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28 #ifndef LIGHTRANGER11_H
29 #define LIGHTRANGER11_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 LIGHTRANGER11_DCI_ZONE_CONFIG 0x5450
70 #define LIGHTRANGER11_DCI_FREQ_HZ 0x5458
71 #define LIGHTRANGER11_DCI_INT_TIME 0x545C
72 #define LIGHTRANGER11_DCI_FW_NB_TARGET 0x5478
73 #define LIGHTRANGER11_DCI_RANGING_MODE 0xAD30
74 #define LIGHTRANGER11_DCI_DSS_CONFIG 0xAD38
75 #define LIGHTRANGER11_DCI_TARGET_ORDER 0xAE64
76 #define LIGHTRANGER11_DCI_SHARPENER 0xAED8
77 #define LIGHTRANGER11_DCI_INTERNAL_CP 0xB39C
78 #define LIGHTRANGER11_DCI_MOTION_DETECTOR_CFG 0xBFAC
79 #define LIGHTRANGER11_DCI_SINGLE_RANGE 0xCD5C
80 #define LIGHTRANGER11_DCI_OUTPUT_CONFIG 0xCD60
81 #define LIGHTRANGER11_DCI_OUTPUT_ENABLES 0xCD68
82 #define LIGHTRANGER11_DCI_OUTPUT_LIST 0xCD78
83 #define LIGHTRANGER11_DCI_PIPE_CONTROL 0xCF78
89 #define LIGHTRANGER11_UI_CMD_STATUS 0x2C00
90 #define LIGHTRANGER11_UI_CMD_START 0x2C04
91 #define LIGHTRANGER11_UI_CMD_END 0x2FFF
109 #define LIGHTRANGER11_TEMP_BUFFER_SIZE 1024
110 #define LIGHTRANGER11_NVM_DATA_SIZE 492
111 #define LIGHTRANGER11_OFFSET_BUFFER_SIZE 488
112 #define LIGHTRANGER11_XTALK_BUFFER_SIZE 776
118 #define LIGHTRANGER11_RESOLUTION_4X4 16
119 #define LIGHTRANGER11_RESOLUTION_8X8 64
125 #define LIGHTRANGER11_RANGING_MODE_CONTINUOUS 1
126 #define LIGHTRANGER11_RANGING_MODE_AUTONOMOUS 3
132 #define LIGHTRANGER11_START_BH 0x0000000Dul
133 #define LIGHTRANGER11_METADATA_BH 0x54B400C0ul
134 #define LIGHTRANGER11_COMMONDATA_BH 0x54C00040ul
135 #define LIGHTRANGER11_AMBIENT_RATE_BH 0x54D00104ul
136 #define LIGHTRANGER11_SPAD_COUNT_BH 0x55D00404ul
137 #define LIGHTRANGER11_NB_TARGET_DETECTED_BH 0xCF7C0401ul
138 #define LIGHTRANGER11_SIGNAL_RATE_BH 0xCFBC0404ul
139 #define LIGHTRANGER11_RANGE_SIGMA_MM_BH 0xD2BC0402ul
140 #define LIGHTRANGER11_DISTANCE_BH 0xD33C0402ul
141 #define LIGHTRANGER11_REFLECTANCE_BH 0xD43C0401ul
142 #define LIGHTRANGER11_TARGET_STATUS_BH 0xD47C0401ul
143 #define LIGHTRANGER11_MOTION_DETECT_BH 0xCC5008C0ul
144 #define LIGHTRANGER11_METADATA_IDX 0x54B4
145 #define LIGHTRANGER11_SPAD_COUNT_IDX 0x55D0
146 #define LIGHTRANGER11_AMBIENT_RATE_IDX 0x54D0
147 #define LIGHTRANGER11_NB_TARGET_DETECTED_IDX 0xCF7C
148 #define LIGHTRANGER11_SIGNAL_RATE_IDX 0xCFBC
149 #define LIGHTRANGER11_RANGE_SIGMA_MM_IDX 0xD2BC
150 #define LIGHTRANGER11_DISTANCE_IDX 0xD33C
151 #define LIGHTRANGER11_REFLECTANCE_EST_PC_IDX 0xD43C
152 #define LIGHTRANGER11_TARGET_STATUS_IDX 0xD47C
153 #define LIGHTRANGER11_MOTION_DETEC_IDX 0xCC50
159 #define LIGHTRANGER11_DEF_RESOLUTION LIGHTRANGER11_RESOLUTION_8X8
160 #define LIGHTRANGER11_DEF_RANGING_FREQ_HZ 2
161 #define LIGHTRANGER11_DEF_RANGING_MODE LIGHTRANGER11_RANGING_MODE_AUTONOMOUS
162 #define LIGHTRANGER11_DEF_INTEGRATION_TIME_MS 20
169 #define LIGHTRANGER11_DEVICE_ADDRESS 0x29
187 #define LIGHTRANGER11_MAP_MIKROBUS( cfg, mikrobus ) \
188 cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
189 cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
190 cfg.rsc = MIKROBUS( mikrobus, MIKROBUS_RST ); \
191 cfg.lp = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
192 cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
255 uint8_t nb_target_detected[ 64 ];
258 int16_t distance_mm[ 64 ];
261 uint8_t target_status[ 64 ];
494 uint16_t data_size );
514 uint16_t data_size );
534 uint16_t data_size, uint8_t *new_data,
535 uint16_t new_data_size, uint16_t new_data_pos );
697 #endif // LIGHTRANGER11_H
err_t lightranger11_set_ranging_mode(lightranger11_t *ctx, uint8_t ranging_mode)
LightRanger 11 set ranging mode function.
