lightranger10  2.0.0.0
lightranger10.h
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22 
28 #ifndef LIGHTRANGER10_H
29 #define LIGHTRANGER10_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 LIGHTRANGER10_REG_SOFT_RESET 0x0000
70 #define LIGHTRANGER10_REG_ALGO_PTP_RANGE_OFFSET_MM 0x001E
71 #define LIGHTRANGER10_REG_MM_CFG_INNER_OFFSET_MM 0x0020
72 #define LIGHTRANGER10_REG_MM_CFG_OUTER_OFFSET_MM 0x0022
73 #define LIGHTRANGER10_REG_RANGE_CFG_VCSEL_PERIOD_A 0x0060
74 #define LIGHTRANGER10_REG_RANGE_CFG_VCSEL_PERIOD_B 0x0063
75 #define LIGHTRANGER10_REG_RANGE_CFG_VALID_PHASE_HIGH 0x0069
76 #define LIGHTRANGER10_REG_SD_CFG_WOI_SD0 0x0078
77 #define LIGHTRANGER10_REG_SD_CFG_WOI_SD1 0x0079
78 #define LIGHTRANGER10_REG_SD_CFG_INIT_PHASE_SD0 0x007A
79 #define LIGHTRANGER10_REG_SD_CFG_INIT_PHASE_SD1 0x007B
80 #define LIGHTRANGER10_REG_SYSTEM_INT_MEAS_PERIOD 0x006C
81 #define LIGHTRANGER10_REG_SYSTEM_INTERRUPT_CLEAR 0x0086
82 #define LIGHTRANGER10_REG_SYSTEM_MODE_START 0x0087
83 #define LIGHTRANGER10_REG_RESULT_RANGE_MM_SD0 0x0096
84 #define LIGHTRANGER10_REG_RESULT_OSC_CALIBRATE_VAL 0x00DE
85 #define LIGHTRANGER10_REG_MODEL_ID 0x010F
86 #define LIGHTRANGER10_REG_MODEL_TYPE 0x0110
87  // lightranger10_reg
89 
104 #define LIGHTRANGER10_SOFT_RESET_SET 0x00
105 #define LIGHTRANGER10_SOFT_RESET_CLEAR 0x01
106 
111 #define LIGHTRANGER10_INTERRUPT_CLEAR 0x01
112 
117 #define LIGHTRANGER10_RANGING_ENABLE 0x40
118 #define LIGHTRANGER10_RANGING_DISABLE 0x00
119 
124 #define LIGHTRANGER10_DISTANCE_MODE_MEDIUM 0x00
125 #define LIGHTRANGER10_DISTANCE_MODE_LONG 0x01
126 
131 #define LIGHTRANGER10_DISTANCE_MEDIUM_RANGE_PERIOD_A 0x0B
132 #define LIGHTRANGER10_DISTANCE_MEDIUM_RANGE_PERIOD_B 0x09
133 #define LIGHTRANGER10_DISTANCE_MEDIUM_RANGE_VAL_PH_H 0x78
134 #define LIGHTRANGER10_DISTANCE_MEDIUM_SD_WOI_SD0 0x0B
135 #define LIGHTRANGER10_DISTANCE_MEDIUM_SD_WOI_SD1 0x09
136 #define LIGHTRANGER10_DISTANCE_MEDIUM_SD_IN_PH_SD0 0x0A
137 #define LIGHTRANGER10_DISTANCE_MEDIUM_SD_IN_PH_SD1 0x0A
138 #define LIGHTRANGER10_DISTANCE_LONG_RANGE_PERIOD_A 0x0F
139 #define LIGHTRANGER10_DISTANCE_LONG_RANGE_PERIOD_B 0x0D
140 #define LIGHTRANGER10_DISTANCE_LONG_RANGE_VAL_PH_H 0xB8
141 #define LIGHTRANGER10_DISTANCE_LONG_SD_WOI_SD0 0x0F
142 #define LIGHTRANGER10_DISTANCE_LONG_SD_WOI_SD1 0x0D
143 #define LIGHTRANGER10_DISTANCE_LONG_SD_IN_PH_SD0 0x0E
144 #define LIGHTRANGER10_DISTANCE_LONG_SD_IN_PH_SD1 0x0E
145 
150 #define LIGHTRANGER10_ALGO_PTP_RANGE_OFFSET_MM_MULT 4
151 #define LIGHTRANGER10_ALGO_PTP_RANGE_OFFSET_MM_RESET 0
152 #define LIGHTRANGER10_MM_CFG_INNER_OFFSET_MM_RESET 0
153 #define LIGHTRANGER10_MM_CFG_OUTER_OFFSET_MM_RESET 0
154 #define LIGHTRANGER10_CALIBRATE_DISTANCE_AVERAGE_NUM 20
155 
160 #define LIGHTRANGER10_DEFAULT_IM_PERIOD_MS 200
161 #define LIGHTRANGER10_OSC_CALIB_IM_PERIOD_OFFSET 4
162 
167 #define LIGHTRANGER10_MODEL_ID 0xEB
168 #define LIGHTRANGER10_MODEL_TYPE 0xAA
169 
175 #define LIGHTRANGER10_DEVICE_ADDRESS 0x29
176  // lightranger10_set
178 
