lightranger5  2.0.0.0
lightranger5.h
Go to the documentation of this file.
1 /****************************************************************************
2 ** Copyright (C) 2020 MikroElektronika d.o.o.
3 ** Contact: https://www.mikroe.com/contact
4 **
5 ** Permission is hereby granted, free of charge, to any person obtaining a copy
6 ** of this software and associated documentation files (the "Software"), to deal
7 ** in the Software without restriction, including without limitation the rights
8 ** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
9 ** copies of the Software, and to permit persons to whom the Software is
10 ** furnished to do so, subject to the following conditions:
11 ** The above copyright notice and this permission notice shall be
12 ** included in all copies or substantial portions of the Software.
13 **
14 ** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
15 ** EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
16 ** OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
17 ** IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
18 ** DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT
19 ** OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE
20 ** USE OR OTHER DEALINGS IN THE SOFTWARE.
21 ****************************************************************************/
22 
28 #ifndef LIGHTRANGER5_H
29 #define LIGHTRANGER5_H
30 
31 #ifdef __cplusplus
32 extern "C"{
33 #endif
34 
35 #include "drv_digital_out.h"
36 #include "drv_digital_in.h"
37 #include "drv_i2c_master.h"
38 
59 #define LIGHTRANGER5_REG_APPID 0x00
60 #define LIGHTRANGER5_REG_APPREQID 0x02
61 #define LIGHTRANGER5_REG_APPREV_MAJOR 0x01
62 #define LIGHTRANGER5_REG_APPREV_MINOR 0x12
63 #define LIGHTRANGER5_REG_APPREV_PATCH 0x13
64 #define LIGHTRANGER5_REG_CMD_DATA9 0x06
65 #define LIGHTRANGER5_REG_CMD_DATA8 0x07
66 #define LIGHTRANGER5_REG_CMD_DATA7 0x08
67 #define LIGHTRANGER5_REG_CMD_DATA6 0x09
68 #define LIGHTRANGER5_REG_CMD_DATA5 0x0A
69 #define LIGHTRANGER5_REG_CMD_DATA4 0x0B
70 #define LIGHTRANGER5_REG_CMD_DATA3 0x0C
71 #define LIGHTRANGER5_REG_CMD_DATA2 0x0D
72 #define LIGHTRANGER5_REG_CMD_DATA1 0x0E
73 #define LIGHTRANGER5_REG_CMD_DATA0 0x0F
74 #define LIGHTRANGER5_REG_COMMAND 0x10
75 #define LIGHTRANGER5_REG_PREVIOUS 0x11
76 #define LIGHTRANGER5_REG_STATUS 0x1D
77 #define LIGHTRANGER5_REG_REGISTER_CONTENTS 0x1E
78 #define LIGHTRANGER5_REG_TID 0x1F
79 #define LIGHTRANGER5_REG_RESULT_NUMBER 0x20
80 #define LIGHTRANGER5_REG_RESULT_INFO 0x21
81 #define LIGHTRANGER5_REG_DISTANCE_PEAK_0 0x22
82 #define LIGHTRANGER5_REG_DISTANCE_PEAK_1 0x23
83 #define LIGHTRANGER5_REG_SYS_CLOCK_0 0x24
84 #define LIGHTRANGER5_REG_SYS_CLOCK_1 0x25
85 #define LIGHTRANGER5_REG_SYS_CLOCK_2 0x26
86 #define LIGHTRANGER5_REG_SYS_CLOCK_3 0x27
87 #define LIGHTRANGER5_REG_STATE_DATA_0 0x28
88 #define LIGHTRANGER5_REG_STATE_DATA_1 0x29
