lightranger2 2.0.0.0
lightranger2.h
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1/*
2 * MikroSDK - MikroE Software Development Kit
3 * Copyright© 2020 MikroElektronika d.o.o.
4 *
5 * Permission is hereby granted, free of charge, to any person
6 * obtaining a copy of this software and associated documentation
7 * files (the "Software"), to deal in the Software without restriction,
8 * including without limitation the rights to use, copy, modify, merge,
9 * publish, distribute, sublicense, and/or sell copies of the Software,
10 * and to permit persons to whom the Software is furnished to do so,
11 * subject to the following conditions:
12 *
13 * The above copyright notice and this permission notice shall be
14 * included in all copies or substantial portions of the Software.
15 *
16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
17 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
18 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
19 * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
20 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
21 * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE
22 * OR OTHER DEALINGS IN THE SOFTWARE.
23 */
24
33// ----------------------------------------------------------------------------
34
35#ifndef LIGHTRANGER2_H
36#define LIGHTRANGER2_H
37
38#include "drv_digital_out.h"
39#include "drv_digital_in.h"
40#include "drv_i2c_master.h"
41
42
43// -------------------------------------------------------------- PUBLIC MACROS
55#define LIGHTRANGER2_MAP_MIKROBUS( cfg, mikrobus ) \
56 cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
57 cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
58 cfg.en = MIKROBUS( mikrobus, MIKROBUS_RST ); \
59 cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
66#define LIGHTRANGER2_RETVAL uint8_t
67
68#define LIGHTRANGER2_OK 0x00
69#define LIGHTRANGER2_INIT_ERROR 0xFF
76#define LIGHTRANGER2_I2C_ADDR 0x29
83#define LIGHTRANGER2_SYSRANGE_START 0x00
90#define LIGHTRANGER2_SYSTEM_THRESH_HIGH 0x0C
91#define LIGHTRANGER2_SYSTEM_THRESH_LOW 0x0E
98#define LIGHTRANGER2_SYSTEM_SEQUENCE_CONFIG 0x01
99#define LIGHTRANGER2_SYSTEM_RANGE_CONFIG 0x09
100#define LIGHTRANGER2_SYSTEM_INTERMEASUREMENT_PERIOD 0x04
107#define LIGHTRANGER2_SYSTEM_INTERRUPT_CONFIG_GPIO 0x0A
114#define LIGHTRANGER2_GPIO_HV_MUX_ACTIVE_HIGH 0x84
121#define LIGHTRANGER2_SYSTEM_INTERRUPT_CLEAR 0x0B
128#define LIGHTRANGER2_RESULT_INTERRUPT_STATUS 0x13
129#define LIGHTRANGER2_RESULT_RANGE_STATUS 0x14
136#define LIGHTRANGER2_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN 0xBC
137#define LIGHTRANGER2_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN 0xC0
138#define LIGHTRANGER2_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF 0xD0
139#define LIGHTRANGER2_RESULT_CORE_RANGING_TOTAL_EVENTS_REF 0xD4
140#define LIGHTRANGER2_RESULT_PEAK_SIGNAL_RATE_REF 0xB6
147#define LIGHTRANGER2_ALGO_PART_TO_PART_RANGE_OFFSET_MM 0x28
154#define LIGHTRANGER2_MSRC_CONFIG_CONTROL 0x60
161#define LIGHTRANGER2_PRE_RANGE_CONFIG_MIN_SNR 0x27
162#define LIGHTRANGER2_PRE_RANGE_CONFIG_VALID_PHASE_LOW 0x56
163#define LIGHTRANGER2_PRE_RANGE_CONFIG_VALID_PHASE_HIGH 0x57
164#define LIGHTRANGER2_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT 0x64
171#define LIGHTRANGER2_FINAL_RANGE_CONFIG_MIN_SNR 0x67
172#define LIGHTRANGER2_FINAL_RANGE_CONFIG_VALID_PHASE_LOW 0x47
173#define LIGHTRANGER2_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH 0x48
174#define LIGHTRANGER2_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT 0x44
181#define LIGHTRANGER2_PRE_RANGE_CONFIG_SIGMA_THRESH_HI 0x61
182#define LIGHTRANGER2_PRE_RANGE_CONFIG_SIGMA_THRESH_LO 0x62
189#define LIGHTRANGER2_PRE_RANGE_CONFIG_VCSEL_PERIOD 0x50
190#define LIGHTRANGER2_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI 0x51
