogs();
 
    sfTkError_t logConfiguration();
 
    sfTkError_t reset();
 
    sfTkError_t busyWait();
};