lightranger5.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 LIGHTRANGER5_H
#define LIGHTRANGER5_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 LIGHTRANGER5_REG_APPID                                          0x00
#define LIGHTRANGER5_REG_APPREQID                                       0x02
#define LIGHTRANGER5_REG_APPREV_MAJOR                                   0x01
#define LIGHTRANGER5_REG_APPREV_MINOR                                   0x12
#define LIGHTRANGER5_REG_APPREV_PATCH                                   0x13
#define LIGHTRANGER5_REG_CMD_DATA9                                      0x06
#define LIGHTRANGER5_REG_CMD_DATA8                                      0x07
#define LIGHTRANGER5_REG_CMD_DATA7                                      0x08
#define LIGHTRANGER5_REG_CMD_DATA6                                      0x09
#define LIGHTRANGER5_REG_CMD_DATA5                                      0x0A
#define LIGHTRANGER5_REG_CMD_DATA4                                      0x0B
#define LIGHTRANGER5_REG_CMD_DATA3                                      0x0C
#define LIGHTRANGER5_REG_CMD_DATA2                                      0x0D
#define LIGHTRANGER5_REG_CMD_DATA1                                      0x0E
#define LIGHTRANGER5_REG_CMD_DATA0                                      0x0F
#define LIGHTRANGER5_REG_COMMAND                                        0x10
#define LIGHTRANGER5_REG_PREVIOUS                                       0x11
#define LIGHTRANGER5_REG_STATUS                                         0x1D
#define LIGHTRANGER5_REG_REGISTER_CONTENTS                              0x1E
#define LIGHTRANGER5_REG_TID                                            0x1F
#define LIGHTRANGER5_REG_RESULT_NUMBER                                  0x20
#define LIGHTRANGER5_REG_RESULT_INFO                                    0x21
#define LIGHTRANGER5_REG_DISTANCE_PEAK_0                                0x22
#define LIGHTRANGER5_REG_DISTANCE_PEAK_1                                0x23
#define LIGHTRANGER5_REG_SYS_CLOCK_0                                    0x24
#define LIGHTRANGER5_REG_SYS_CLOCK_1                                    0x25
#define LIGHTRANGER5_REG_SYS_CLOCK_2                                    0x26
#define LIGHTRANGER5_REG_SYS_CLOCK_3                                    0x27
#define LIGHTRANGER5_REG_STATE_DATA_0                                   0x28
#define LIGHTRANGER5_REG_STATE_DATA_1                                   0x29
#define LIGHTRANGER5_REG_STATE_DATA_2                                   0x2A
#define LIGHTRANGER5_REG_STATE_DATA_3                                   0x2B
#define LIGHTRANGER5_REG_STATE_DATA_4                                   0x2C
#define LIGHTRANGER5_REG_STATE_DATA_5                                   0x2D
#define LIGHTRANGER5_REG_STATE_DATA_6                                   0x2E
#define LIGHTRANGER5_REG_STATE_DATA_7                                   0x2F
#define LIGHTRANGER5_REG_STATE_DATA_8_XTALK_MSB                         0x30
#define LIGHTRANGER5_REG_STATE_DATA_9_XTALK_LSB                         0x31
#define LIGHTRANGER5_REG_STATE_DATA_10_TJ                               0x32
#define LIGHTRANGER5_REG_REFERENCE_HITS_0                               0x33
#define LIGHTRANGER5_REG_REFERENCE_HITS_1                               0x34
#define LIGHTRANGER5_REG_REFERENCE_HITS_2                               0x35
#define LIGHTRANGER5_REG_REFERENCE_HITS_3                               0x36
#define LIGHTRANGER5_REG_OBJECT_HITS_0                                  0x37
#define LIGHTRANGER5_REG_OBJECT_HITS_1                                  0x38
#define LIGHTRANGER5_REG_OBJECT_HITS_2                                  0x39
#define LIGHTRANGER5_REG_OBJECT_HITS_3                                  0x3A
#define LIGHTRANGER5_REG_FACTORY_CALIB_0                                0x20
#define LIGHTRANGER5_REG_STATE_DATA_WR_0                                0x2E
#define LIGHTRANGER5_REG_ENABLE                                         0xE0
#define LIGHTRANGER5_REG_INT_STATUS                                     0xE1
#define LIGHTRANGER5_REG_INT_ENAB                                       0xE2
#define LIGHTRANGER5_REG_DEVICE_ID                                      0xE3
#define LIGHTRANGER5_REG_REVID                                          0xE4
 
 // lightranger5_reg
 
#define LIGHTRANGER5_CMD_NO_COMMAND                                     0x00
#define LIGHTRANGER5_CMD_DISTANCE_MEASURE_MODE_1                        0x02
#define LIGHTRANGER5_CMD_FACTORY_CALIB                                  0x0A
#define LIGHTRANGER5_CMD_DL_CALIB_AND_STATE                             0x0B
#define LIGHTRANGER5_CMD_RESULT                                         0x55
 
#define LIGHTRANGER5_APPID_MEASUREMENT                                  0xC0
#define LIGHTRANGER5_APPID_BOOTLOADER                                   0x80
#define LIGHTRANGER5_EXPECTED_ID                                        0x07
#define LIGHTRANGER5_CALIB_DATA                                         0x0A
#define LIGHTRANGER5_SERIAL_NUMBER                                      0x47
#define LIGHTRANGER5_BIT_CPU_RDY                                        0x40
#define LIGHTRANGER5_ENABLE_RESET                                       0x80
 
