lightranger11.h

Go to the documentation of this file.

/****************************************************************************
** 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 LIGHTRANGER11_H
#define LIGHTRANGER11_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 LIGHTRANGER11_DCI_ZONE_CONFIG             0x5450
#define LIGHTRANGER11_DCI_FREQ_HZ                 0x5458
#define LIGHTRANGER11_DCI_INT_TIME                0x545C
#define LIGHTRANGER11_DCI_FW_NB_TARGET            0x5478
#define LIGHTRANGER11_DCI_RANGING_MODE            0xAD30
#define LIGHTRANGER11_DCI_DSS_CONFIG              0xAD38
#define LIGHTRANGER11_DCI_TARGET_ORDER            0xAE64
#define LIGHTRANGER11_DCI_SHARPENER               0xAED8
#define LIGHTRANGER11_DCI_INTERNAL_CP             0xB39C
#define LIGHTRANGER11_DCI_MOTION_DETECTOR_CFG     0xBFAC
#define LIGHTRANGER11_DCI_SINGLE_RANGE            0xCD5C
#define LIGHTRANGER11_DCI_OUTPUT_CONFIG           0xCD60
#define LIGHTRANGER11_DCI_OUTPUT_ENABLES          0xCD68
#define LIGHTRANGER11_DCI_OUTPUT_LIST             0xCD78
#define LIGHTRANGER11_DCI_PIPE_CONTROL            0xCF78
 
#define LIGHTRANGER11_UI_CMD_STATUS               0x2C00
#define LIGHTRANGER11_UI_CMD_START                0x2C04
#define LIGHTRANGER11_UI_CMD_END                  0x2FFF
 
 // lightranger11_reg
 
#define LIGHTRANGER11_TEMP_BUFFER_SIZE            1024
#define LIGHTRANGER11_NVM_DATA_SIZE               492
#define LIGHTRANGER11_OFFSET_BUFFER_SIZE          488
#define LIGHTRANGER11_XTALK_BUFFER_SIZE           776
 
#define LIGHTRANGER11_RESOLUTION_4X4              16
#define LIGHTRANGER11_RESOLUTION_8X8              64
 
#define LIGHTRANGER11_RANGING_MODE_CONTINUOUS     1
#define LIGHTRANGER11_RANGING_MODE_AUTONOMOUS     3
 
#define LIGHTRANGER11_START_BH                    0x0000000Dul
#define LIGHTRANGER11_METADATA_BH                 0x54B400C0ul
#define LIGHTRANGER11_COMMONDATA_BH               0x54C00040ul
#define LIGHTRANGER11_AMBIENT_RATE_BH             0x54D00104ul
#define LIGHTRANGER11_SPAD_COUNT_BH               0x55D00404ul
#define LIGHTRANGER11_NB_TARGET_DETECTED_BH       0xCF7C0401ul
#define LIGHTRANGER11_SIGNAL_RATE_BH              0xCFBC0404ul
#define LIGHTRANGER11_RANGE_SIGMA_MM_BH           0xD2BC0402ul
#define LIGHTRANGER11_DISTANCE_BH                 0xD33C0402ul
#define LIGHTRANGER11_REFLECTANCE_BH              0xD43C0401ul
#define LIGHTRANGER11_TARGET_STATUS_BH            0xD47C0401ul
#define LIGHTRANGER11_MOTION_DETECT_BH            0xCC5008C0ul
#define LIGHTRANGER11_METADATA_IDX                0x54B4
#define LIGHTRANGER11_SPAD_COUNT_IDX              0x55D0
#define LIGHTRANGER11_AMBIENT_RATE_IDX            0x54D0
#define LIGHTRANGER11_NB_TARGET_DETECTED_IDX      0xCF7C
#define LIGHTRANGER11_SIGNAL_RATE_IDX             0xCFBC
#define LIGHTRANGER11_RANGE_SIGMA_MM_IDX          0xD2BC
#define LIGHTRANGER11_DISTANCE_IDX                0xD33C
#define LIGHTRANGER11_REFLECTANCE_EST_PC_IDX      0xD43C
#define LIGHTRANGER11_TARGET_STATUS_IDX           0xD47C
#define LIGHTRANGER11_MOTION_DETEC_IDX            0xCC50
 
#define LIGHTRANGER11_DEF_RESOLUTION              LIGHTRANGER11_RESOLUTION_8X8
#define LIGHTRANGER11_DEF_RANGING_FREQ_HZ         2
#define LIGHTRANGER11_DEF_RANGING_MODE            LIGHTRANGER11_RANGING_MODE_AUTONOMOUS
#define LIGHTRANGER11_DEF_INTEGRATION_TIME_MS     20
 
#define LIGHTRANGER11_DEVICE_ADDRESS              0x29
 
 // lightranger11_set
 
#define LIGHTRANGER11_MAP_MIKROBUS( cfg, mikrobus ) \
    cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL );   \
    cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA );   \
    cfg.rsc = MIKROBUS( mikrobus, MIKROBUS_RST );   \
    cfg.lp = MIKROBUS( mikrobus, MIKROBUS_PWM );    \
    cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
 
