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 
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 LIGHTRANGER10_REG_SOFT_RESET 0x0000
74 #define LIGHTRANGER10_REG_ALGO_PTP_RANGE_OFFSET_MM 0x001E
75 #define LIGHTRANGER10_REG_MM_CFG_INNER_OFFSET_MM 0x0020
76 #define LIGHTRANGER10_REG_MM_CFG_OUTER_OFFSET_MM 0x0022
77 #define LIGHTRANGER10_REG_RANGE_CFG_VCSEL_PERIOD_A 0x0060
78 #define LIGHTRANGER10_REG_RANGE_CFG_VCSEL_PERIOD_B 0x0063
79 #define LIGHTRANGER10_REG_RANGE_CFG_VALID_PHASE_HIGH 0x0069
80 #define LIGHTRANGER10_REG_SD_CFG_WOI_SD0 0x0078
81 #define LIGHTRANGER10_REG_SD_CFG_WOI_SD1 0x0079
82 #define LIGHTRANGER10_REG_SD_CFG_INIT_PHASE_SD0 0x007A
83 #define LIGHTRANGER10_REG_SD_CFG_INIT_PHASE_SD1 0x007B
84 #define LIGHTRANGER10_REG_SYSTEM_INT_MEAS_PERIOD 0x006C
85 #define LIGHTRANGER10_REG_SYSTEM_INTERRUPT_CLEAR 0x0086
86 #define LIGHTRANGER10_REG_SYSTEM_MODE_START 0x0087
87 #define LIGHTRANGER10_REG_RESULT_RANGE_MM_SD0 0x0096
88 #define LIGHTRANGER10_REG_RESULT_OSC_CALIBRATE_VAL 0x00DE
89 #define LIGHTRANGER10_REG_MODEL_ID 0x010F
90 #define LIGHTRANGER10_REG_MODEL_TYPE 0x0110
91  // lightranger10_reg
93 
108 #define LIGHTRANGER10_SOFT_RESET_SET 0x00
109 #define LIGHTRANGER10_SOFT_RESET_CLEAR 0x01
110 
115 #define LIGHTRANGER10_INTERRUPT_CLEAR 0x01
116 
121 #define LIGHTRANGER10_RANGING_ENABLE 0x40
122 #define LIGHTRANGER10_RANGING_DISABLE 0x00
123 
128 #define LIGHTRANGER10_DISTANCE_MODE_MEDIUM 0x00
129 #define LIGHTRANGER10_DISTANCE_MODE_LONG 0x01
130 
135 #define LIGHTRANGER10_DISTANCE_MEDIUM_RANGE_PERIOD_A 0x0B
136 #define LIGHTRANGER10_DISTANCE_MEDIUM_RANGE_PERIOD_B 0x09
137 #define LIGHTRANGER10_DISTANCE_MEDIUM_RANGE_VAL_PH_H 0x78
138 #define LIGHTRANGER10_DISTANCE_MEDIUM_SD_WOI_SD0 0x0B
139 #define LIGHTRANGER10_DISTANCE_MEDIUM_SD_WOI_SD1 0x09
140 #define LIGHTRANGER10_DISTANCE_MEDIUM_SD_IN_PH_SD0 0x0A
141 #define LIGHTRANGER10_DISTANCE_MEDIUM_SD_IN_PH_SD1 0x0A
142 #define LIGHTRANGER10_DISTANCE_LONG_RANGE_PERIOD_A 0x0F
143 #define LIGHTRANGER10_DISTANCE_LONG_RANGE_PERIOD_B 0x0D
144 #define LIGHTRANGER10_DISTANCE_LONG_RANGE_VAL_PH_H 0xB8
145 #define LIGHTRANGER10_DISTANCE_LONG_SD_WOI_SD0 0x0F
146 #define LIGHTRANGER10_DISTANCE_LONG_SD_WOI_SD1 0x0D
147 #define LIGHTRANGER10_DISTANCE_LONG_SD_IN_PH_SD0 0x0E
148 #define LIGHTRANGER10_DISTANCE_LONG_SD_IN_PH_SD1 0x0E
149 
154 #define LIGHTRANGER10_ALGO_PTP_RANGE_OFFSET_MM_MULT 4
155 #define LIGHTRANGER10_ALGO_PTP_RANGE_OFFSET_MM_RESET 0
156 #define LIGHTRANGER10_MM_CFG_INNER_OFFSET_MM_RESET 0
157 #define LIGHTRANGER10_MM_CFG_OUTER_OFFSET_MM_RESET 0
158 #define LIGHTRANGER10_CALIBRATE_DISTANCE_AVERAGE_NUM 20
159 
164 #define LIGHTRANGER10_DEFAULT_IM_PERIOD_MS 200
165 #define LIGHTRANGER10_OSC_CALIB_IM_PERIOD_OFFSET 4
166 
171 #define LIGHTRANGER10_MODEL_ID 0xEB
172 #define LIGHTRANGER10_MODEL_TYPE 0xAA
173 
179 #define LIGHTRANGER10_DEVICE_ADDRESS 0x29
180  // lightranger10_set
182 
197 #define LIGHTRANGER10_MAP_MIKROBUS( cfg, mikrobus ) \
198  cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
199  cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