#define LIGHTRANGER5_SET_DEV_ADDR                                       0x41
 
 // lightranger5_set
 
#define LIGHTRANGER5_STATUS_IDLE                                        0x00
#define LIGHTRANGER5_STATUS_DIAGNOSTIC                                  0x01
#define LIGHTRANGER5_STATUS_START                                       0x02
#define LIGHTRANGER5_STATUS_CALIBRATION                                 0x03
#define LIGHTRANGER5_STATUS_LIGHTCOL                                    0x04
#define LIGHTRANGER5_STATUS_ALGORITHM                                   0x05
#define LIGHTRANGER5_STATUS_STARTUP                                     0x06
#define LIGHTRANGER5_STATUS_OK                                          0x0F
#define LIGHTRANGER5_STATUS_VCSEL_PWR_FAIL                              0x10
#define LIGHTRANGER5_STATUS_VCSEL_LED_A_FAIL                            0x11
#define LIGHTRANGER5_STATUS_VCSEL_LED_K_FAIL                            0x12
#define LIGHTRANGER5_STATUS_INVALID_PARAM                               0x18
#define LIGHTRANGER5_STATUS_INVALID_DEVICE                              0x19
#define LIGHTRANGER5_STATUS_CALIB_ERROR                                 0x1B
#define LIGHTRANGER5_STATUS_INVALID_COMMAND                             0x1C
#define LIGHTRANGER5_STATUS_INVALID_STATE                               0x1D
#define LIGHTRANGER5_STATUS_ERR_ALGORITHM                               0x1F
 
 
 // lightranger5_get
 
#define LIGHTRANGER5_MAP_MIKROBUS( cfg, mikrobus )  \
    cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL );   \
    cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA );   \
    cfg.en = MIKROBUS( mikrobus, MIKROBUS_CS );     \
    cfg.io0 = MIKROBUS( mikrobus, MIKROBUS_RST );   \
    cfg.io1 = MIKROBUS( mikrobus, MIKROBUS_PWM );   \
    cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
 
 // lightranger5_map
 // lightranger5
 
typedef struct
{
    // Output pins
 
    digital_out_t  en;        
    digital_out_t  io0;       
    digital_out_t  io1;       
    // Input pins
 
    digital_in_t  int_pin;    
    // Modules
 
    i2c_master_t i2c;         
    // I2C slave address      
                              
    uint8_t slave_address;    
} lightranger5_t;
 
typedef struct
{
    pin_name_t  scl;          
    pin_name_t  sda;          
    pin_name_t  en;           
    pin_name_t  io0;          
    pin_name_t  io1;          
    pin_name_t  int_pin;      
    uint32_t  i2c_speed;      
    uint8_t   i2c_address;    
} lightranger5_cfg_t;
 
typedef enum
{
   LIGHTRANGER5_OK = 0,
   LIGHTRANGER5_ERROR = -1
 
} lightranger5_return_value_t;
 
typedef enum
{
   LIGHTRANGER5_DATA_NOT_READY = 0,
   LIGHTRANGER5_DATA_IS_READY = 1
 
} lightranger5_return_data_ready_t;
 
void lightranger5_cfg_setup ( lightranger5_cfg_t *cfg );
 
err_t lightranger5_init ( lightranger5_t *ctx, lightranger5_cfg_t *cfg );
 
err_t lightranger5_default_cfg ( lightranger5_t *ctx );
 
err_t lightranger5_generic_write ( lightranger5_t *ctx, uint8_t reg, uint8_t *tx_buf, uint8_t tx_len );
 
err_t lightranger5_generic_read ( lightranger5_t *ctx, uint8_t reg, uint8_t *rx_buf, uint8_t rx_len );
 
 
err_t lightranger5_enable_device ( lightranger5_t *ctx );
 
err_t lightranger5_disable_device ( lightranger5_t *ctx );
 
err_t lightranger5_set_pin_state_io0 ( lightranger5_t *ctx, uint8_t io0_state );
 
err_t lightranger5_set_pin_state_io1 ( lightranger5_t *ctx, uint8_t io1_state );
 
err_t lightranger5_device_reset ( lightranger5_t *ctx );
 
err_t lightranger5_load_app ( lightranger5_t *ctx );
 
err_t lightranger5_start_calib_cmd ( lightranger5_t *ctx );
 
err_t lightranger5_check_factory_calibration ( lightranger5_t *ctx );
 
err_t lightranger5_get_status ( lightranger5_t *ctx, uint8_t *status );
 
err_t lightranger5_set_command ( lightranger5_t *ctx, uint8_t cmd );
 
err_t lightranger5_set_factory_calib_data ( lightranger5_t *ctx, uint8_t *factory_calib_data );
 
err_t lightranger5_get_factory_calib_data ( lightranger5_t *ctx, uint8_t *factory_calib_data );
 
err_t lightranger5_set_algorithm_state_data ( lightranger5_t *ctx, uint8_t *alg_state_data );
 
err_t lightranger5_set_command_data ( lightranger5_t *ctx, uint8_t *cmd_data );
 
err_t lightranger5_check_previous_command ( lightranger5_t *ctx, uint8_t *previous_cmd );
 
err_t lightranger5_get_currently_run_app ( lightranger5_t *ctx, uint8_t *appid_data );
 
lightranger5_return_data_ready_t lightranger5_check_data_ready ( lightranger5_t *ctx );
 
uint16_t lightranger5_measure_distance ( lightranger5_t *ctx );
 
uint8_t lightranger5_check_int ( lightranger5_t *ctx );
 
#ifdef __cplusplus
}
#endif
#endif // LIGHTRANGER5_H
 
 // lightranger5
 
// ------------------------------------------------------------------------ END