89 #define LIGHTRANGER5_REG_STATE_DATA_2 0x2A
90 #define LIGHTRANGER5_REG_STATE_DATA_3 0x2B
91 #define LIGHTRANGER5_REG_STATE_DATA_4 0x2C
92 #define LIGHTRANGER5_REG_STATE_DATA_5 0x2D
93 #define LIGHTRANGER5_REG_STATE_DATA_6 0x2E
94 #define LIGHTRANGER5_REG_STATE_DATA_7 0x2F
95 #define LIGHTRANGER5_REG_STATE_DATA_8_XTALK_MSB 0x30
96 #define LIGHTRANGER5_REG_STATE_DATA_9_XTALK_LSB 0x31
97 #define LIGHTRANGER5_REG_STATE_DATA_10_TJ 0x32
98 #define LIGHTRANGER5_REG_REFERENCE_HITS_0 0x33
99 #define LIGHTRANGER5_REG_REFERENCE_HITS_1 0x34
100 #define LIGHTRANGER5_REG_REFERENCE_HITS_2 0x35
101 #define LIGHTRANGER5_REG_REFERENCE_HITS_3 0x36
102 #define LIGHTRANGER5_REG_OBJECT_HITS_0 0x37
103 #define LIGHTRANGER5_REG_OBJECT_HITS_1 0x38
104 #define LIGHTRANGER5_REG_OBJECT_HITS_2 0x39
105 #define LIGHTRANGER5_REG_OBJECT_HITS_3 0x3A
106 #define LIGHTRANGER5_REG_FACTORY_CALIB_0 0x20
107 #define LIGHTRANGER5_REG_STATE_DATA_WR_0 0x2E
108 #define LIGHTRANGER5_REG_ENABLE 0xE0
109 #define LIGHTRANGER5_REG_INT_STATUS 0xE1
110 #define LIGHTRANGER5_REG_INT_ENAB 0xE2
111 #define LIGHTRANGER5_REG_DEVICE_ID 0xE3
112 #define LIGHTRANGER5_REG_REVID 0xE4
113  // lightranger5_reg
115 
136 #define LIGHTRANGER5_CMD_NO_COMMAND 0x00
137 #define LIGHTRANGER5_CMD_DISTANCE_MEASURE_MODE_1 0x02
138 #define LIGHTRANGER5_CMD_FACTORY_CALIB 0x0A
139 #define LIGHTRANGER5_CMD_DL_CALIB_AND_STATE 0x0B
140 #define LIGHTRANGER5_CMD_RESULT 0x55
141 
147 #define LIGHTRANGER5_APPID_MEASUREMENT 0xC0
148 #define LIGHTRANGER5_APPID_BOOTLOADER 0x80
149 #define LIGHTRANGER5_EXPECTED_ID 0x07
150 #define LIGHTRANGER5_CALIB_DATA 0x0A
151 #define LIGHTRANGER5_SERIAL_NUMBER 0x47
152 #define LIGHTRANGER5_BIT_CPU_RDY 0x40
153 #define LIGHTRANGER5_ENABLE_RESET 0x80
154 
160 #define LIGHTRANGER5_SET_DEV_ADDR 0x41
161  // lightranger5_set
163 
173 #define LIGHTRANGER5_STATUS_IDLE 0x00
174 #define LIGHTRANGER5_STATUS_DIAGNOSTIC 0x01
175 #define LIGHTRANGER5_STATUS_START 0x02
176 #define LIGHTRANGER5_STATUS_CALIBRATION 0x03
177 #define LIGHTRANGER5_STATUS_LIGHTCOL 0x04
178 #define LIGHTRANGER5_STATUS_ALGORITHM 0x05
179 #define LIGHTRANGER5_STATUS_STARTUP 0x06
180 #define LIGHTRANGER5_STATUS_OK 0x0F
181 #define LIGHTRANGER5_STATUS_VCSEL_PWR_FAIL 0x10
182 #define LIGHTRANGER5_STATUS_VCSEL_LED_A_FAIL 0x11
183 #define LIGHTRANGER5_STATUS_VCSEL_LED_K_FAIL 0x12
184 #define LIGHTRANGER5_STATUS_INVALID_PARAM 0x18
185 #define LIGHTRANGER5_STATUS_INVALID_DEVICE 0x19
186 #define LIGHTRANGER5_STATUS_CALIB_ERROR 0x1B
187 #define LIGHTRANGER5_STATUS_INVALID_COMMAND 0x1C
188 #define LIGHTRANGER5_STATUS_INVALID_STATE 0x1D
189 #define LIGHTRANGER5_STATUS_ERR_ALGORITHM 0x1F
190 
191  // lightranger5_get
193 
208 #define LIGHTRANGER5_MAP_MIKROBUS( cfg, mikrobus ) \
209  cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
210  cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
