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28 #ifndef LIGHTRANGER5_H
29 #define LIGHTRANGER5_H
35 #include "mikrosdk_version.h"
38 #if mikroSDK_GET_VERSION < 20800ul
39 #include "rcu_delays.h"
45 #include "drv_digital_out.h"
46 #include "drv_digital_in.h"
47 #include "drv_i2c_master.h"
69 #define LIGHTRANGER5_REG_APPID 0x00
70 #define LIGHTRANGER5_REG_APPREQID 0x02
71 #define LIGHTRANGER5_REG_APPREV_MAJOR 0x01
72 #define LIGHTRANGER5_REG_APPREV_MINOR 0x12
73 #define LIGHTRANGER5_REG_APPREV_PATCH 0x13
74 #define LIGHTRANGER5_REG_CMD_DATA9 0x06
75 #define LIGHTRANGER5_REG_CMD_DATA8 0x07
76 #define LIGHTRANGER5_REG_CMD_DATA7 0x08
77 #define LIGHTRANGER5_REG_CMD_DATA6 0x09
78 #define LIGHTRANGER5_REG_CMD_DATA5 0x0A
79 #define LIGHTRANGER5_REG_CMD_DATA4 0x0B
80 #define LIGHTRANGER5_REG_CMD_DATA3 0x0C
81 #define LIGHTRANGER5_REG_CMD_DATA2 0x0D
82 #define LIGHTRANGER5_REG_CMD_DATA1 0x0E
83 #define LIGHTRANGER5_REG_CMD_DATA0 0x0F
84 #define LIGHTRANGER5_REG_COMMAND 0x10
85 #define LIGHTRANGER5_REG_PREVIOUS 0x11
86 #define LIGHTRANGER5_REG_STATUS 0x1D
87 #define LIGHTRANGER5_REG_REGISTER_CONTENTS 0x1E
88 #define LIGHTRANGER5_REG_TID 0x1F
89 #define LIGHTRANGER5_REG_RESULT_NUMBER 0x20
90 #define LIGHTRANGER5_REG_RESULT_INFO 0x21
91 #define LIGHTRANGER5_REG_DISTANCE_PEAK_0 0x22
92 #define LIGHTRANGER5_REG_DISTANCE_PEAK_1 0x23
93 #define LIGHTRANGER5_REG_SYS_CLOCK_0 0x24
94 #define LIGHTRANGER5_REG_SYS_CLOCK_1 0x25
95 #define LIGHTRANGER5_REG_SYS_CLOCK_2 0x26
96 #define LIGHTRANGER5_REG_SYS_CLOCK_3 0x27
97 #define LIGHTRANGER5_REG_STATE_DATA_0 0x28
98 #define LIGHTRANGER5_REG_STATE_DATA_1 0x29
99 #define LIGHTRANGER5_REG_STATE_DATA_2 0x2A
100 #define LIGHTRANGER5_REG_STATE_DATA_3 0x2B
101 #define LIGHTRANGER5_REG_STATE_DATA_4 0x2C
102 #define LIGHTRANGER5_REG_STATE_DATA_5 0x2D
103 #define LIGHTRANGER5_REG_STATE_DATA_6 0x2E
104 #define LIGHTRANGER5_REG_STATE_DATA_7 0x2F
105 #define LIGHTRANGER5_REG_STATE_DATA_8_XTALK_MSB 0x30
106 #define LIGHTRANGER5_REG_STATE_DATA_9_XTALK_LSB 0x31
107 #define LIGHTRANGER5_REG_STATE_DATA_10_TJ 0x32
108 #define LIGHTRANGER5_REG_REFERENCE_HITS_0 0x33
109 #define LIGHTRANGER5_REG_REFERENCE_HITS_1 0x34
110 #define LIGHTRANGER5_REG_REFERENCE_HITS_2 0x35
111 #define LIGHTRANGER5_REG_REFERENCE_HITS_3 0x36
112 #define LIGHTRANGER5_REG_OBJECT_HITS_0 0x37
113 #define LIGHTRANGER5_REG_OBJECT_HITS_1 0x38
114 #define LIGHTRANGER5_REG_OBJECT_HITS_2 0x39
115 #define LIGHTRANGER5_REG_OBJECT_HITS_3 0x3A
116 #define LIGHTRANGER5_REG_FACTORY_CALIB_0 0x20
117 #define LIGHTRANGER5_REG_STATE_DATA_WR_0 0x2E