193 #define LIGHTRANGER10_MAP_MIKROBUS( cfg, mikrobus ) \
194  cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
195  cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
196  cfg.en = MIKROBUS( mikrobus, MIKROBUS_CS ); \
197  cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
198  // lightranger10_map // lightranger10
201 
206 typedef struct
207 {
208  // Output pins
209  digital_out_t en;
211  // Input pins
212  digital_in_t int_pin;
214  // Modules
215  i2c_master_t i2c;
217  // I2C slave address
218  uint8_t slave_address;
221 
226 typedef struct
227 {
228  pin_name_t scl;
229  pin_name_t sda;
231  pin_name_t en;
232  pin_name_t int_pin;
234  uint32_t i2c_speed;
235  uint8_t i2c_address;
238 
243 typedef enum
244 {
247 
249 
266 
281 
295 
310 err_t lightranger10_generic_write ( lightranger10_t *ctx, uint16_t reg, uint8_t *data_in, uint8_t len );
311 
326 err_t lightranger10_generic_read ( lightranger10_t *ctx, uint16_t reg, uint8_t *data_out, uint8_t len );
327 
340 err_t lightranger10_write_byte ( lightranger10_t *ctx, uint16_t reg, uint8_t data_in );
341 
354 err_t lightranger10_read_byte ( lightranger10_t *ctx, uint16_t reg, uint8_t *data_out );
355 
369 err_t lightranger10_write_word ( lightranger10_t *ctx, uint16_t reg, uint16_t data_in );
370 
384 err_t lightranger10_read_word ( lightranger10_t *ctx, uint16_t reg, uint16_t *data_out );
385 
399 err_t lightranger10_write_dword ( lightranger10_t *ctx, uint16_t reg, uint32_t data_in );
400 
414 err_t lightranger10_read_dword ( lightranger10_t *ctx, uint16_t reg, uint16_t *data_out );
415 
427 
437 
447 
457 
467 
479 
491 
504 
516 err_t lightranger10_set_distance_offset ( lightranger10_t *ctx, int16_t offset_mm );
517 
529 err_t lightranger10_calibrate_distance ( lightranger10_t *ctx, uint16_t target_distance_mm );
530 
543 err_t lightranger10_set_distance_mode ( lightranger10_t *ctx, uint8_t distance_mode );
544 
556 
568 
580 err_t lightranger10_get_distance ( lightranger10_t *ctx, uint16_t *distance_mm );
581 
582 #ifdef __cplusplus
583 }
584 #endif
585 #endif // LIGHTRANGER10_H
586  // lightranger10
588 
589 // ------------------------------------------------------------------------ END
lightranger10_t::slave_address
uint8_t slave_address
Definition: lightranger10.h:218
lightranger10_set_distance_offset
err_t lightranger10_set_distance_offset(lightranger10_t *ctx, int16_t offset_mm)
LightRanger 10 set distance offset function.
lightranger10_default_cfg
err_t lightranger10_default_cfg(lightranger10_t *ctx)
LightRanger 10 default configuration function.
lightranger10_cfg_t::sda
pin_name_t sda
Definition: lightranger10.h:229
lightranger10_read_byte
err_t lightranger10_read_byte(lightranger10_t *ctx, uint16_t reg, uint8_t *data_out)
LightRanger 10 read byte function.
lightranger10_cfg_t::en
pin_name_t en
Definition: lightranger10.h:231
lightranger10_write_dword
err_t lightranger10_write_dword(lightranger10_t *ctx, uint16_t reg, uint32_t data_in)
LightRanger 10 write dword function.
