lightranger2.h

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/*
 * MikroSDK - MikroE Software Development Kit
 * Copyright© 2020 MikroElektronika d.o.o.
 * 
 * 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 LIGHTRANGER2_H
#define LIGHTRANGER2_H
 
#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"
 
 
// -------------------------------------------------------------- PUBLIC MACROS 
#define LIGHTRANGER2_MAP_MIKROBUS( cfg, mikrobus ) \
  cfg.scl  = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
  cfg.sda  = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
  cfg.en = MIKROBUS( mikrobus, MIKROBUS_RST ); \
  cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
#define LIGHTRANGER2_MAP_MIKROBUS( cfg, mikrobus ) \ …
#define LIGHTRANGER2_RETVAL  uint8_t
 
#define LIGHTRANGER2_OK           0x00
#define LIGHTRANGER2_INIT_ERROR   0xFF
#define LIGHTRANGER2_I2C_ADDR                                      0x29
#define LIGHTRANGER2_SYSRANGE_START                                0x00
#define LIGHTRANGER2_SYSTEM_THRESH_HIGH                            0x0C
#define LIGHTRANGER2_SYSTEM_THRESH_LOW                             0x0E
#define LIGHTRANGER2_SYSTEM_SEQUENCE_CONFIG                        0x01
#define LIGHTRANGER2_SYSTEM_RANGE_CONFIG                           0x09
#define LIGHTRANGER2_SYSTEM_INTERMEASUREMENT_PERIOD                0x04
#define LIGHTRANGER2_SYSTEM_INTERRUPT_CONFIG_GPIO                  0x0A
#define LIGHTRANGER2_GPIO_HV_MUX_ACTIVE_HIGH                       0x84
#define LIGHTRANGER2_SYSTEM_INTERRUPT_CLEAR                        0x0B
#define LIGHTRANGER2_RESULT_INTERRUPT_STATUS                       0x13
#define LIGHTRANGER2_RESULT_RANGE_STATUS                           0x14
#define LIGHTRANGER2_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN         0xBC
#define LIGHTRANGER2_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN          0xC0
#define LIGHTRANGER2_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF         0xD0
#define LIGHTRANGER2_RESULT_CORE_RANGING_TOTAL_EVENTS_REF          0xD4
#define LIGHTRANGER2_RESULT_PEAK_SIGNAL_RATE_REF                   0xB6
#define LIGHTRANGER2_ALGO_PART_TO_PART_RANGE_OFFSET_MM             0x28
#define LIGHTRANGER2_MSRC_CONFIG_CONTROL                           0x60
#define LIGHTRANGER2_PRE_RANGE_CONFIG_MIN_SNR                      0x27
#define LIGHTRANGER2_PRE_RANGE_CONFIG_VALID_PHASE_LOW              0x56
#define LIGHTRANGER2_PRE_RANGE_CONFIG_VALID_PHASE_HIGH             0x57
#define LIGHTRANGER2_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT            0x64
#define LIGHTRANGER2_FINAL_RANGE_CONFIG_MIN_SNR                    0x67
#define LIGHTRANGER2_FINAL_RANGE_CONFIG_VALID_PHASE_LOW            0x47
#define LIGHTRANGER2_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH           0x48
#define LIGHTRANGER2_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT   0x44
#define LIGHTRANGER2_PRE_RANGE_CONFIG_SIGMA_THRESH_HI              0x61
#define LIGHTRANGER2_PRE_RANGE_CONFIG_SIGMA_THRESH_LO              0x62
#define LIGHTRANGER2_PRE_RANGE_CONFIG_VCSEL_PERIOD                 0x50
#define LIGHTRANGER2_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI            0x51
#define LIGHTRANGER2_PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO            0x52
#define LIGHTRANGER2_SYSTEM_HISTOGRAM_BIN                          0x81
#define LIGHTRANGER2_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT         0x33
#define LIGHTRANGER2_HISTOGRAM_CONFIG_READOUT_CTRL                 0x55
#define LIGHTRANGER2_FINAL_RANGE_CONFIG_VCSEL_PERIOD               0x70
#define LIGHTRANGER2_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI          0x71
#define LIGHTRANGER2_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO          0x72
#define LIGHTRANGER2_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS         0x20
#define LIGHTRANGER2_MSRC_CONFIG_TIMEOUT_MACROP                    0x46
#define LIGHTRANGER2_SOFT_RESET_GO2_SOFT_RESET_N                   0xBF
#define LIGHTRANGER2_IDENTIFICATION_MODEL_ID                       0xC0
#define LIGHTRANGER2_IDENTIFICATION_REVISION_ID                    0xC2
#define LIGHTRANGER2_OSC_CALIBRATE_VAL                             0xF8
#define LIGHTRANGER2_GLOBAL_CONFIG_VCSEL_WIDTH                     0x32
#define LIGHTRANGER2_GLOBAL_CONFIG_SPAD_ENABLES_REF_0              0xB0
#define LIGHTRANGER2_GLOBAL_CONFIG_SPAD_ENABLES_REF_1              0xB1
#define LIGHTRANGER2_GLOBAL_CONFIG_SPAD_ENABLES_REF_2              0xB2
#define LIGHTRANGER2_GLOBAL_CONFIG_SPAD_ENABLES_REF_3              0xB3
#define LIGHTRANGER2_GLOBAL_CONFIG_SPAD_ENABLES_REF_4              0xB4
#define LIGHTRANGER2_GLOBAL_CONFIG_SPAD_ENABLES_REF_5              0xB5
#define LIGHTRANGER2_GLOBAL_CONFIG_REF_EN_START_SELECT             0xB6
#define LIGHTRANGER2_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD           0x4E
#define LIGHTRANGER2_DYNAMIC_SPAD_REF_EN_START_OFFSET              0x4F
#define LIGHTRANGER2_POWER_MANAGEMENT_GO1_POWER_FORCE              0x80
#define LIGHTRANGER2_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV             0x89
#define LIGHTRANGER2_ALGO_PHASECAL_LIM                             0x30
#define LIGHTRANGER2_ALGO_PHASECAL_CONFIG_TIMEOUT                  0x30
#define LIGHTRANGER2_STATUS_ERR                                             0x00
#define LIGHTRANGER2_STATUS_OK                                              0x01
 // End group macro 
// --------------------------------------------------------------- PUBLIC TYPES
typedef struct
{
   
