amiro-lld / include / VL53L0X / v1 / alld_VL53L0X_v1.h @ 6ebebd4d
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1 | 6ebebd4d | Andre Raming | /*
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2 | AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
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3 | Copyright (C) 2016..2019 Thomas Schöpping et al.
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4 | |||
5 | This program is free software: you can redistribute it and/or modify
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6 | it under the terms of the GNU Lesser General Public License as published by
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7 | the Free Software Foundation, either version 3 of the License, or
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8 | (at your option) any later version.
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9 | |||
10 | This program is distributed in the hope that it will be useful,
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11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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13 | GNU Lesser General Public License for more details.
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14 | |||
15 | You should have received a copy of the GNU Lesser General Public License
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16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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17 | */
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18 | |||
19 | |||
20 | /**
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21 | * @file alld_VL53L0X_v1.h
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22 | * @brief Proximity Sensor macros and structures.
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23 | *
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24 | * @addtogroup lld_proximity
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25 | * @{
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26 | */
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27 | |||
28 | #ifndef AMIROLLD_VL53L0X_V1_H
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29 | #define AMIROLLD_VL53L0X_V1_H
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30 | |||
31 | |||
32 | #include <stdbool.h> |
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33 | |||
34 | #include <string.h> |
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35 | //debugging
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36 | //#include <aos_thread.h>
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37 | |||
38 | |||
39 | #include <stdint.h> |
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40 | #include <stdarg.h> |
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41 | #include "chprintf.h" |
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42 | |||
43 | |||
44 | //includes api st vl53l0x
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45 | #include <vl53l0x_api.h> |
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46 | //#include "vl53l0x_platform.h"
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47 | |||
48 | |||
49 | #if (defined(AMIROLLD_CFG_VL53L0X) && (AMIROLLD_CFG_VL53L0X == 1)) || defined(__DOXYGEN__) |
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50 | |||
51 | /******************************************************************************/
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52 | /* CONSTANTS */
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53 | /******************************************************************************/
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54 | |||
55 | /**
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56 | * @brief Fixed slave address to access the VL53L0X via I2C.
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57 | *
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58 | * VCNL4020 had 0010011 = 13h == 0x13u
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59 | * VL53L0X has 0101001 = 29h == 0x29u and the last bit is read(0x53)/write(0x52)
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60 | *
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61 | */
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62 | #define VL53L0X_LLD_I2C_ADDR 0x29u |
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63 | |||
64 | /**
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65 | * @brief Maximum frequency for I2C communication.
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66 | *
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67 | * VL53L0X has 400 kHz
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68 | *
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69 | */
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70 | #define VL53L0X_LLD_I2C_MAXFREQUENCY 200000 |
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71 | |||
72 | /**
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73 | * @brief A falling edge indicates an interrupt.
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74 | *
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75 | * VL53L0X has an interrupt on a falling or rising edge, it can be set.
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76 | *
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77 | */
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78 | #define VL53L0X_LLD_INT_EDGE APAL_GPIO_EDGE_FALLING
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79 | |||
80 | |||
81 | /**
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82 | *@brief use the 2.8V mode for the VL53L0X Sensor
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83 | */
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84 | #define USE_I2C_2V8
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85 | |||
86 | |||
87 | /**
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88 | * @brief Adresses of all registers of the VL53L0X.
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89 | */
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90 | |||
91 | |||
92 | /******************************************************************************/
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93 | /* SETTINGS */
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94 | /******************************************************************************/
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95 | |||
96 | /******************************************************************************/
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97 | /* CHECKS */
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98 | /******************************************************************************/
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99 | |||
100 | /******************************************************************************/
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101 | /* DATA STRUCTURES AND TYPES */
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102 | /******************************************************************************/
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103 | |||
104 | /**
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105 | * @brief The VL53L0X driver struct, the apalI2CDriver_t I2C Driver is inside the VL53L0X_Dev_t structur.
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106 | */
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107 | typedef struct { |
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108 | VL53L0X_Dev_t vl53l0x_dev; |
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109 | } VL53L0XDriver; |
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110 | |||
111 | |||
112 | /**
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113 | * @brief Adresses for the several I/O registers of the VCNL4020.
