lightranger2  2.0.0.0
lightranger2.h
Go to the documentation of this file.
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 "mikrosdk_version.h"
39 
40 #ifdef __GNUC__
41 #if mikroSDK_GET_VERSION < 20800ul
42 #include "rcu_delays.h"
43 #else
44 #include "delays.h"
45 #endif
46 #endif
47 
48 #include "drv_digital_out.h"
49 #include "drv_digital_in.h"
50 #include "drv_i2c_master.h"
51 
52 
53 // -------------------------------------------------------------- PUBLIC MACROS
65 #define LIGHTRANGER2_MAP_MIKROBUS( cfg, mikrobus ) \
66  cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
67  cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
68  cfg.en = MIKROBUS( mikrobus, MIKROBUS_RST ); \
69  cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
70 
76 #define LIGHTRANGER2_RETVAL uint8_t
77 
78 #define LIGHTRANGER2_OK 0x00
79 #define LIGHTRANGER2_INIT_ERROR 0xFF
80 
86 #define LIGHTRANGER2_I2C_ADDR 0x29
87 
93 #define LIGHTRANGER2_SYSRANGE_START 0x00
94 
100 #define LIGHTRANGER2_SYSTEM_THRESH_HIGH 0x0C
101 #define LIGHTRANGER2_SYSTEM_THRESH_LOW 0x0E
102 
108 #define LIGHTRANGER2_SYSTEM_SEQUENCE_CONFIG 0x01
109 #define LIGHTRANGER2_SYSTEM_RANGE_CONFIG 0x09
110 #define LIGHTRANGER2_SYSTEM_INTERMEASUREMENT_PERIOD 0x04
111 
117 #define LIGHTRANGER2_SYSTEM_INTERRUPT_CONFIG_GPIO 0x0A
118 
124 #define LIGHTRANGER2_GPIO_HV_MUX_ACTIVE_HIGH 0x84
125 
131 #define LIGHTRANGER2_SYSTEM_INTERRUPT_CLEAR 0x0B
132 
138 #define LIGHTRANGER2_RESULT_INTERRUPT_STATUS 0x13
139 #define LIGHTRANGER2_RESULT_RANGE_STATUS 0x14
140 
146 #define LIGHTRANGER2_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN 0xBC
147 #define LIGHTRANGER2_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN 0xC0
148 #define LIGHTRANGER2_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF 0xD0
149 #define LIGHTRANGER2_RESULT_CORE_RANGING_TOTAL_EVENTS_REF 0xD4
150 #define LIGHTRANGER2_RESULT_PEAK_SIGNAL_RATE_REF 0xB6
151 
157 #define LIGHTRANGER2_ALGO_PART_TO_PART_RANGE_OFFSET_MM 0x28
158 
164 #define LIGHTRANGER2_MSRC_CONFIG_CONTROL 0x60
165 
171 #define LIGHTRANGER2_PRE_RANGE_CONFIG_MIN_SNR 0x27
172 #define LIGHTRANGER2_PRE_RANGE_CONFIG_VALID_PHASE_LOW 0x56
173 #define LIGHTRANGER2_PRE_RANGE_CONFIG_VALID_PHASE_HIGH 0x57
174 #define LIGHTRANGER2_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT 0x64
175 
181 #define LIGHTRANGER2_FINAL_RANGE_CONFIG_MIN_SNR 0x67
182 #define LIGHTRANGER2_FINAL_RANGE_CONFIG_VALID_PHASE_LOW 0x47
183 #define LIGHTRANGER2_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH 0x48
184 #define LIGHTRANGER2_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT 0x44
185 
191 #define LIGHTRANGER2_PRE_RANGE_CONFIG_SIGMA_THRESH_HI 0x61
192 #define LIGHTRANGER2_PRE_RANGE_CONFIG_SIGMA_THRESH_LO 0x62
193 
199 #define LIGHTRANGER2_PRE_RANGE_CONFIG_VCSEL_PERIOD 0x50
200 #define LIGHTRANGER2_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI 0x51
201 #define LIGHTRANGER2_PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO 0x52
202 
208 #define LIGHTRANGER2_SYSTEM_HISTOGRAM_BIN 0x81
209 #define LIGHTRANGER2_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT 0x33
210 #define LIGHTRANGER2_HISTOGRAM_CONFIG_READOUT_CTRL 0x55
211 
217 #define LIGHTRANGER2_FINAL_RANGE_CONFIG_VCSEL_PERIOD 0x70
218 #define LIGHTRANGER2_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI 0x71
219 #define LIGHTRANGER2_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO 0x72
