lightranger10.h

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/****************************************************************************
** Copyright (C) 2020 MikroElektronika d.o.o.
** Contact: https://www.mikroe.com/contact
**
** Permission is hereby granted, free of charge, to any person obtaining a copy
** of this software and associated documentation files (the "Software"), to deal
** in the Software without restriction, including without limitation the rights
** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
** copies of the Software, and to permit persons to whom the Software is
** furnished to do so, subject to the following conditions:
** The above copyright notice and this permission notice shall be
** included in all copies or substantial portions of the Software.
**
** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
** EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
** OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
** IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
** DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT
** OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE
**  USE OR OTHER DEALINGS IN THE SOFTWARE.
****************************************************************************/
 
#ifndef LIGHTRANGER10_H
#define LIGHTRANGER10_H
 
#ifdef __cplusplus
extern "C"{
#endif
 
#ifdef PREINIT_SUPPORTED
#include "preinit.h"
#endif
 
#ifdef MikroCCoreVersion
    #if MikroCCoreVersion >= 1
        #include "delays.h"
    #endif
#endif
 
#include "drv_digital_out.h"
#include "drv_digital_in.h"
#include "drv_i2c_master.h"
 
#define LIGHTRANGER10_REG_SOFT_RESET                    0x0000
#define LIGHTRANGER10_REG_ALGO_PTP_RANGE_OFFSET_MM      0x001E
#define LIGHTRANGER10_REG_MM_CFG_INNER_OFFSET_MM        0x0020
#define LIGHTRANGER10_REG_MM_CFG_OUTER_OFFSET_MM        0x0022
#define LIGHTRANGER10_REG_RANGE_CFG_VCSEL_PERIOD_A      0x0060
#define LIGHTRANGER10_REG_RANGE_CFG_VCSEL_PERIOD_B      0x0063
#define LIGHTRANGER10_REG_RANGE_CFG_VALID_PHASE_HIGH    0x0069
#define LIGHTRANGER10_REG_SD_CFG_WOI_SD0                0x0078
#define LIGHTRANGER10_REG_SD_CFG_WOI_SD1                0x0079
#define LIGHTRANGER10_REG_SD_CFG_INIT_PHASE_SD0         0x007A
#define LIGHTRANGER10_REG_SD_CFG_INIT_PHASE_SD1         0x007B
#define LIGHTRANGER10_REG_SYSTEM_INT_MEAS_PERIOD        0x006C
#define LIGHTRANGER10_REG_SYSTEM_INTERRUPT_CLEAR        0x0086
#define LIGHTRANGER10_REG_SYSTEM_MODE_START             0x0087
#define LIGHTRANGER10_REG_RESULT_RANGE_MM_SD0           0x0096
#define LIGHTRANGER10_REG_RESULT_OSC_CALIBRATE_VAL      0x00DE
#define LIGHTRANGER10_REG_MODEL_ID                      0x010F
#define LIGHTRANGER10_REG_MODEL_TYPE                    0x0110
 
 // lightranger10_reg
 
#define LIGHTRANGER10_SOFT_RESET_SET                    0x00
#define LIGHTRANGER10_SOFT_RESET_CLEAR                  0x01
 
#define LIGHTRANGER10_INTERRUPT_CLEAR                   0x01
 
#define LIGHTRANGER10_RANGING_ENABLE                    0x40
#define LIGHTRANGER10_RANGING_DISABLE                   0x00
 
#define LIGHTRANGER10_DISTANCE_MODE_MEDIUM              0x00
#define LIGHTRANGER10_DISTANCE_MODE_LONG                0x01
 
#define LIGHTRANGER10_DISTANCE_MEDIUM_RANGE_PERIOD_A    0x0B
#define LIGHTRANGER10_DISTANCE_MEDIUM_RANGE_PERIOD_B    0x09
#define LIGHTRANGER10_DISTANCE_MEDIUM_RANGE_VAL_PH_H    0x78
#define LIGHTRANGER10_DISTANCE_MEDIUM_SD_WOI_SD0        0x0B
#define LIGHTRANGER10_DISTANCE_MEDIUM_SD_WOI_SD1        0x09
#define LIGHTRANGER10_DISTANCE_MEDIUM_SD_IN_PH_SD0      0x0A
#define LIGHTRANGER10_DISTANCE_MEDIUM_SD_IN_PH_SD1      0x0A
#define LIGHTRANGER10_DISTANCE_LONG_RANGE_PERIOD_A      0x0F
#define LIGHTRANGER10_DISTANCE_LONG_RANGE_PERIOD_B      0x0D
#define LIGHTRANGER10_DISTANCE_LONG_RANGE_VAL_PH_H      0xB8
#define LIGHTRANGER10_DISTANCE_LONG_SD_WOI_SD0          0x0F
#define LIGHTRANGER10_DISTANCE_LONG_SD_WOI_SD1          0x0D
#define LIGHTRANGER10_DISTANCE_LONG_SD_IN_PH_SD0        0x0E
#define LIGHTRANGER10_DISTANCE_LONG_SD_IN_PH_SD1        0x0E
 