191#define LIGHTRANGER2_PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO 0x52
198#define LIGHTRANGER2_SYSTEM_HISTOGRAM_BIN 0x81
199#define LIGHTRANGER2_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT 0x33
200#define LIGHTRANGER2_HISTOGRAM_CONFIG_READOUT_CTRL 0x55
207#define LIGHTRANGER2_FINAL_RANGE_CONFIG_VCSEL_PERIOD 0x70
208#define LIGHTRANGER2_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI 0x71
209#define LIGHTRANGER2_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO 0x72
210#define LIGHTRANGER2_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS 0x20
217#define LIGHTRANGER2_MSRC_CONFIG_TIMEOUT_MACROP 0x46
224#define LIGHTRANGER2_SOFT_RESET_GO2_SOFT_RESET_N 0xBF
225#define LIGHTRANGER2_IDENTIFICATION_MODEL_ID 0xC0
226#define LIGHTRANGER2_IDENTIFICATION_REVISION_ID 0xC2
233#define LIGHTRANGER2_OSC_CALIBRATE_VAL 0xF8
240#define LIGHTRANGER2_GLOBAL_CONFIG_VCSEL_WIDTH 0x32
241#define LIGHTRANGER2_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 0xB0
242#define LIGHTRANGER2_GLOBAL_CONFIG_SPAD_ENABLES_REF_1 0xB1
243#define LIGHTRANGER2_GLOBAL_CONFIG_SPAD_ENABLES_REF_2 0xB2
244#define LIGHTRANGER2_GLOBAL_CONFIG_SPAD_ENABLES_REF_3 0xB3
245#define LIGHTRANGER2_GLOBAL_CONFIG_SPAD_ENABLES_REF_4 0xB4
246#define LIGHTRANGER2_GLOBAL_CONFIG_SPAD_ENABLES_REF_5 0xB5
253#define LIGHTRANGER2_GLOBAL_CONFIG_REF_EN_START_SELECT 0xB6
254#define LIGHTRANGER2_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD 0x4E
255#define LIGHTRANGER2_DYNAMIC_SPAD_REF_EN_START_OFFSET 0x4F
256#define LIGHTRANGER2_POWER_MANAGEMENT_GO1_POWER_FORCE 0x80
263#define LIGHTRANGER2_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV 0x89
270#define LIGHTRANGER2_ALGO_PHASECAL_LIM 0x30
271#define LIGHTRANGER2_ALGO_PHASECAL_CONFIG_TIMEOUT 0x30
278#define LIGHTRANGER2_STATUS_ERR 0x00
279#define LIGHTRANGER2_STATUS_OK 0x01 // End group macro
285// --------------------------------------------------------------- PUBLIC TYPES
294typedef struct
295{
296
297 digital_out_t en;
298
299 digital_in_t int_pin;
300
301 // Modules
302
303 i2c_master_t i2c;
304
305 // ctx variable
306
308
310 uint16_t io_timeout;
311 uint8_t did_timeout;
313
315
319typedef struct
320{
321 // Communication gpio pins
322
323 pin_name_t scl;
324 pin_name_t sda;
325
326 // Additional gpio pins
327
328
329 pin_name_t en;
330
331 pin_name_t int_pin;
332
333 // static variable
334
335 uint32_t i2c_speed;
336 uint8_t i2c_address;
337
338
340 // End types group
342// ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
343
349#ifdef __cplusplus
350extern "C"{
351#endif
352
362
371
380
392void lightranger2_write_byte ( lightranger2_t* ctx, uint8_t reg_address, uint8_t write_data );
393
406uint8_t lightranger2_read_byte ( lightranger2_t* ctx, uint8_t reg_address );
407
419void lightranger2_write_data ( lightranger2_t* ctx, uint8_t reg_address, uint16_t write_data );
420
433uint16_t lightranger2_read_data ( lightranger2_t* ctx, uint8_t reg_address );
434
448void lightranger2_write_bytes ( lightranger2_t* ctx, uint8_t reg_address, uint8_t* write_data, uint8_t n_bytes );
449
463void lightranger2_read_bytes ( lightranger2_t* ctx, uint8_t reg_address, uint8_t* read_data, uint8_t n_bytes );
464
478
489
500
515
526void lightranger2_start_continuous ( lightranger2_t* ctx, uint32_t period_ms );
527
538
555 float limit_mcps );
556
570
588 uint8_t* count_data,
589 uint8_t* aperture_type );
590
606 uint8_t vhv_init_byte );
607
621
635
636#ifdef __cplusplus
637}
638#endif
639#endif // _LIGHTRANGER2_H_
640 // End public_function group
643
644// ------------------------------------------------------------------------- END
#define LIGHTRANGER2_RETVAL
Definition: lightranger2.h:66
void lightranger2_write_bytes(lightranger2_t *ctx, uint8_t reg_address, uint8_t *write_data, uint8_t n_bytes)
Generic sequential data write function.