211  cfg.en = MIKROBUS( mikrobus, MIKROBUS_CS ); \
212  cfg.io0 = MIKROBUS( mikrobus, MIKROBUS_RST ); \
213  cfg.io1 = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
214  cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
215  // lightranger5_map // lightranger5
218 
223 typedef struct
224 {
225  // Output pins
226 
227  digital_out_t en;
228  digital_out_t io0;
229  digital_out_t io1;
231  // Input pins
232 
233  digital_in_t int_pin;
235  // Modules
236 
237  i2c_master_t i2c;
239  // I2C slave address
240 
241  uint8_t slave_address;
244 
249 typedef struct
250 {
251  pin_name_t scl;
252  pin_name_t sda;
254  pin_name_t en;
255  pin_name_t io0;
256  pin_name_t io1;
257  pin_name_t int_pin;
259  uint32_t i2c_speed;
260  uint8_t i2c_address;
263 
268 typedef enum
269 {
271  LIGHTRANGER5_ERROR = -1
272 
274 
279 typedef enum
280 {
283 
285 
304 
322 
339 
357 err_t lightranger5_generic_write ( lightranger5_t *ctx, uint8_t reg, uint8_t *tx_buf, uint8_t tx_len );
358 
376 err_t lightranger5_generic_read ( lightranger5_t *ctx, uint8_t reg, uint8_t *rx_buf, uint8_t rx_len );
377 
378 
394 
410 
428 err_t lightranger5_set_pin_state_io0 ( lightranger5_t *ctx, uint8_t io0_state );
429 
447 err_t lightranger5_set_pin_state_io1 ( lightranger5_t *ctx, uint8_t io1_state );
448 
465 
482 
498 
515 
531 err_t lightranger5_get_status ( lightranger5_t *ctx, uint8_t *status );
532 
548 err_t lightranger5_set_command ( lightranger5_t *ctx, uint8_t cmd );
549 
566 err_t lightranger5_set_factory_calib_data ( lightranger5_t *ctx, uint8_t *factory_calib_data );
567 
584 err_t lightranger5_get_factory_calib_data ( lightranger5_t *ctx, uint8_t *factory_calib_data );
585 
603 err_t lightranger5_set_algorithm_state_data ( lightranger5_t *ctx, uint8_t *alg_state_data );
604 
620 err_t lightranger5_set_command_data ( lightranger5_t *ctx, uint8_t *cmd_data );
621 
640 err_t lightranger5_check_previous_command ( lightranger5_t *ctx, uint8_t *previous_cmd );
641 
659 err_t lightranger5_get_currently_run_app ( lightranger5_t *ctx, uint8_t *appid_data );
660 
676 
691 
706 uint8_t lightranger5_check_int ( lightranger5_t *ctx );
707 
708 #ifdef __cplusplus
709 }
710 #endif
711 #endif // LIGHTRANGER5_H
712  // lightranger5
714 
715 // ------------------------------------------------------------------------ END
lightranger5_init
err_t lightranger5_init(lightranger5_t *ctx, lightranger5_cfg_t *cfg)
LightRanger 5 initialization function.
lightranger5_check_data_ready
lightranger5_return_data_ready_t lightranger5_check_data_ready(lightranger5_t *ctx)
LightRanger 5 check data ready function.
lightranger5_return_value_t
lightranger5_return_value_t
LightRanger 5 Click return value data.
Definition: lightranger5.h:267
lightranger5_set_command_data
err_t lightranger5_set_command_data(lightranger5_t *ctx, uint8_t *cmd_data)
LightRanger 5 set command data function.