220 #define LIGHTRANGER2_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS 0x20
221 
227 #define LIGHTRANGER2_MSRC_CONFIG_TIMEOUT_MACROP 0x46
228 
234 #define LIGHTRANGER2_SOFT_RESET_GO2_SOFT_RESET_N 0xBF
235 #define LIGHTRANGER2_IDENTIFICATION_MODEL_ID 0xC0
236 #define LIGHTRANGER2_IDENTIFICATION_REVISION_ID 0xC2
237 
243 #define LIGHTRANGER2_OSC_CALIBRATE_VAL 0xF8
244 
250 #define LIGHTRANGER2_GLOBAL_CONFIG_VCSEL_WIDTH 0x32
251 #define LIGHTRANGER2_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 0xB0
252 #define LIGHTRANGER2_GLOBAL_CONFIG_SPAD_ENABLES_REF_1 0xB1
253 #define LIGHTRANGER2_GLOBAL_CONFIG_SPAD_ENABLES_REF_2 0xB2
254 #define LIGHTRANGER2_GLOBAL_CONFIG_SPAD_ENABLES_REF_3 0xB3
255 #define LIGHTRANGER2_GLOBAL_CONFIG_SPAD_ENABLES_REF_4 0xB4
256 #define LIGHTRANGER2_GLOBAL_CONFIG_SPAD_ENABLES_REF_5 0xB5
257 
263 #define LIGHTRANGER2_GLOBAL_CONFIG_REF_EN_START_SELECT 0xB6
264 #define LIGHTRANGER2_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD 0x4E
265 #define LIGHTRANGER2_DYNAMIC_SPAD_REF_EN_START_OFFSET 0x4F
266 #define LIGHTRANGER2_POWER_MANAGEMENT_GO1_POWER_FORCE 0x80
267 
273 #define LIGHTRANGER2_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV 0x89
274 
280 #define LIGHTRANGER2_ALGO_PHASECAL_LIM 0x30
281 #define LIGHTRANGER2_ALGO_PHASECAL_CONFIG_TIMEOUT 0x30
282 
288 #define LIGHTRANGER2_STATUS_ERR 0x00
289 #define LIGHTRANGER2_STATUS_OK 0x01
290  // End group macro
295 // --------------------------------------------------------------- PUBLIC TYPES
304 typedef struct
305 {
306 
307  digital_out_t en;
308 
309  digital_in_t int_pin;
310 
311  // Modules
312 
313  i2c_master_t i2c;
314 
315  // ctx variable
316 
317  uint8_t slave_address;
318 
320  uint16_t io_timeout;
321  uint8_t did_timeout;
323 
325 
329 typedef struct
330 {
331  // Communication gpio pins
332 
333  pin_name_t scl;
334  pin_name_t sda;
335 
336  // Additional gpio pins
337 
338 
339  pin_name_t en;
340 
341  pin_name_t int_pin;
342 
343  // static variable
344 
345  uint32_t i2c_speed;
346  uint8_t i2c_address;
347 
348 
350  // End types group
352 // ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
353 
359 #ifdef __cplusplus
360 extern "C"{
361 #endif
362 
372 
381 
390 
402 void lightranger2_write_byte ( lightranger2_t* ctx, uint8_t reg_address, uint8_t write_data );
403 
416 uint8_t lightranger2_read_byte ( lightranger2_t* ctx, uint8_t reg_address );
417 
429 void lightranger2_write_data ( lightranger2_t* ctx, uint8_t reg_address, uint16_t write_data );
430 
443 uint16_t lightranger2_read_data ( lightranger2_t* ctx, uint8_t reg_address );
444 
458 void lightranger2_write_bytes ( lightranger2_t* ctx, uint8_t reg_address, uint8_t* write_data, uint8_t n_bytes );
459 
473 void lightranger2_read_bytes ( lightranger2_t* ctx, uint8_t reg_address, uint8_t* read_data, uint8_t n_bytes );
474 
488 
499 
510 
525 
536 void lightranger2_start_continuous ( lightranger2_t* ctx, uint32_t period_ms );
537 
548 
565  float limit_mcps );
566 
580 
598  uint8_t* count_data,
599  uint8_t* aperture_type );
600 
616  uint8_t vhv_init_byte );
617 
631 
645 
646 #ifdef __cplusplus
647 }
648 #endif
649 #endif // _LIGHTRANGER2_H_
650  // End public_function group
653 
654 // ------------------------------------------------------------------------- END
lightranger2_init
LIGHTRANGER2_RETVAL lightranger2_init(lightranger2_t *ctx, lightranger2_cfg_t *cfg)
Initialization function.