    digital_out_t en;
 
    digital_in_t int_pin;
    
    // Modules 
 
    i2c_master_t i2c;
 
    // ctx variable 
 
    uint8_t slave_address;
 
    uint32_t milliseconds_counter;
    uint16_t io_timeout;
    uint8_t did_timeout;
    uint16_t timeout_start_ms;
 
} lightranger2_t;
typedef struct {…};
 
typedef struct
{
    // Communication gpio pins 
 
    pin_name_t scl;
    pin_name_t sda;
    
    // Additional gpio pins 
 
 
    pin_name_t en;
 
    pin_name_t int_pin;
 
    // static variable 
 
    uint32_t i2c_speed;
    uint8_t i2c_address;
 
 
} lightranger2_cfg_t;
typedef struct {…};
 
 // End types group
// ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
 
#ifdef __cplusplus
extern "C"{
#endif
 
void lightranger2_cfg_setup ( lightranger2_cfg_t *cfg );
 
LIGHTRANGER2_RETVAL lightranger2_init ( lightranger2_t *ctx, lightranger2_cfg_t *cfg );
 
LIGHTRANGER2_RETVAL lightranger2_default_cfg ( lightranger2_t *ctx );
 
void lightranger2_write_byte ( lightranger2_t* ctx, uint8_t reg_address, uint8_t write_data );
 
uint8_t lightranger2_read_byte ( lightranger2_t* ctx, uint8_t reg_address );
 
void lightranger2_write_data ( lightranger2_t* ctx, uint8_t reg_address, uint16_t write_data );
 
uint16_t lightranger2_read_data ( lightranger2_t* ctx, uint8_t reg_address );
 
void lightranger2_write_bytes ( lightranger2_t* ctx, uint8_t reg_address, uint8_t* write_data, uint8_t n_bytes );
 
void lightranger2_read_bytes ( lightranger2_t* ctx, uint8_t reg_address, uint8_t* read_data, uint8_t n_bytes );
 
void lightranger2_hw_reset ( lightranger2_t* ctx );
 
void lightranger2_enable ( lightranger2_t* ctx );
 
void lightranger2_disable ( lightranger2_t* ctx );
 
uint8_t lightranger2_get_interrupt ( lightranger2_t* ctx );
 
void lightranger2_start_continuous ( lightranger2_t* ctx, uint32_t period_ms );
 
void lightranger2_stop_continuous ( lightranger2_t* ctx );
 
LIGHTRANGER2_RETVAL lightranger2_set_signal_rate_limit ( lightranger2_t* ctx,
                                                         float limit_mcps );
 
float lightranger2_get_signal_rate_limit ( lightranger2_t* ctx );
 
LIGHTRANGER2_RETVAL lightranger2_get_spad_info ( lightranger2_t* ctx, 
                                                 uint8_t* count_data, 
                                                 uint8_t* aperture_type );
 
LIGHTRANGER2_RETVAL lightranger2_single_calibration ( lightranger2_t* ctx,
                                                      uint8_t vhv_init_byte );
 
uint16_t lightranger2_get_range_continuous ( lightranger2_t* ctx );
 
uint16_t lightranger2_get_range_single ( lightranger2_t* ctx );
 
#ifdef __cplusplus
}
#endif
#endif  // _LIGHTRANGER2_H_
 
 // End public_function group
 
// ------------------------------------------------------------------------- END