LIGHTRANGER5_DATA_NOT_READY
Definition: lightranger5.h:280
lightranger5_get_factory_calib_data
err_t lightranger5_get_factory_calib_data(lightranger5_t *ctx, uint8_t *factory_calib_data)
LightRanger 5 get factory calib data function.
LIGHTRANGER5_OK
Definition: lightranger5.h:269
LIGHTRANGER5_ERROR
Definition: lightranger5.h:270
lightranger5_get_currently_run_app
err_t lightranger5_get_currently_run_app(lightranger5_t *ctx, uint8_t *appid_data)
LightRanger 5 get currently running application function.
lightranger5_check_int
uint8_t lightranger5_check_int(lightranger5_t *ctx)
LightRanger 5 check interrupt state function.
lightranger5_cfg_t
LightRanger 5 Click configuration object.
Definition: lightranger5.h:248
lightranger5_enable_device
err_t lightranger5_enable_device(lightranger5_t *ctx)
LightRanger 5 enable device function.
lightranger5_default_cfg
err_t lightranger5_default_cfg(lightranger5_t *ctx)
LightRanger 5 default configuration function.
lightranger5_load_app
err_t lightranger5_load_app(lightranger5_t *ctx)
LightRanger 5 load app function.
lightranger5_set_pin_state_io1
err_t lightranger5_set_pin_state_io1(lightranger5_t *ctx, uint8_t io1_state)
LightRanger 5 set IO1 pin state function.
lightranger5_check_factory_calibration
err_t lightranger5_check_factory_calibration(lightranger5_t *ctx)
LightRanger 5 check factory calibration function.
lightranger5_set_factory_calib_data
err_t lightranger5_set_factory_calib_data(lightranger5_t *ctx, uint8_t *factory_calib_data)
LightRanger 5 set factory calib data function.
lightranger5_set_algorithm_state_data
err_t lightranger5_set_algorithm_state_data(lightranger5_t *ctx, uint8_t *alg_state_data)
LightRanger 5 set algorithm state data function.
lightranger5_generic_write
err_t lightranger5_generic_write(lightranger5_t *ctx, uint8_t reg, uint8_t *tx_buf, uint8_t tx_len)
LightRanger 5 I2C writing function.
lightranger5_disable_device
err_t lightranger5_disable_device(lightranger5_t *ctx)
LightRanger 5 disable device function.
lightranger5_set_command
err_t lightranger5_set_command(lightranger5_t *ctx, uint8_t cmd)
LightRanger 5 set command function.
lightranger5_device_reset
err_t lightranger5_device_reset(lightranger5_t *ctx)
LightRanger 5 device reset function.
lightranger5_get_status
err_t lightranger5_get_status(lightranger5_t *ctx, uint8_t *status)
LightRanger 5 get status function.
lightranger5_set_pin_state_io0
err_t lightranger5_set_pin_state_io0(lightranger5_t *ctx, uint8_t io0_state)
LightRanger 5 set IO0 pin state function.
lightranger5_check_previous_command
err_t lightranger5_check_previous_command(lightranger5_t *ctx, uint8_t *previous_cmd)
LightRanger 5 check previous command function.
LIGHTRANGER5_DATA_IS_READY
Definition: lightranger5.h:281
lightranger5_start_calib_cmd
err_t lightranger5_start_calib_cmd(lightranger5_t *ctx)
LightRanger 5 start calibration function.
lightranger5_generic_read
err_t lightranger5_generic_read(lightranger5_t *ctx, uint8_t reg, uint8_t *rx_buf, uint8_t rx_len)
LightRanger 5 I2C reading function.
lightranger5_t
LightRanger 5 Click context object.
Definition: lightranger5.h:222
lightranger5_return_data_ready_t
lightranger5_return_data_ready_t
LightRanger 5 Click return data ready.
Definition: lightranger5.h:278
lightranger5_measure_distance
uint16_t lightranger5_measure_distance(lightranger5_t *ctx)
LightRanger 5 measure distance function.
lightranger5_cfg_setup
void lightranger5_cfg_setup(lightranger5_cfg_t *cfg)
LightRanger 5 configuration object setup function.