uint8_t lightranger2_get_interrupt(lightranger2_t *ctx)
Get interrupt state function.
void lightranger2_write_data(lightranger2_t *ctx, uint8_t reg_address, uint16_t write_data)
Click Default Configuration function.
uint16_t lightranger2_get_range_continuous(lightranger2_t *ctx)
Get a range measurement ( continuous mode ) function.
LIGHTRANGER2_RETVAL lightranger2_default_cfg(lightranger2_t *ctx)
Click Default Configuration function.
void lightranger2_disable(lightranger2_t *ctx)
Disable function.
void lightranger2_enable(lightranger2_t *ctx)
Enable function.
void lightranger2_start_continuous(lightranger2_t *ctx, uint32_t period_ms)
Start continuous ranging measurements function.
LIGHTRANGER2_RETVAL lightranger2_get_spad_info(lightranger2_t *ctx, uint8_t *count_data, uint8_t *aperture_type)
Get reference SPAD ( single photon avalanche diode ) function.
void lightranger2_cfg_setup(lightranger2_cfg_t *cfg)
Config Object Initialization function.
uint16_t lightranger2_read_data(lightranger2_t *ctx, uint8_t reg_address)
Click Default Configuration function.
float lightranger2_get_signal_rate_limit(lightranger2_t *ctx)
Get the signal rate limit check value function.
void lightranger2_stop_continuous(lightranger2_t *ctx)
Stop continuous measurements function.
uint8_t lightranger2_read_byte(lightranger2_t *ctx, uint8_t reg_address)
Click Default Configuration function.
LIGHTRANGER2_RETVAL lightranger2_set_signal_rate_limit(lightranger2_t *ctx, float limit_mcps)
Set the signal rate limit check value function.
uint16_t lightranger2_get_range_single(lightranger2_t *ctx)
Get a range measurement ( single mode ) function.
LIGHTRANGER2_RETVAL lightranger2_init(lightranger2_t *ctx, lightranger2_cfg_t *cfg)
Initialization function.
LIGHTRANGER2_RETVAL lightranger2_single_calibration(lightranger2_t *ctx, uint8_t vhv_init_byte)
Perform single reference calibration function.
void lightranger2_write_byte(lightranger2_t *ctx, uint8_t reg_address, uint8_t write_data)
Click Default Configuration function.
void lightranger2_read_bytes(lightranger2_t *ctx, uint8_t reg_address, uint8_t *read_data, uint8_t n_bytes)
Generic sequential data read function.
void lightranger2_hw_reset(lightranger2_t *ctx)
Hardware reset function.
Click configuration structure definition.
Definition: lightranger2.h:320
uint32_t i2c_speed
Definition: lightranger2.h:335
pin_name_t scl
Definition: lightranger2.h:323
pin_name_t en
Definition: lightranger2.h:329
pin_name_t int_pin
Definition: lightranger2.h:331
pin_name_t sda
Definition: lightranger2.h:324
uint8_t i2c_address
Definition: lightranger2.h:336
Click ctx object definition.
Definition: lightranger2.h:295
uint16_t timeout_start_ms
Definition: lightranger2.h:312
uint32_t milliseconds_counter
Definition: lightranger2.h:309
uint8_t did_timeout
Definition: lightranger2.h:311
digital_in_t int_pin
Definition: lightranger2.h:299
i2c_master_t i2c
Definition: lightranger2.h:303
digital_out_t en
Definition: lightranger2.h:297
uint8_t slave_address
Definition: lightranger2.h:307
uint16_t io_timeout
Definition: lightranger2.h:310