lightranger11  2.1.0.0
lightranger11.h
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22 
28 #ifndef LIGHTRANGER11_H
29 #define LIGHTRANGER11_H
30 
31 #ifdef __cplusplus
32 extern "C"{
33 #endif
34 
39 #ifdef PREINIT_SUPPORTED
40 #include "preinit.h"
41 #endif
42 
43 #ifdef MikroCCoreVersion
44  #if MikroCCoreVersion >= 1
45  #include "delays.h"
46  #endif
47 #endif
48 
49 #include "drv_digital_out.h"
50 #include "drv_digital_in.h"
51 #include "drv_i2c_master.h"
52 
73 #define LIGHTRANGER11_DCI_ZONE_CONFIG 0x5450
74 #define LIGHTRANGER11_DCI_FREQ_HZ 0x5458
75 #define LIGHTRANGER11_DCI_INT_TIME 0x545C
76 #define LIGHTRANGER11_DCI_FW_NB_TARGET 0x5478
77 #define LIGHTRANGER11_DCI_RANGING_MODE 0xAD30
78 #define LIGHTRANGER11_DCI_DSS_CONFIG 0xAD38
79 #define LIGHTRANGER11_DCI_TARGET_ORDER 0xAE64
80 #define LIGHTRANGER11_DCI_SHARPENER 0xAED8
81 #define LIGHTRANGER11_DCI_INTERNAL_CP 0xB39C
82 #define LIGHTRANGER11_DCI_MOTION_DETECTOR_CFG 0xBFAC
83 #define LIGHTRANGER11_DCI_SINGLE_RANGE 0xCD5C
84 #define LIGHTRANGER11_DCI_OUTPUT_CONFIG 0xCD60
85 #define LIGHTRANGER11_DCI_OUTPUT_ENABLES 0xCD68
86 #define LIGHTRANGER11_DCI_OUTPUT_LIST 0xCD78
87 #define LIGHTRANGER11_DCI_PIPE_CONTROL 0xCF78
88 
93 #define LIGHTRANGER11_UI_CMD_STATUS 0x2C00
94 #define LIGHTRANGER11_UI_CMD_START 0x2C04
95 #define LIGHTRANGER11_UI_CMD_END 0x2FFF
96  // lightranger11_reg
98 
113 #define LIGHTRANGER11_TEMP_BUFFER_SIZE 1024
114 #define LIGHTRANGER11_NVM_DATA_SIZE 492
115 #define LIGHTRANGER11_OFFSET_BUFFER_SIZE 488
116 #define LIGHTRANGER11_XTALK_BUFFER_SIZE 776
117 
122 #define LIGHTRANGER11_RESOLUTION_4X4 16
123 #define LIGHTRANGER11_RESOLUTION_8X8 64
124 
129 #define LIGHTRANGER11_RANGING_MODE_CONTINUOUS 1
130 #define LIGHTRANGER11_RANGING_MODE_AUTONOMOUS 3
131 
136 #define LIGHTRANGER11_START_BH 0x0000000Dul
137 #define LIGHTRANGER11_METADATA_BH 0x54B400C0ul
138 #define LIGHTRANGER11_COMMONDATA_BH 0x54C00040ul
139 #define LIGHTRANGER11_AMBIENT_RATE_BH 0x54D00104ul
140 #define LIGHTRANGER11_SPAD_COUNT_BH 0x55D00404ul
141 #define LIGHTRANGER11_NB_TARGET_DETECTED_BH 0xCF7C0401ul
142 #define LIGHTRANGER11_SIGNAL_RATE_BH 0xCFBC0404ul
143 #define LIGHTRANGER11_RANGE_SIGMA_MM_BH 0xD2BC0402ul
144 #define LIGHTRANGER11_DISTANCE_BH 0xD33C0402ul
145 #define LIGHTRANGER11_REFLECTANCE_BH 0xD43C0401ul
146 #define LIGHTRANGER11_TARGET_STATUS_BH 0xD47C0401ul
147 #define LIGHTRANGER11_MOTION_DETECT_BH 0xCC5008C0ul
148 #define LIGHTRANGER11_METADATA_IDX 0x54B4
149 #define LIGHTRANGER11_SPAD_COUNT_IDX 0x55D0
150 #define LIGHTRANGER11_AMBIENT_RATE_IDX 0x54D0
151 #define LIGHTRANGER11_NB_TARGET_DETECTED_IDX 0xCF7C
152 #define LIGHTRANGER11_SIGNAL_RATE_IDX 0xCFBC
153 #define LIGHTRANGER11_RANGE_SIGMA_MM_IDX 0xD2BC
154 #define LIGHTRANGER11_DISTANCE_IDX 0xD33C
155 #define LIGHTRANGER11_REFLECTANCE_EST_PC_IDX 0xD43C
156 #define LIGHTRANGER11_TARGET_STATUS_IDX 0xD47C
157 #define LIGHTRANGER11_MOTION_DETEC_IDX 0xCC50
158 
163 #define LIGHTRANGER11_DEF_RESOLUTION LIGHTRANGER11_RESOLUTION_8X8
164 #define LIGHTRANGER11_DEF_RANGING_FREQ_HZ 2
165 #define LIGHTRANGER11_DEF_RANGING_MODE LIGHTRANGER11_RANGING_MODE_AUTONOMOUS
166 #define LIGHTRANGER11_DEF_INTEGRATION_TIME_MS 20
167 
173 #define LIGHTRANGER11_DEVICE_ADDRESS 0x29
174  // lightranger11_set
176 
191 #define LIGHTRANGER11_MAP_MIKROBUS( cfg, mikrobus ) \
192  cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
193  cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