#define LIGHTRANGER10_ALGO_PTP_RANGE_OFFSET_MM_MULT     4
#define LIGHTRANGER10_ALGO_PTP_RANGE_OFFSET_MM_RESET    0
#define LIGHTRANGER10_MM_CFG_INNER_OFFSET_MM_RESET      0
#define LIGHTRANGER10_MM_CFG_OUTER_OFFSET_MM_RESET      0
#define LIGHTRANGER10_CALIBRATE_DISTANCE_AVERAGE_NUM    20
 
#define LIGHTRANGER10_DEFAULT_IM_PERIOD_MS              200
#define LIGHTRANGER10_OSC_CALIB_IM_PERIOD_OFFSET        4
 
#define LIGHTRANGER10_MODEL_ID                          0xEB
#define LIGHTRANGER10_MODEL_TYPE                        0xAA
 
#define LIGHTRANGER10_DEVICE_ADDRESS                    0x29
 
 // lightranger10_set
 
#define LIGHTRANGER10_MAP_MIKROBUS( cfg, mikrobus ) \
    cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
    cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
    cfg.en = MIKROBUS( mikrobus, MIKROBUS_CS ); \
    cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
 
 // lightranger10_map
 // lightranger10
 
typedef struct
{
    // Output pins
    digital_out_t en;           
    // Input pins
    digital_in_t  int_pin;      
    // Modules
    i2c_master_t i2c;           
    // I2C slave address
    uint8_t slave_address;      
} lightranger10_t;
 
typedef struct
{
    pin_name_t  scl;            
    pin_name_t  sda;            
    pin_name_t  en;             
    pin_name_t  int_pin;        
    uint32_t  i2c_speed;        
    uint8_t   i2c_address;      
} lightranger10_cfg_t;
 
typedef enum
{
    LIGHTRANGER10_OK = 0,
    LIGHTRANGER10_ERROR = -1
 
} lightranger10_return_value_t;
 
void lightranger10_cfg_setup ( lightranger10_cfg_t *cfg );
 
err_t lightranger10_init ( lightranger10_t *ctx, lightranger10_cfg_t *cfg );
 
err_t lightranger10_default_cfg ( lightranger10_t *ctx );
 
err_t lightranger10_generic_write ( lightranger10_t *ctx, uint16_t reg, uint8_t *data_in, uint8_t len );
 
err_t lightranger10_generic_read ( lightranger10_t *ctx, uint16_t reg, uint8_t *data_out, uint8_t len );
 
err_t lightranger10_write_byte ( lightranger10_t *ctx, uint16_t reg, uint8_t data_in );
 
err_t lightranger10_read_byte ( lightranger10_t *ctx, uint16_t reg, uint8_t *data_out );
 
err_t lightranger10_write_word ( lightranger10_t *ctx, uint16_t reg, uint16_t data_in );
 
err_t lightranger10_read_word ( lightranger10_t *ctx, uint16_t reg, uint16_t *data_out );
 
err_t lightranger10_write_dword ( lightranger10_t *ctx, uint16_t reg, uint32_t data_in );
 
err_t lightranger10_read_dword ( lightranger10_t *ctx, uint16_t reg, uint16_t *data_out );
 
err_t lightranger10_check_communication ( lightranger10_t *ctx );
 
uint8_t lightranger10_get_int_pin ( lightranger10_t *ctx );
 
void lightranger10_enable_device ( lightranger10_t *ctx );
 
void lightranger10_disable_device ( lightranger10_t *ctx );
 
void lightranger10_reset_device ( lightranger10_t *ctx );
 
err_t lightranger10_soft_reset ( lightranger10_t *ctx );
 
err_t lightranger10_clear_interrupts ( lightranger10_t *ctx );
 
err_t lightranger10_set_inter_measurement_period_ms ( lightranger10_t *ctx, uint32_t period_ms );
 
err_t lightranger10_set_distance_offset ( lightranger10_t *ctx, int16_t offset_mm );
 
err_t lightranger10_calibrate_distance ( lightranger10_t *ctx, uint16_t target_distance_mm );
 
err_t lightranger10_set_distance_mode ( lightranger10_t *ctx, uint8_t distance_mode );
 
err_t lightranger10_start_measurement ( lightranger10_t *ctx );
 
err_t lightranger10_stop_measurement ( lightranger10_t *ctx );
 
err_t lightranger10_get_distance ( lightranger10_t *ctx, uint16_t *distance_mm );
 
#ifdef __cplusplus
}
#endif
#endif // LIGHTRANGER10_H
 
 // lightranger10
 
// ------------------------------------------------------------------------ END