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 
39 #ifdef PREINIT_SUPPORTED
40 #include "preinit.h"
41 #endif
42 
43 #ifdef MikroCCoreVersion
44  #if MikroCCoreVersion >= 1
45  #include "delays.h"
46  #endif
47 #endif
48 
49 #include "drv_digital_out.h"
50 #include "drv_digital_in.h"
51 #include "drv_i2c_master.h"
52 
73 #define LIGHTRANGER5_REG_APPID 0x00
74 #define LIGHTRANGER5_REG_APPREQID 0x02
75 #define LIGHTRANGER5_REG_APPREV_MAJOR 0x01
76 #define LIGHTRANGER5_REG_APPREV_MINOR 0x12
77 #define LIGHTRANGER5_REG_APPREV_PATCH 0x13
78 #define LIGHTRANGER5_REG_CMD_DATA9 0x06
79 #define LIGHTRANGER5_REG_CMD_DATA8 0x07
80 #define LIGHTRANGER5_REG_CMD_DATA7 0x08
81 #define LIGHTRANGER5_REG_CMD_DATA6 0x09
82 #define LIGHTRANGER5_REG_CMD_DATA5 0x0A
83 #define LIGHTRANGER5_REG_CMD_DATA4 0x0B
84 #define LIGHTRANGER5_REG_CMD_DATA3 0x0C
85 #define LIGHTRANGER5_REG_CMD_DATA2 0x0D
86 #define LIGHTRANGER5_REG_CMD_DATA1 0x0E
87 #define LIGHTRANGER5_REG_CMD_DATA0 0x0F
88 #define LIGHTRANGER5_REG_COMMAND 0x10
89 #define LIGHTRANGER5_REG_PREVIOUS 0x11
90 #define LIGHTRANGER5_REG_STATUS 0x1D
91 #define LIGHTRANGER5_REG_REGISTER_CONTENTS 0x1E
92 #define LIGHTRANGER5_REG_TID 0x1F
93 #define LIGHTRANGER5_REG_RESULT_NUMBER 0x20
94 #define LIGHTRANGER5_REG_RESULT_INFO 0x21
95 #define LIGHTRANGER5_REG_DISTANCE_PEAK_0 0x22
96 #define LIGHTRANGER5_REG_DISTANCE_PEAK_1 0x23
97 #define LIGHTRANGER5_REG_SYS_CLOCK_0 0x24
98 #define LIGHTRANGER5_REG_SYS_CLOCK_1 0x25
99 #define LIGHTRANGER5_REG_SYS_CLOCK_2 0x26
100 #define LIGHTRANGER5_REG_SYS_CLOCK_3 0x27
101 #define LIGHTRANGER5_REG_STATE_DATA_0 0x28
102 #define LIGHTRANGER5_REG_STATE_DATA_1 0x29
103 #define LIGHTRANGER5_REG_STATE_DATA_2 0x2A
104 #define LIGHTRANGER5_REG_STATE_DATA_3 0x2B
105 #define LIGHTRANGER5_REG_STATE_DATA_4 0x2C
106 #define LIGHTRANGER5_REG_STATE_DATA_5 0x2D
107 #define LIGHTRANGER5_REG_STATE_DATA_6 0x2E
108 #define LIGHTRANGER5_REG_STATE_DATA_7 0x2F
109 #define LIGHTRANGER5_REG_STATE_DATA_8_XTALK_MSB 0x30
110 #define LIGHTRANGER5_REG_STATE_DATA_9_XTALK_LSB 0x31
111 #define LIGHTRANGER5_REG_STATE_DATA_10_TJ 0x32
112 #define LIGHTRANGER5_REG_REFERENCE_HITS_0 0x33
113 #define LIGHTRANGER5_REG_REFERENCE_HITS_1 0x34
114 #define LIGHTRANGER5_REG_REFERENCE_HITS_2 0x35
115 #define LIGHTRANGER5_REG_REFERENCE_HITS_3 0x36
116 #define LIGHTRANGER5_REG_OBJECT_HITS_0 0x37
117 #define LIGHTRANGER5_REG_OBJECT_HITS_1 0x38
118 #define LIGHTRANGER5_REG_OBJECT_HITS_2 0x39
119 #define LIGHTRANGER5_REG_OBJECT_HITS_3 0x3A
120 #define LIGHTRANGER5_REG_FACTORY_CALIB_0 0x20
121 #define LIGHTRANGER5_REG_STATE_DATA_WR_0 0x2E
122 #define LIGHTRANGER5_REG_ENABLE 0xE0
123 #define LIGHTRANGER5_REG_INT_STATUS 0xE1
124 #define LIGHTRANGER5_REG_INT_ENAB 0xE2
125 #define LIGHTRANGER5_REG_DEVICE_ID 0xE3
126 #define LIGHTRANGER5_REG_REVID 0xE4