194  cfg.rsc = MIKROBUS( mikrobus, MIKROBUS_RST ); \
195  cfg.lp = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
196  cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
197  // lightranger11_map // lightranger11
200 
205 typedef struct
206 {
207  // Output pins
208  digital_out_t rsc;
209  digital_out_t lp;
211  // Input pins
212  digital_in_t int_pin;
214  // Modules
215  i2c_master_t i2c;
217  // I2C slave address
218  uint8_t slave_address;
221  uint8_t stream_count;
223  uint32_t data_read_size;
225  uint8_t offset_data[ LIGHTRANGER11_OFFSET_BUFFER_SIZE ];
227  uint8_t temp_buf[ LIGHTRANGER11_TEMP_BUFFER_SIZE ];
228 
230 
235 typedef struct
236 {
237  pin_name_t scl;
238  pin_name_t sda;
240  pin_name_t rsc;
241  pin_name_t lp;
242  pin_name_t int_pin;
244  uint32_t i2c_speed;
245  uint8_t i2c_address;
248 
253 typedef struct
254 {
257 
259  uint8_t nb_target_detected[ 64 ];
260 
262  int16_t distance_mm[ 64 ];
263 
265  uint8_t target_status[ 64 ];
266 
268 
273 typedef enum
274 {
277 
279 
284 typedef union
285 {
286  uint32_t bytes;
287  struct
288  {
289  uint32_t type : 4;
290  uint32_t size : 12;
291  uint32_t idx : 16;
292  };
294 
311 
326 
340 
355 err_t lightranger11_write_multi ( lightranger11_t *ctx, uint16_t reg, uint8_t *data_in, uint8_t len );
356 
371 err_t lightranger11_read_multi ( lightranger11_t *ctx, uint16_t reg, uint8_t *data_out, uint16_t len );
372 
385 err_t lightranger11_write_byte ( lightranger11_t *ctx, uint16_t reg, uint8_t data_in );
386 
399 err_t lightranger11_read_byte ( lightranger11_t *ctx, uint16_t reg, uint8_t *data_out );
400 
413 err_t lightranger11_write_data ( lightranger11_t *ctx, uint8_t *data_in, uint16_t len );
414 
426 
436 
446 void lightranger11_set_i2c_rst_pin ( lightranger11_t *ctx, uint8_t state );
447 
457 void lightranger11_set_lpn_pin ( lightranger11_t *ctx, uint8_t state );
458 
468 
481 
496 err_t lightranger11_dci_write_data ( lightranger11_t *ctx, uint16_t index,
497  uint8_t *data_in,
498  uint16_t data_size );
499 
516 err_t lightranger11_dci_read_data ( lightranger11_t *ctx, uint16_t index,
517  uint8_t *data_out,
518  uint16_t data_size );
519 
537 err_t lightranger11_dci_replace_data ( lightranger11_t *ctx, uint16_t index, uint8_t *data_in,
538  uint16_t data_size, uint8_t *new_data,
539  uint16_t new_data_size, uint16_t new_data_pos );
540 
553 err_t lightranger11_set_resolution ( lightranger11_t *ctx, uint8_t resolution );
554 
566 err_t lightranger11_get_resolution ( lightranger11_t *ctx, uint8_t *resolution );
567 
582 err_t lightranger11_set_rang_freq_hz ( lightranger11_t *ctx, uint8_t frequency_hz );
583 
596 err_t lightranger11_get_rang_freq_hz ( lightranger11_t *ctx, uint8_t *frequency_hz );
597 
612 err_t lightranger11_set_integ_time_ms ( lightranger11_t *ctx, uint32_t integration_time_ms );
613 
625 err_t lightranger11_get_integ_time_ms ( lightranger11_t *ctx, uint32_t *integration_time_ms );
626 
641 err_t lightranger11_set_ranging_mode ( lightranger11_t *ctx, uint8_t ranging_mode );
642 
656 err_t lightranger11_get_ranging_mode ( lightranger11_t *ctx, uint8_t *ranging_mode );
657 
670 
683 
697 
698 #ifdef __cplusplus
699 }
700 #endif
701 #endif // LIGHTRANGER11_H
702  // lightranger11
704 
705 // ------------------------------------------------------------------------ END
lightranger11_set_ranging_mode
err_t lightranger11_set_ranging_mode(lightranger11_t *ctx, uint8_t ranging_mode)
LightRanger 11 set ranging mode function.