118 #define LIGHTRANGER5_REG_ENABLE 0xE0
119 #define LIGHTRANGER5_REG_INT_STATUS 0xE1
120 #define LIGHTRANGER5_REG_INT_ENAB 0xE2
121 #define LIGHTRANGER5_REG_DEVICE_ID 0xE3
122 #define LIGHTRANGER5_REG_REVID 0xE4
146 #define LIGHTRANGER5_CMD_NO_COMMAND 0x00
147 #define LIGHTRANGER5_CMD_DISTANCE_MEASURE_MODE_1 0x02
148 #define LIGHTRANGER5_CMD_FACTORY_CALIB 0x0A
149 #define LIGHTRANGER5_CMD_DL_CALIB_AND_STATE 0x0B
150 #define LIGHTRANGER5_CMD_RESULT 0x55
157 #define LIGHTRANGER5_APPID_MEASUREMENT 0xC0
158 #define LIGHTRANGER5_APPID_BOOTLOADER 0x80
159 #define LIGHTRANGER5_EXPECTED_ID 0x07
160 #define LIGHTRANGER5_CALIB_DATA 0x0A
161 #define LIGHTRANGER5_SERIAL_NUMBER 0x47
162 #define LIGHTRANGER5_BIT_CPU_RDY 0x40
163 #define LIGHTRANGER5_ENABLE_RESET 0x80
170 #define LIGHTRANGER5_SET_DEV_ADDR 0x41
183 #define LIGHTRANGER5_STATUS_IDLE 0x00
184 #define LIGHTRANGER5_STATUS_DIAGNOSTIC 0x01
185 #define LIGHTRANGER5_STATUS_START 0x02
186 #define LIGHTRANGER5_STATUS_CALIBRATION 0x03
187 #define LIGHTRANGER5_STATUS_LIGHTCOL 0x04
188 #define LIGHTRANGER5_STATUS_ALGORITHM 0x05
189 #define LIGHTRANGER5_STATUS_STARTUP 0x06
190 #define LIGHTRANGER5_STATUS_OK 0x0F
191 #define LIGHTRANGER5_STATUS_VCSEL_PWR_FAIL 0x10
192 #define LIGHTRANGER5_STATUS_VCSEL_LED_A_FAIL 0x11
193 #define LIGHTRANGER5_STATUS_VCSEL_LED_K_FAIL 0x12
194 #define LIGHTRANGER5_STATUS_INVALID_PARAM 0x18
195 #define LIGHTRANGER5_STATUS_INVALID_DEVICE 0x19
196 #define LIGHTRANGER5_STATUS_CALIB_ERROR 0x1B
197 #define LIGHTRANGER5_STATUS_INVALID_COMMAND 0x1C
198 #define LIGHTRANGER5_STATUS_INVALID_STATE 0x1D
199 #define LIGHTRANGER5_STATUS_ERR_ALGORITHM 0x1F
218 #define LIGHTRANGER5_MAP_MIKROBUS( cfg, mikrobus ) \
219 cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
220 cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
221 cfg.en = MIKROBUS( mikrobus, MIKROBUS_CS ); \
222 cfg.io0 = MIKROBUS( mikrobus, MIKROBUS_RST ); \
223 cfg.io1 = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
224 cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
721 #endif // LIGHTRANGER5_H
uint32_t i2c_speed
Definition: lightranger5.h:269
err_t lightranger5_init(lightranger5_t *ctx, lightranger5_cfg_t *cfg)
LightRanger 5 initialization function.
lightranger5_return_data_ready_t lightranger5_check_data_ready(lightranger5_t *ctx)
LightRanger 5 check data ready function.
pin_name_t io0
Definition: lightranger5.h:265
pin_name_t int_pin
Definition: lightranger5.h:267
lightranger5_return_value_t
LightRanger 5 Click return value data.