127  // lightranger5_reg
129 
150 #define LIGHTRANGER5_CMD_NO_COMMAND 0x00
151 #define LIGHTRANGER5_CMD_DISTANCE_MEASURE_MODE_1 0x02
152 #define LIGHTRANGER5_CMD_FACTORY_CALIB 0x0A
153 #define LIGHTRANGER5_CMD_DL_CALIB_AND_STATE 0x0B
154 #define LIGHTRANGER5_CMD_RESULT 0x55
155 
161 #define LIGHTRANGER5_APPID_MEASUREMENT 0xC0
162 #define LIGHTRANGER5_APPID_BOOTLOADER 0x80
163 #define LIGHTRANGER5_EXPECTED_ID 0x07
164 #define LIGHTRANGER5_CALIB_DATA 0x0A
165 #define LIGHTRANGER5_SERIAL_NUMBER 0x47
166 #define LIGHTRANGER5_BIT_CPU_RDY 0x40
167 #define LIGHTRANGER5_ENABLE_RESET 0x80
168 
174 #define LIGHTRANGER5_SET_DEV_ADDR 0x41
175  // lightranger5_set
177 
187 #define LIGHTRANGER5_STATUS_IDLE 0x00
188 #define LIGHTRANGER5_STATUS_DIAGNOSTIC 0x01
189 #define LIGHTRANGER5_STATUS_START 0x02
190 #define LIGHTRANGER5_STATUS_CALIBRATION 0x03
191 #define LIGHTRANGER5_STATUS_LIGHTCOL 0x04
192 #define LIGHTRANGER5_STATUS_ALGORITHM 0x05
193 #define LIGHTRANGER5_STATUS_STARTUP 0x06
194 #define LIGHTRANGER5_STATUS_OK 0x0F
195 #define LIGHTRANGER5_STATUS_VCSEL_PWR_FAIL 0x10
196 #define LIGHTRANGER5_STATUS_VCSEL_LED_A_FAIL 0x11
197 #define LIGHTRANGER5_STATUS_VCSEL_LED_K_FAIL 0x12
198 #define LIGHTRANGER5_STATUS_INVALID_PARAM 0x18
199 #define LIGHTRANGER5_STATUS_INVALID_DEVICE 0x19
200 #define LIGHTRANGER5_STATUS_CALIB_ERROR 0x1B
201 #define LIGHTRANGER5_STATUS_INVALID_COMMAND 0x1C
202 #define LIGHTRANGER5_STATUS_INVALID_STATE 0x1D
203 #define LIGHTRANGER5_STATUS_ERR_ALGORITHM 0x1F
204 
205  // lightranger5_get
207 
222 #define LIGHTRANGER5_MAP_MIKROBUS( cfg, mikrobus ) \
223  cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
224  cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
225  cfg.en = MIKROBUS( mikrobus, MIKROBUS_CS ); \
226  cfg.io0 = MIKROBUS( mikrobus, MIKROBUS_RST ); \
227  cfg.io1 = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
228  cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
229  // lightranger5_map // lightranger5
232 
237 typedef struct
238 {
239  // Output pins
240 
241  digital_out_t en;
242  digital_out_t io0;
243  digital_out_t io1;
245  // Input pins
246 
247  digital_in_t int_pin;
249  // Modules
250 
251  i2c_master_t i2c;
253  // I2C slave address
254 
255  uint8_t slave_address;
258 
263 typedef struct
264 {
265  pin_name_t scl;
266  pin_name_t sda;
268  pin_name_t en;
269  pin_name_t io0;
270  pin_name_t io1;
271  pin_name_t int_pin;
273  uint32_t i2c_speed;
274  uint8_t i2c_address;
277 
282 typedef enum
283 {
285  LIGHTRANGER5_ERROR = -1
286 
288 
293 typedef enum
294 {
297 
299 
318 
336 
353 
371 err_t lightranger5_generic_write ( lightranger5_t *ctx, uint8_t reg, uint8_t *tx_buf, uint8_t tx_len );
372 
390 err_t lightranger5_generic_read ( lightranger5_t *ctx, uint8_t reg, uint8_t *rx_buf, uint8_t rx_len );
391 
392 
408 
424 