lightranger11_cfg_t::sda
pin_name_t sda
Definition: lightranger11.h:238
lightranger11_get_resolution
err_t lightranger11_get_resolution(lightranger11_t *ctx, uint8_t *resolution)
LightRanger 11 get resolution function.
lightranger11_sensor_init
err_t lightranger11_sensor_init(lightranger11_t *ctx)
LightRanger 11 sensor init function.
lightranger11_dci_write_data
err_t lightranger11_dci_write_data(lightranger11_t *ctx, uint16_t index, uint8_t *data_in, uint16_t data_size)
LightRanger 11 dci write data function.
lightranger11_set_lpn_pin
void lightranger11_set_lpn_pin(lightranger11_t *ctx, uint8_t state)
LightRanger 11 set lpn function.
lightranger11_get_rang_freq_hz
err_t lightranger11_get_rang_freq_hz(lightranger11_t *ctx, uint8_t *frequency_hz)
LightRanger 11 get ranging frequency hz function.
lightranger11_get_int_pin
uint8_t lightranger11_get_int_pin(lightranger11_t *ctx)
LightRanger 11 get int pin function.
lightranger11_get_ranging_data
err_t lightranger11_get_ranging_data(lightranger11_t *ctx, lightranger11_results_data_t *results)
LightRanger 11 get ranging data function.
lightranger11_default_cfg
err_t lightranger11_default_cfg(lightranger11_t *ctx)
LightRanger 11 default configuration function.
LIGHTRANGER11_OK
@ LIGHTRANGER11_OK
Definition: lightranger11.h:275
lightranger11_reset_i2c
void lightranger11_reset_i2c(lightranger11_t *ctx)
LightRanger 11 reset i2c function.
LIGHTRANGER11_TEMP_BUFFER_SIZE
#define LIGHTRANGER11_TEMP_BUFFER_SIZE
LightRanger 11 buffers size setting.
Definition: lightranger11.h:113
lightranger11_t::i2c
i2c_master_t i2c
Definition: lightranger11.h:215
lightranger11_read_multi
err_t lightranger11_read_multi(lightranger11_t *ctx, uint16_t reg, uint8_t *data_out, uint16_t len)
LightRanger 11 read multi function.
lightranger11_set_integ_time_ms
err_t lightranger11_set_integ_time_ms(lightranger11_t *ctx, uint32_t integration_time_ms)
LightRanger 11 set integration time ms function.
lightranger11_init
err_t lightranger11_init(lightranger11_t *ctx, lightranger11_cfg_t *cfg)
LightRanger 11 initialization function.
lightranger11_cfg_t
LightRanger 11 Click configuration object.
Definition: lightranger11.h:236
lightranger11_cfg_t::i2c_speed
uint32_t i2c_speed
Definition: lightranger11.h:244
lightranger11_return_value_t
lightranger11_return_value_t
LightRanger 11 Click return value data.
Definition: lightranger11.h:274
LIGHTRANGER11_OFFSET_BUFFER_SIZE
#define LIGHTRANGER11_OFFSET_BUFFER_SIZE
Definition: lightranger11.h:115
lightranger11_write_data
err_t lightranger11_write_data(lightranger11_t *ctx, uint8_t *data_in, uint16_t len)
LightRanger 11 write data function.
