ch_rangefinder.h

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/*
 Copyright 2016-2024, InvenSense, Inc.  All rights reserved.
 
 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 DISCLAIMED.
 
 */
#ifndef CH_RANGEFINDER_H_
#define CH_RANGEFINDER_H_
 
#ifdef __cplusplus
extern "C" {
#endif
 
#include <stdint.h>
#include <invn/soniclib/soniclib.h>
#include <invn/soniclib/ch_rangefinder_types.h>
 
// total number of thresholds
#define CH101_COMMON_NUM_THRESHOLDS (6)
#define CHX01_COMMON_NUM_THRESHOLDS (6)
 
uint8_t ch_rangefinder_get_algo_config(const ch_dev_t *dev_ptr, ch_rangefinder_algo_config_t *config_ptr);
 
uint8_t ch_rangefinder_set_algo_config(ch_dev_t *dev_ptr, const ch_rangefinder_algo_config_t *config_ptr);
 
uint16_t ch_rangefinder_get_amplitude(ch_dev_t *dev_ptr);
 
uint8_t ch_rangefinder_set_static_range(ch_dev_t *dev_ptr, uint16_t samples);
 
uint8_t ch_rangefinder_set_thresholds(ch_dev_t *dev_ptr, ch_thresholds_t *thresholds_ptr);
uint8_t ch_rangefinder_get_thresholds(ch_dev_t *dev_ptr, ch_thresholds_t *thresh_buf_ptr);
 
uint8_t ch_rangefinder_set_rx_holdoff(ch_dev_t *dev_ptr, uint16_t rx_holdoff);
uint16_t ch_rangefinder_get_rx_holdoff(ch_dev_t *dev_ptr);
 
uint32_t ch_rangefinder_get_range(ch_dev_t *dev_ptr, ch_range_t range_type);
uint32_t ch_rangefinder_get_target_range(ch_dev_t *dev_ptr, uint8_t target_num, ch_range_t range_type);
 
uint32_t ch_get_tof_us(ch_dev_t *dev_ptr);
 
uint16_t ch_get_static_range(const ch_dev_t *dev_ptr);
 
uint8_t ch_set_static_range(ch_dev_t *dev_ptr, uint16_t num_samples);
 
uint8_t ch_get_num_targets(ch_dev_t *dev_ptr);
 
uint32_t ch_get_target_range(ch_dev_t *dev_ptr, uint8_t target_num, ch_range_t range_type);
 
uint16_t ch_get_target_amplitude(ch_dev_t *dev_ptr, uint8_t target_num);
 
uint32_t ch_get_target_tof_us(ch_dev_t *dev_ptr, uint8_t target_num);
 
uint8_t ch_is_target_in_ringdown(ch_dev_t *dev_ptr);
 
uint16_t ch_get_threshold(ch_dev_t *dev_ptr, uint8_t threshold_index);
 
uint8_t ch_set_threshold(ch_dev_t *dev_ptr, uint8_t threshold_index, uint16_t amplitude);
 
uint8_t ch_get_thresholds(ch_dev_t *dev_ptr, ch_thresholds_t *thresh_ptr);
 
uint8_t ch_set_thresholds(ch_dev_t *dev_ptr, ch_thresholds_t *thresh_ptr);
 
uint8_t ch_get_num_thresholds(const ch_dev_t *dev_ptr);
 
uint8_t ch_rangefinder_display_config_info(ch_dev_t *dev_ptr);
 
#ifdef __cplusplus
}
#endif
 
#endif /* CH_RANGEFINDER_H_ */