LIGHTRANGER10_ERROR
@ LIGHTRANGER10_ERROR
Definition: lightranger10.h:246
lightranger10_t::int_pin
digital_in_t int_pin
Definition: lightranger10.h:212
lightranger10_cfg_t::scl
pin_name_t scl
Definition: lightranger10.h:228
lightranger10_generic_write
err_t lightranger10_generic_write(lightranger10_t *ctx, uint16_t reg, uint8_t *data_in, uint8_t len)
LightRanger 10 I2C writing function.
lightranger10_read_word
err_t lightranger10_read_word(lightranger10_t *ctx, uint16_t reg, uint16_t *data_out)
LightRanger 10 read word function.
lightranger10_cfg_t
LightRanger 10 Click configuration object.
Definition: lightranger10.h:227
lightranger10_enable_device
void lightranger10_enable_device(lightranger10_t *ctx)
LightRanger 10 enable device function.
lightranger10_cfg_t::int_pin
pin_name_t int_pin
Definition: lightranger10.h:232
lightranger10_disable_device
void lightranger10_disable_device(lightranger10_t *ctx)
LightRanger 10 disable device function.
lightranger10_soft_reset
err_t lightranger10_soft_reset(lightranger10_t *ctx)
LightRanger 10 soft reset function.
lightranger10_cfg_t::i2c_address
uint8_t i2c_address
Definition: lightranger10.h:235
lightranger10_check_communication
err_t lightranger10_check_communication(lightranger10_t *ctx)
LightRanger 10 check communication function.
lightranger10_start_measurement
err_t lightranger10_start_measurement(lightranger10_t *ctx)
LightRanger 10 start measurement function.
lightranger10_t::en
digital_out_t en
Definition: lightranger10.h:209
lightranger10_reset_device
void lightranger10_reset_device(lightranger10_t *ctx)
LightRanger 10 reset device function.
lightranger10_write_word
err_t lightranger10_write_word(lightranger10_t *ctx, uint16_t reg, uint16_t data_in)
LightRanger 10 write word function.
lightranger10_cfg_setup
void lightranger10_cfg_setup(lightranger10_cfg_t *cfg)
LightRanger 10 configuration object setup function.
lightranger10_calibrate_distance
err_t lightranger10_calibrate_distance(lightranger10_t *ctx, uint16_t target_distance_mm)
LightRanger 10 calibrate distance function.
lightranger10_get_int_pin
uint8_t lightranger10_get_int_pin(lightranger10_t *ctx)
LightRanger 10 get int pin function.
lightranger10_return_value_t
lightranger10_return_value_t
LightRanger 10 Click return value data.
Definition: lightranger10.h:244
LIGHTRANGER10_OK
@ LIGHTRANGER10_OK
Definition: lightranger10.h:245
lightranger10_get_distance
err_t lightranger10_get_distance(lightranger10_t *ctx, uint16_t *distance_mm)
LightRanger 10 get distance function.
lightranger10_write_byte
err_t lightranger10_write_byte(lightranger10_t *ctx, uint16_t reg, uint8_t data_in)
LightRanger 10 write byte function.
lightranger10_set_distance_mode
err_t lightranger10_set_distance_mode(lightranger10_t *ctx, uint8_t distance_mode)
LightRanger 10 set distance mode function.
lightranger10_generic_read
err_t lightranger10_generic_read(lightranger10_t *ctx, uint16_t reg, uint8_t *data_out, uint8_t len)
LightRanger 10 I2C reading function.
lightranger10_set_inter_measurement_period_ms
err_t lightranger10_set_inter_measurement_period_ms(lightranger10_t *ctx, uint32_t period_ms)
LightRanger 10 set inter measurement period ms function.
lightranger10_read_dword
err_t lightranger10_read_dword(lightranger10_t *ctx, uint16_t reg, uint16_t *data_out)
LightRanger 10 read dword function.
lightranger10_t::i2c
i2c_master_t i2c
Definition: lightranger10.h:215
lightranger10_stop_measurement
err_t lightranger10_stop_measurement(lightranger10_t *ctx)
LightRanger 10 stop measurement function.
lightranger10_t
LightRanger 10 Click context object.
Definition: lightranger10.h:207
lightranger10_cfg_t::i2c_speed
uint32_t i2c_speed
Definition: lightranger10.h:234
lightranger10_clear_interrupts
err_t lightranger10_clear_interrupts(lightranger10_t *ctx)
LightRanger 10 clear interrupts function.
lightranger10_init
err_t lightranger10_init(lightranger10_t *ctx, lightranger10_cfg_t *cfg)
LightRanger 10 initialization function.