LIGHTRANGER11_ERROR
@ LIGHTRANGER11_ERROR
Definition: lightranger11.h:276
lightranger11_block_header_t
LightRanger 11 Click block header union data definition.
Definition: lightranger11.h:285
lightranger11_t::slave_address
uint8_t slave_address
Definition: lightranger11.h:218
lightranger11_dci_read_data
err_t lightranger11_dci_read_data(lightranger11_t *ctx, uint16_t index, uint8_t *data_out, uint16_t data_size)
LightRanger 11 dci read data function.
lightranger11_cfg_setup
void lightranger11_cfg_setup(lightranger11_cfg_t *cfg)
LightRanger 11 configuration object setup function.
lightranger11_cfg_t::i2c_address
uint8_t i2c_address
Definition: lightranger11.h:245
lightranger11_set_i2c_rst_pin
void lightranger11_set_i2c_rst_pin(lightranger11_t *ctx, uint8_t state)
LightRanger 11 set i2c rst function.
lightranger11_read_byte
err_t lightranger11_read_byte(lightranger11_t *ctx, uint16_t reg, uint8_t *data_out)
LightRanger 11 read byte function.
lightranger11_t::stream_count
uint8_t stream_count
Definition: lightranger11.h:221
lightranger11_cfg_t::lp
pin_name_t lp
Definition: lightranger11.h:241
lightranger11_t::data_read_size
uint32_t data_read_size
Definition: lightranger11.h:223
lightranger11_set_rang_freq_hz
err_t lightranger11_set_rang_freq_hz(lightranger11_t *ctx, uint8_t frequency_hz)
LightRanger 11 set ranging frequency hz function.
lightranger11_stop_ranging
err_t lightranger11_stop_ranging(lightranger11_t *ctx)
LightRanger 11 stop ranging function.
lightranger11_results_data_t
LightRanger 11 Click block header union data definition.
Definition: lightranger11.h:254
lightranger11_get_ranging_mode
err_t lightranger11_get_ranging_mode(lightranger11_t *ctx, uint8_t *ranging_mode)
LightRanger 11 get ranging mode function.
lightranger11_write_multi
err_t lightranger11_write_multi(lightranger11_t *ctx, uint16_t reg, uint8_t *data_in, uint8_t len)
LightRanger 11 write multi function.
lightranger11_get_integ_time_ms
err_t lightranger11_get_integ_time_ms(lightranger11_t *ctx, uint32_t *integration_time_ms)
LightRanger 11 get integration time ms function.
lightranger11_t::rsc
digital_out_t rsc
Definition: lightranger11.h:208
lightranger11_cfg_t::scl
pin_name_t scl
Definition: lightranger11.h:237
lightranger11_block_header_t::size
uint32_t size
Definition: lightranger11.h:290
lightranger11_write_byte
err_t lightranger11_write_byte(lightranger11_t *ctx, uint16_t reg, uint8_t data_in)
LightRanger 11 write byte function.
lightranger11_block_header_t::idx
uint32_t idx
Definition: lightranger11.h:291
lightranger11_t::int_pin
digital_in_t int_pin
Definition: lightranger11.h:212
lightranger11_check_comm
err_t lightranger11_check_comm(lightranger11_t *ctx)
LightRanger 11 check communication function.
lightranger11_start_ranging
err_t lightranger11_start_ranging(lightranger11_t *ctx)
LightRanger 11 start ranging function.
lightranger11_block_header_t::type
uint32_t type
Definition: lightranger11.h:289
lightranger11_t::lp
digital_out_t lp
Definition: lightranger11.h:209
lightranger11_t
LightRanger 11 Click context object.
Definition: lightranger11.h:206
lightranger11_cfg_t::int_pin
pin_name_t int_pin
Definition: lightranger11.h:242
lightranger11_cfg_t::rsc
pin_name_t rsc
Definition: lightranger11.h:240
lightranger11_dci_replace_data
err_t lightranger11_dci_replace_data(lightranger11_t *ctx, uint16_t index, uint8_t *data_in, uint16_t data_size, uint8_t *new_data, uint16_t new_data_size, uint16_t new_data_pos)
LightRanger 11 dci replace data function.
lightranger11_results_data_t::silicon_temp_degc
int8_t silicon_temp_degc
Definition: lightranger11.h:256
lightranger11_block_header_t::bytes
uint32_t bytes
Definition: lightranger11.h:286
lightranger11_set_resolution
err_t lightranger11_set_resolution(lightranger11_t *ctx, uint8_t resolution)
LightRanger 11 set resolution function.