lightranger2_t::i2c
i2c_master_t i2c
Definition: lightranger2.h:313
lightranger2_t::io_timeout
uint16_t io_timeout
Definition: lightranger2.h:320
lightranger2_write_bytes
void lightranger2_write_bytes(lightranger2_t *ctx, uint8_t reg_address, uint8_t *write_data, uint8_t n_bytes)
Generic sequential data write function.
lightranger2_disable
void lightranger2_disable(lightranger2_t *ctx)
Disable function.
lightranger2_get_signal_rate_limit
float lightranger2_get_signal_rate_limit(lightranger2_t *ctx)
Get the signal rate limit check value function.
lightranger2_get_spad_info
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.
lightranger2_cfg_setup
void lightranger2_cfg_setup(lightranger2_cfg_t *cfg)
Config Object Initialization function.
lightranger2_t::timeout_start_ms
uint16_t timeout_start_ms
Definition: lightranger2.h:322
lightranger2_t::slave_address
uint8_t slave_address
Definition: lightranger2.h:317
lightranger2_cfg_t
Click configuration structure definition.
Definition: lightranger2.h:330
lightranger2_cfg_t::int_pin
pin_name_t int_pin
Definition: lightranger2.h:341
lightranger2_hw_reset
void lightranger2_hw_reset(lightranger2_t *ctx)
Hardware reset function.
lightranger2_cfg_t::i2c_speed
uint32_t i2c_speed
Definition: lightranger2.h:345
lightranger2_t::milliseconds_counter
uint32_t milliseconds_counter
Definition: lightranger2.h:319
lightranger2_set_signal_rate_limit
LIGHTRANGER2_RETVAL lightranger2_set_signal_rate_limit(lightranger2_t *ctx, float limit_mcps)
Set the signal rate limit check value function.
lightranger2_t::en
digital_out_t en
Definition: lightranger2.h:307
lightranger2_single_calibration
LIGHTRANGER2_RETVAL lightranger2_single_calibration(lightranger2_t *ctx, uint8_t vhv_init_byte)
Perform single reference calibration function.
lightranger2_get_range_continuous
uint16_t lightranger2_get_range_continuous(lightranger2_t *ctx)
Get a range measurement ( continuous mode ) function.
lightranger2_write_byte
void lightranger2_write_byte(lightranger2_t *ctx, uint8_t reg_address, uint8_t write_data)
Click Default Configuration function.
lightranger2_get_interrupt
uint8_t lightranger2_get_interrupt(lightranger2_t *ctx)
Get interrupt state function.
LIGHTRANGER2_RETVAL
#define LIGHTRANGER2_RETVAL
Definition: lightranger2.h:76
lightranger2_cfg_t::sda
pin_name_t sda
Definition: lightranger2.h:334
lightranger2_read_byte
uint8_t lightranger2_read_byte(lightranger2_t *ctx, uint8_t reg_address)
Click Default Configuration function.
lightranger2_t
Click ctx object definition.
Definition: lightranger2.h:305
lightranger2_get_range_single
uint16_t lightranger2_get_range_single(lightranger2_t *ctx)
Get a range measurement ( single mode ) function.
lightranger2_write_data
void lightranger2_write_data(lightranger2_t *ctx, uint8_t reg_address, uint16_t write_data)
Click Default Configuration function.
lightranger2_cfg_t::i2c_address
uint8_t i2c_address
Definition: lightranger2.h:346
lightranger2_start_continuous
void lightranger2_start_continuous(lightranger2_t *ctx, uint32_t period_ms)
Start continuous ranging measurements function.
lightranger2_stop_continuous
void lightranger2_stop_continuous(lightranger2_t *ctx)
Stop continuous measurements function.
lightranger2_read_data
uint16_t lightranger2_read_data(lightranger2_t *ctx, uint8_t reg_address)
Click Default Configuration function.
lightranger2_cfg_t::scl
pin_name_t scl
Definition: lightranger2.h:333
lightranger2_default_cfg
LIGHTRANGER2_RETVAL lightranger2_default_cfg(lightranger2_t *ctx)
Click Default Configuration function.
lightranger2_cfg_t::en
pin_name_t en
Definition: lightranger2.h:339
lightranger2_t::did_timeout
uint8_t did_timeout
Definition: lightranger2.h:321
lightranger2_t::int_pin
digital_in_t int_pin
Definition: lightranger2.h:309
lightranger2_read_bytes
void lightranger2_read_bytes(lightranger2_t *ctx, uint8_t reg_address, uint8_t *read_data, uint8_t n_bytes)
Generic sequential data read function.
lightranger2_enable
void lightranger2_enable(lightranger2_t *ctx)
Enable function.