lightranger5  2.0.0.0
lightranger5.h
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22 
28 #ifndef LIGHTRANGER5_H
29 #define LIGHTRANGER5_H
30 
31 #ifdef __cplusplus
32 extern "C"{
33 #endif
34 
35 #include "mikrosdk_version.h"
36 
37 #ifdef __GNUC__
38 #if mikroSDK_GET_VERSION < 20800ul
39 #include "rcu_delays.h"
40 #else
41 #include "delays.h"
42 #endif
43 #endif
44 
45 #include "drv_digital_out.h"
46 #include "drv_digital_in.h"
47 #include "drv_i2c_master.h"
48 
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
123  // lightranger5_reg
125 
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
151 
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
164 
170 #define LIGHTRANGER5_SET_DEV_ADDR 0x41
171  // lightranger5_set
173 
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
200 
201  // lightranger5_get
203 
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 )
225  // lightranger5_map // lightranger5
228 
233 typedef struct
234 {
235  // Output pins
236 
237  digital_out_t en;
238  digital_out_t io0;
239  digital_out_t io1;
241  // Input pins
242 
243  digital_in_t int_pin;
245  // Modules
246 
247  i2c_master_t i2c;
249  // I2C slave address
250 
251  uint8_t slave_address;
254 
259 typedef struct
260 {
261  pin_name_t scl;
262  pin_name_t sda;
264  pin_name_t en;
265  pin_name_t io0;
266  pin_name_t io1;
267  pin_name_t int_pin;
269  uint32_t i2c_speed;
270  uint8_t i2c_address;
273 
278 typedef enum
279 {
281  LIGHTRANGER5_ERROR = -1
282 
284 
289 typedef enum
290 {
293 
295 
314 
332 
349 
367 err_t lightranger5_generic_write ( lightranger5_t *ctx, uint8_t reg, uint8_t *tx_buf, uint8_t tx_len );
368 
386 err_t lightranger5_generic_read ( lightranger5_t *ctx, uint8_t reg, uint8_t *rx_buf, uint8_t rx_len );
387 
388 
404 
420 
438 err_t lightranger5_set_pin_state_io0 ( lightranger5_t *ctx, uint8_t io0_state );
439 
457 err_t lightranger5_set_pin_state_io1 ( lightranger5_t *ctx, uint8_t io1_state );
458 
475 
492 
508 
525 
541 err_t lightranger5_get_status ( lightranger5_t *ctx, uint8_t *status );
542 
558 err_t lightranger5_set_command ( lightranger5_t *ctx, uint8_t cmd );
559 
576 err_t lightranger5_set_factory_calib_data ( lightranger5_t *ctx, uint8_t *factory_calib_data );
577 
594 err_t lightranger5_get_factory_calib_data ( lightranger5_t *ctx, uint8_t *factory_calib_data );
595 
613 err_t lightranger5_set_algorithm_state_data ( lightranger5_t *ctx, uint8_t *alg_state_data );
614 
630 err_t lightranger5_set_command_data ( lightranger5_t *ctx, uint8_t *cmd_data );
631 
650 err_t lightranger5_check_previous_command ( lightranger5_t *ctx, uint8_t *previous_cmd );
651 
669 err_t lightranger5_get_currently_run_app ( lightranger5_t *ctx, uint8_t *appid_data );
670 
686 
701 
717 
718 #ifdef __cplusplus
719 }
720 #endif
721 #endif // LIGHTRANGER5_H
722  // lightranger5
724 
725 // ------------------------------------------------------------------------ END
lightranger5_cfg_t::i2c_speed
uint32_t i2c_speed
Definition: lightranger5.h:269
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_cfg_t::io0
pin_name_t io0
Definition: lightranger5.h:265
lightranger5_cfg_t::int_pin
pin_name_t int_pin
Definition: lightranger5.h:267
lightranger5_return_value_t
lightranger5_return_value_t
LightRanger 5 Click return value data.
Definition: lightranger5.h:279
lightranger5_cfg_t::scl
pin_name_t scl
Definition: lightranger5.h:261
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
@ LIGHTRANGER5_DATA_NOT_READY
Definition: lightranger5.h:291
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_cfg_t::i2c_address
uint8_t i2c_address
Definition: lightranger5.h:270
LIGHTRANGER5_OK
@ LIGHTRANGER5_OK
Definition: lightranger5.h:280
LIGHTRANGER5_ERROR
@ LIGHTRANGER5_ERROR
Definition: lightranger5.h:281
lightranger5_t::io0
digital_out_t io0
Definition: lightranger5.h:238
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_cfg_t::en
pin_name_t en
Definition: lightranger5.h:264
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:260
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_t::en
digital_out_t en
Definition: lightranger5.h:237
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_t::slave_address
uint8_t slave_address
Definition: lightranger5.h:251
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_cfg_t::sda
pin_name_t sda
Definition: lightranger5.h:262
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_t::io1
digital_out_t io1
Definition: lightranger5.h:239
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
@ LIGHTRANGER5_DATA_IS_READY
Definition: lightranger5.h:292
lightranger5_cfg_t::io1
pin_name_t io1
Definition: lightranger5.h:266
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::int_pin
digital_in_t int_pin
Definition: lightranger5.h:243
lightranger5_t
LightRanger 5 Click context object.
Definition: lightranger5.h:234
lightranger5_return_data_ready_t
lightranger5_return_data_ready_t
LightRanger 5 Click return data ready.
Definition: lightranger5.h:290
lightranger5_measure_distance
uint16_t lightranger5_measure_distance(lightranger5_t *ctx)
LightRanger 5 measure distance function.
lightranger5_t::i2c
i2c_master_t i2c
Definition: lightranger5.h:247
lightranger5_cfg_setup
void lightranger5_cfg_setup(lightranger5_cfg_t *cfg)
LightRanger 5 configuration object setup function.