Definition: lightranger5.h:279
pin_name_t scl
Definition: lightranger5.h:261
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:291
err_t lightranger5_get_factory_calib_data(lightranger5_t *ctx, uint8_t *factory_calib_data)
LightRanger 5 get factory calib data function.
uint8_t i2c_address
Definition: lightranger5.h:270
@ LIGHTRANGER5_OK
Definition: lightranger5.h:280
@ LIGHTRANGER5_ERROR
Definition: lightranger5.h:281
digital_out_t io0
Definition: lightranger5.h:238
err_t lightranger5_get_currently_run_app(lightranger5_t *ctx, uint8_t *appid_data)
LightRanger 5 get currently running application function.
pin_name_t en
Definition: lightranger5.h:264
uint8_t lightranger5_check_int(lightranger5_t *ctx)
LightRanger 5 check interrupt state function.
LightRanger 5 Click configuration object.
Definition: lightranger5.h:260
err_t lightranger5_enable_device(lightranger5_t *ctx)
LightRanger 5 enable device function.
err_t lightranger5_default_cfg(lightranger5_t *ctx)
LightRanger 5 default configuration function.
err_t lightranger5_load_app(lightranger5_t *ctx)
LightRanger 5 load app function.
digital_out_t en
Definition: lightranger5.h:237
err_t lightranger5_set_pin_state_io1(lightranger5_t *ctx, uint8_t io1_state)
LightRanger 5 set IO1 pin state function.
err_t lightranger5_check_factory_calibration(lightranger5_t *ctx)
LightRanger 5 check factory calibration function.
uint8_t slave_address
Definition: lightranger5.h:251
err_t lightranger5_set_factory_calib_data(lightranger5_t *ctx, uint8_t *factory_calib_data)
LightRanger 5 set factory calib data function.
err_t lightranger5_set_algorithm_state_data(lightranger5_t *ctx, uint8_t *alg_state_data)
LightRanger 5 set algorithm state data function.
err_t lightranger5_generic_write(lightranger5_t *ctx, uint8_t reg, uint8_t *tx_buf, uint8_t tx_len)
LightRanger 5 I2C writing function.
pin_name_t sda
Definition: lightranger5.h:262
err_t lightranger5_disable_device(lightranger5_t *ctx)
LightRanger 5 disable device function.
err_t lightranger5_set_command(lightranger5_t *ctx, uint8_t cmd)
LightRanger 5 set command function.
digital_out_t io1
Definition: lightranger5.h:239
err_t lightranger5_device_reset(lightranger5_t *ctx)
LightRanger 5 device reset function.
err_t lightranger5_get_status(lightranger5_t *ctx, uint8_t *status)
LightRanger 5 get status function.
err_t lightranger5_set_pin_state_io0(lightranger5_t *ctx, uint8_t io0_state)
LightRanger 5 set IO0 pin state function.
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:292
pin_name_t io1
Definition: lightranger5.h:266
err_t lightranger5_start_calib_cmd(lightranger5_t *ctx)
LightRanger 5 start calibration function.
err_t lightranger5_generic_read(lightranger5_t *ctx, uint8_t reg, uint8_t *rx_buf, uint8_t rx_len)
LightRanger 5 I2C reading function.
digital_in_t int_pin
Definition: lightranger5.h:243
LightRanger 5 Click context object.
Definition: lightranger5.h:234
lightranger5_return_data_ready_t
LightRanger 5 Click return data ready.
Definition: lightranger5.h:290
uint16_t lightranger5_measure_distance(lightranger5_t *ctx)
LightRanger 5 measure distance function.
i2c_master_t i2c
Definition: lightranger5.h:247
void lightranger5_cfg_setup(lightranger5_cfg_t *cfg)
LightRanger 5 configuration object setup function.