 // lightranger11_map
 // lightranger11
 
typedef struct
{
    // Output pins
    digital_out_t rsc;        
    digital_out_t lp;         
    // Input pins
    digital_in_t int_pin;     
    // Modules
    i2c_master_t i2c;         
    // I2C slave address
    uint8_t slave_address;    
    uint8_t stream_count;
    uint32_t data_read_size;
    uint8_t offset_data[ LIGHTRANGER11_OFFSET_BUFFER_SIZE ];
    uint8_t temp_buf[ LIGHTRANGER11_TEMP_BUFFER_SIZE ];
 
} lightranger11_t;
 
typedef struct
{
    pin_name_t scl;             
    pin_name_t sda;             
    pin_name_t rsc;             
    pin_name_t lp;              
    pin_name_t int_pin;         
    uint32_t   i2c_speed;       
    uint8_t    i2c_address;     
} lightranger11_cfg_t;
 
typedef struct
{
    int8_t silicon_temp_degc;
 
    uint8_t nb_target_detected[ 64 ];
 
    int16_t distance_mm[ 64 ];
 
    uint8_t target_status[ 64 ];
 
} lightranger11_results_data_t;
 
typedef enum
{
    LIGHTRANGER11_OK = 0,
    LIGHTRANGER11_ERROR = -1
 
} lightranger11_return_value_t;
 
typedef union 
{
    uint32_t bytes;
    struct 
    {
        uint32_t type : 4;
        uint32_t size : 12;
        uint32_t idx : 16;
    };
} lightranger11_block_header_t;
 
void lightranger11_cfg_setup ( lightranger11_cfg_t *cfg );
 
err_t lightranger11_init ( lightranger11_t *ctx, lightranger11_cfg_t *cfg );
 
err_t lightranger11_default_cfg ( lightranger11_t *ctx );
 
err_t lightranger11_write_multi ( lightranger11_t *ctx, uint16_t reg, uint8_t *data_in, uint8_t len );
 
err_t lightranger11_read_multi ( lightranger11_t *ctx, uint16_t reg, uint8_t *data_out, uint16_t len );
 
err_t lightranger11_write_byte ( lightranger11_t *ctx, uint16_t reg, uint8_t data_in );
 
err_t lightranger11_read_byte ( lightranger11_t *ctx, uint16_t reg, uint8_t *data_out );
 
err_t lightranger11_write_data ( lightranger11_t *ctx, uint8_t *data_in, uint16_t len );
 
err_t lightranger11_check_comm ( lightranger11_t *ctx );
 
uint8_t lightranger11_get_int_pin ( lightranger11_t *ctx );
 
void lightranger11_set_i2c_rst_pin ( lightranger11_t *ctx, uint8_t state );
 
void lightranger11_set_lpn_pin ( lightranger11_t *ctx, uint8_t state );
 
void lightranger11_reset_i2c ( lightranger11_t *ctx );
 
err_t lightranger11_sensor_init ( lightranger11_t *ctx );
 
err_t lightranger11_dci_write_data ( lightranger11_t *ctx, uint16_t index, 
                                                           uint8_t *data_in, 
                                                           uint16_t data_size );
 
err_t lightranger11_dci_read_data ( lightranger11_t *ctx, uint16_t index, 
                                                          uint8_t *data_out, 
                                                          uint16_t data_size );
 
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 );
 
err_t lightranger11_set_resolution ( lightranger11_t *ctx, uint8_t resolution );
 
err_t lightranger11_get_resolution ( lightranger11_t *ctx, uint8_t *resolution );
 
err_t lightranger11_set_rang_freq_hz ( lightranger11_t *ctx, uint8_t frequency_hz );
 
err_t lightranger11_get_rang_freq_hz ( lightranger11_t *ctx, uint8_t *frequency_hz );
 
err_t lightranger11_set_integ_time_ms ( lightranger11_t *ctx, uint32_t integration_time_ms );
 
err_t lightranger11_get_integ_time_ms ( lightranger11_t *ctx, uint32_t *integration_time_ms );
 
err_t lightranger11_set_ranging_mode ( lightranger11_t *ctx, uint8_t ranging_mode );
 
err_t lightranger11_get_ranging_mode ( lightranger11_t *ctx, uint8_t *ranging_mode );
 
err_t lightranger11_start_ranging ( lightranger11_t *ctx );
 
err_t lightranger11_stop_ranging ( lightranger11_t *ctx );
 
err_t lightranger11_get_ranging_data ( lightranger11_t *ctx, lightranger11_results_data_t *results );
 
#ifdef __cplusplus
}
#endif
#endif // LIGHTRANGER11_H
 
 // lightranger11
 
// ------------------------------------------------------------------------ END