442 err_t lightranger5_set_pin_state_io0 ( lightranger5_t *ctx, uint8_t io0_state );
443 
461 err_t lightranger5_set_pin_state_io1 ( lightranger5_t *ctx, uint8_t io1_state );
462 
479 
496 
512 
529 
545 err_t lightranger5_get_status ( lightranger5_t *ctx, uint8_t *status );
546 
562 err_t lightranger5_set_command ( lightranger5_t *ctx, uint8_t cmd );
563 
580 err_t lightranger5_set_factory_calib_data ( lightranger5_t *ctx, uint8_t *factory_calib_data );
581 
598 err_t lightranger5_get_factory_calib_data ( lightranger5_t *ctx, uint8_t *factory_calib_data );
599 
617 err_t lightranger5_set_algorithm_state_data ( lightranger5_t *ctx, uint8_t *alg_state_data );
618 
634 err_t lightranger5_set_command_data ( lightranger5_t *ctx, uint8_t *cmd_data );
635 
654 err_t lightranger5_check_previous_command ( lightranger5_t *ctx, uint8_t *previous_cmd );
655 
673 err_t lightranger5_get_currently_run_app ( lightranger5_t *ctx, uint8_t *appid_data );
674 
690 
705 
721 
722 #ifdef __cplusplus
723 }
724 #endif
725 #endif // LIGHTRANGER5_H
726  // lightranger5
728 
729 // ------------------------------------------------------------------------ END
lightranger5_cfg_t::i2c_speed
uint32_t i2c_speed
Definition: lightranger5.h:273
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:269
lightranger5_cfg_t::int_pin
pin_name_t int_pin
Definition: lightranger5.h:271
lightranger5_return_value_t
lightranger5_return_value_t
LightRanger 5 Click return value data.
Definition: lightranger5.h:283
lightranger5_cfg_t::scl
pin_name_t scl
Definition: lightranger5.h:265
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:295
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:274
LIGHTRANGER5_OK
@ LIGHTRANGER5_OK
Definition: lightranger5.h:284
LIGHTRANGER5_ERROR
@ LIGHTRANGER5_ERROR
Definition: lightranger5.h:285
lightranger5_t::io0
digital_out_t io0
Definition: lightranger5.h:242
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:268
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:264
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:241
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:255
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:266
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:243
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:296
lightranger5_cfg_t::io1
pin_name_t io1
Definition: lightranger5.h:270
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:247
lightranger5_t
LightRanger 5 Click context object.
Definition: lightranger5.h:238
lightranger5_return_data_ready_t
lightranger5_return_data_ready_t
LightRanger 5 Click return data ready.
Definition: lightranger5.h:294
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:251
lightranger5_cfg_setup
void lightranger5_cfg_setup(lightranger5_cfg_t *cfg)
LightRanger 5 configuration object setup function.