200  cfg.en = MIKROBUS( mikrobus, MIKROBUS_CS ); \
201  cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
202  // lightranger10_map // lightranger10
205 
210 typedef struct
211 {
212  // Output pins
213  digital_out_t en;
215  // Input pins
216  digital_in_t int_pin;
218  // Modules
219  i2c_master_t i2c;
221  // I2C slave address
222  uint8_t slave_address;
225 
230 typedef struct
231 {
232  pin_name_t scl;
233  pin_name_t sda;
235  pin_name_t en;
236  pin_name_t int_pin;
238  uint32_t i2c_speed;
239  uint8_t i2c_address;
242 
247 typedef enum
248 {
251 
253 
270 
285 
299 
314 err_t lightranger10_generic_write ( lightranger10_t *ctx, uint16_t reg, uint8_t *data_in, uint8_t len );
315 
330 err_t lightranger10_generic_read ( lightranger10_t *ctx, uint16_t reg, uint8_t *data_out, uint8_t len );
331 
344 err_t lightranger10_write_byte ( lightranger10_t *ctx, uint16_t reg, uint8_t data_in );
345 
358 err_t lightranger10_read_byte ( lightranger10_t *ctx, uint16_t reg, uint8_t *data_out );
359 
373 err_t lightranger10_write_word ( lightranger10_t *ctx, uint16_t reg, uint16_t data_in );
374 
388 err_t lightranger10_read_word ( lightranger10_t *ctx, uint16_t reg, uint16_t *data_out );
389 
403 err_t lightranger10_write_dword ( lightranger10_t *ctx, uint16_t reg, uint32_t data_in );
404 
418 err_t lightranger10_read_dword ( lightranger10_t *ctx, uint16_t reg, uint16_t *data_out );
419 
431 
441 
451 
461 
471 
483 
495 
508 
520 err_t lightranger10_set_distance_offset ( lightranger10_t *ctx, int16_t offset_mm );
521 
533 err_t lightranger10_calibrate_distance ( lightranger10_t *ctx, uint16_t target_distance_mm );
534 
547 err_t lightranger10_set_distance_mode ( lightranger10_t *ctx, uint8_t distance_mode );
548 
560 
572 
584 err_t lightranger10_get_distance ( lightranger10_t *ctx, uint16_t *distance_mm );
585 
586 #ifdef __cplusplus
587 }
588 #endif
589 #endif // LIGHTRANGER10_H
590  // lightranger10
592 
593 // ------------------------------------------------------------------------ END
lightranger10_t::slave_address
uint8_t slave_address
Definition: lightranger10.h:222
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:233
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:235
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:250
lightranger10_t::int_pin
digital_in_t int_pin
Definition: lightranger10.h:216
lightranger10_cfg_t::scl
pin_name_t scl
Definition: lightranger10.h:232
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:231
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:236
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:239
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:213
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:248
LIGHTRANGER10_OK
@ LIGHTRANGER10_OK
Definition: lightranger10.h:249
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:219
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:211
lightranger10_cfg_t::i2c_speed
uint32_t i2c_speed
Definition: lightranger10.h:238
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.