pin_name_t sda
Definition: lightranger11.h:234
err_t lightranger11_get_resolution(lightranger11_t *ctx, uint8_t *resolution)
LightRanger 11 get resolution function.
err_t lightranger11_sensor_init(lightranger11_t *ctx)
LightRanger 11 sensor init function.
err_t lightranger11_dci_write_data(lightranger11_t *ctx, uint16_t index, uint8_t *data_in, uint16_t data_size)
LightRanger 11 dci write data function.
void lightranger11_set_lpn_pin(lightranger11_t *ctx, uint8_t state)
LightRanger 11 set lpn function.
err_t lightranger11_get_rang_freq_hz(lightranger11_t *ctx, uint8_t *frequency_hz)
LightRanger 11 get ranging frequency hz function.
uint8_t lightranger11_get_int_pin(lightranger11_t *ctx)
LightRanger 11 get int pin function.
err_t lightranger11_get_ranging_data(lightranger11_t *ctx, lightranger11_results_data_t *results)
LightRanger 11 get ranging data function.
err_t lightranger11_default_cfg(lightranger11_t *ctx)
LightRanger 11 default configuration function.
@ LIGHTRANGER11_OK
Definition: lightranger11.h:271
void lightranger11_reset_i2c(lightranger11_t *ctx)
LightRanger 11 reset i2c function.
#define LIGHTRANGER11_TEMP_BUFFER_SIZE
LightRanger 11 buffers size setting.
Definition: lightranger11.h:109
i2c_master_t i2c
Definition: lightranger11.h:211
err_t lightranger11_read_multi(lightranger11_t *ctx, uint16_t reg, uint8_t *data_out, uint16_t len)
LightRanger 11 read multi function.
err_t lightranger11_set_integ_time_ms(lightranger11_t *ctx, uint32_t integration_time_ms)
LightRanger 11 set integration time ms function.
err_t lightranger11_init(lightranger11_t *ctx, lightranger11_cfg_t *cfg)
LightRanger 11 initialization function.
LightRanger 11 Click configuration object.
Definition: lightranger11.h:232
uint32_t i2c_speed
Definition: lightranger11.h:240
lightranger11_return_value_t
LightRanger 11 Click return value data.
Definition: lightranger11.h:270
#define LIGHTRANGER11_OFFSET_BUFFER_SIZE
Definition: lightranger11.h:111
err_t lightranger11_write_data(lightranger11_t *ctx, uint8_t *data_in, uint16_t len)
LightRanger 11 write data function.
@ LIGHTRANGER11_ERROR
Definition: lightranger11.h:272
uint8_t slave_address
Definition: lightranger11.h:214
err_t lightranger11_dci_read_data(lightranger11_t *ctx, uint16_t index, uint8_t *data_out, uint16_t data_size)
LightRanger 11 dci read data function.
void lightranger11_cfg_setup(lightranger11_cfg_t *cfg)
LightRanger 11 configuration object setup function.
uint8_t i2c_address
Definition: lightranger11.h:241
void lightranger11_set_i2c_rst_pin(lightranger11_t *ctx, uint8_t state)
LightRanger 11 set i2c rst function.
err_t lightranger11_read_byte(lightranger11_t *ctx, uint16_t reg, uint8_t *data_out)
LightRanger 11 read byte function.
uint8_t stream_count
Definition: lightranger11.h:217
pin_name_t lp
Definition: lightranger11.h:237
uint32_t data_read_size
Definition: lightranger11.h:219
err_t lightranger11_set_rang_freq_hz(lightranger11_t *ctx, uint8_t frequency_hz)
LightRanger 11 set ranging frequency hz function.
err_t lightranger11_stop_ranging(lightranger11_t *ctx)
LightRanger 11 stop ranging function.
LightRanger 11 Click block header union data definition.
Definition: lightranger11.h:250
err_t lightranger11_get_ranging_mode(lightranger11_t *ctx, uint8_t *ranging_mode)
LightRanger 11 get ranging mode function.
err_t lightranger11_write_multi(lightranger11_t *ctx, uint16_t reg, uint8_t *data_in, uint8_t len)
LightRanger 11 write multi function.
err_t lightranger11_get_integ_time_ms(lightranger11_t *ctx, uint32_t *integration_time_ms)
LightRanger 11 get integration time ms function.
digital_out_t rsc
Definition: lightranger11.h:204
pin_name_t scl
Definition: lightranger11.h:233
err_t lightranger11_write_byte(lightranger11_t *ctx, uint16_t reg, uint8_t data_in)
LightRanger 11 write byte function.
digital_in_t int_pin
Definition: lightranger11.h:208
err_t lightranger11_check_comm(lightranger11_t *ctx)
LightRanger 11 check communication function.
err_t lightranger11_start_ranging(lightranger11_t *ctx)
LightRanger 11 start ranging function.
digital_out_t lp
Definition: lightranger11.h:205
LightRanger 11 Click context object.
Definition: lightranger11.h:202
pin_name_t int_pin
Definition: lightranger11.h:238
pin_name_t rsc
Definition: lightranger11.h:236
err_t lightranger11_dci_replace_data(lightranger11_t *ctx, uint16_t index, uint8_t *data_in, uint16_t data_size, uint8_t *new_data, uint16_t new_data_size, uint16_t new_data_pos)
LightRanger 11 dci replace data function.
int8_t silicon_temp_degc
Definition: lightranger11.h:252
err_t lightranger11_set_resolution(lightranger11_t *ctx, uint8_t resolution)
LightRanger 11 set resolution function.