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114 | */
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115 | typedef enum { |
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116 | VL53L0X_REG_SYSRANGE_START_API = VL53L0X_REG_SYSRANGE_START, |
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117 | VL53L0X_REG_SYSRANGE_MODE_MASK_API = VL53L0X_REG_SYSRANGE_MODE_MASK, |
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118 | VL53L0X_REG_SYSRANGE_MODE_START_STOP_API = VL53L0X_REG_SYSRANGE_MODE_START_STOP, |
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119 | VL53L0X_REG_SYSRANGE_MODE_SINGLESHOT_API = VL53L0X_REG_SYSRANGE_MODE_SINGLESHOT, |
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120 | VL53L0X_REG_SYSRANGE_MODE_BACKTOBACK_API = VL53L0X_REG_SYSRANGE_MODE_BACKTOBACK, |
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121 | VL53L0X_REG_SYSRANGE_MODE_TIMED_API = VL53L0X_REG_SYSRANGE_MODE_TIMED, //0x04,
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122 | VL53L0X_REG_SYSRANGE_MODE_HISTOGRAM_API= VL53L0X_REG_SYSRANGE_MODE_HISTOGRAM, // 0x08,
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123 | VL53L0X_REG_SYSTEM_THRESH_HIGH_API = VL53L0X_REG_SYSTEM_THRESH_HIGH, // 0x000C,
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124 | VL53L0X_REG_SYSTEM_THRESH_LOW_API = VL53L0X_REG_SYSTEM_THRESH_LOW, // 0x000E,
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125 | VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG_API = VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, // 0x0001,
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126 | VL53L0X_REG_SYSTEM_RANGE_CONFIG_API = VL53L0X_REG_SYSTEM_RANGE_CONFIG, // 0x0009,
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127 | VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD_API = VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD, // 0x0004,
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128 | VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO_API = VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO, // 0x000A,
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129 | VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_DISABLED_API = VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_DISABLED, // 0x00,
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130 | VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_LEVEL_LOW_API = VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_LEVEL_LOW, // 0x01,
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131 | VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_LEVEL_HIGH_API = VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_LEVEL_HIGH, // 0x02,
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132 | VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_OUT_OF_WINDOW_API = VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_OUT_OF_WINDOW, //0x03,
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133 | VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY_API = VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY,// 0x04,
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134 | VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH_API = VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH, // 0x0084,
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135 | VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR_API = VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR, // 0x000B,
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136 | VL53L0X_REG_RESULT_INTERRUPT_STATUS_API = VL53L0X_REG_RESULT_INTERRUPT_STATUS, // 0x0013,
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137 | VL53L0X_REG_RESULT_RANGE_STATUS_API = VL53L0X_REG_RESULT_RANGE_STATUS, // 0x0014,
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138 | VL53L0X_REG_RESULT_CORE_PAGE_API = VL53L0X_REG_RESULT_CORE_PAGE, // 1,
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139 | VL53L0X_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN_API = VL53L0X_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN, // 0x00BC,
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140 | VL53L0X_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN_API = VL53L0X_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN, // 0x00C0,
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141 | VL53L0X_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF_API = VL53L0X_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF, // 0x00D0,
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142 | VL53L0X_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_REF_API = VL53L0X_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_REF, // 0x00D4,
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143 | VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF_API = VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF, // 0x00B6,
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144 | VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM_API = VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM, // 0x0028,
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145 | VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS_API = VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS, // 0x008a,
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146 | VL53L0X_REG_MSRC_CONFIG_CONTROL_API = VL53L0X_REG_MSRC_CONFIG_CONTROL, // 0x0060,
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147 | VL53L0X_REG_PRE_RANGE_CONFIG_MIN_SNR_API = VL53L0X_REG_PRE_RANGE_CONFIG_MIN_SNR, // 0X0027,
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148 | VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW_API = VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW, // 0x0056,
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149 | VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH_API = VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH, // 0x0057,
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150 | VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT_API = VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT, // 0x0064,
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151 | VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_SNR_API = VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_SNR, // 0X0067,
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152 | VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW_API = VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW, // 0x0047,
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153 | VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH_API = VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, // 0x0048,
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154 | VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT_API = VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT, // 0x0044,
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155 | VL53L0X_REG_PRE_RANGE_CONFIG_SIGMA_THRESH_HI_API = VL53L0X_REG_PRE_RANGE_CONFIG_SIGMA_THRESH_HI, // 0X0061,
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156 | VL53L0X_REG_PRE_RANGE_CONFIG_SIGMA_THRESH_LO_API = VL53L0X_REG_PRE_RANGE_CONFIG_SIGMA_THRESH_LO, // 0X0062,
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157 | VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD_API = VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD, // 0x0050,
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158 | VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI_API = VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI, // 0x0051,
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159 | VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO_API = VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO, // 0x0052,
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160 | VL53L0X_REG_SYSTEM_HISTOGRAM_BIN_API = VL53L0X_REG_SYSTEM_HISTOGRAM_BIN, // 0x0081,
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161 | VL53L0X_REG_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT_API = VL53L0X_REG_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT, // 0x0033,
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162 | VL53L0X_REG_HISTOGRAM_CONFIG_READOUT_CTRL_API = VL53L0X_REG_HISTOGRAM_CONFIG_READOUT_CTRL, // 0x0055,
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163 | VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD_API = VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD, // 0x0070,
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164 | VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI_API = VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI, // 0x0071,
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165 | VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO_API = VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO, // 0x0072,
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166 | VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS_API = VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS, // 0x0020,
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167 | VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP_API = VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP, // 0x0046,
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168 | VL53L0X_REG_SOFT_RESET_GO2_SOFT_RESET_N_API = VL53L0X_REG_SOFT_RESET_GO2_SOFT_RESET_N, // 0x00bf,
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169 | VL53L0X_REG_IDENTIFICATION_MODEL_ID_API = VL53L0X_REG_IDENTIFICATION_MODEL_ID, // 0x00c0,
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170 | VL53L0X_REG_IDENTIFICATION_REVISION_ID_API = VL53L0X_REG_IDENTIFICATION_REVISION_ID, // 0x00c2,
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171 | VL53L0X_REG_OSC_CALIBRATE_VAL_API = VL53L0X_REG_OSC_CALIBRATE_VAL, // 0x00f8,
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172 | VL53L0X_SIGMA_ESTIMATE_MAX_VALUE_API = VL53L0X_SIGMA_ESTIMATE_MAX_VALUE, // 65535,
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173 | VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH_API = VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, // 0x032,
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174 | VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0_API = VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0, // 0x0B0,
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175 | VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_1_API = VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_1, // 0x0B1,
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176 | VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_2_API = VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_2, // 0x0B2,
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177 | VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_3_API = VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_3, // 0x0B3,
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178 | VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_4_API = VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_4, // 0x0B4,
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179 | VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_5_API = VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_5, // 0x0B5,
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180 | VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT_API = VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT, // 0xB6,
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181 | VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD_API = VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD, // 0x4E,
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182 | VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET_API = VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET, // 0x4F,
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183 | VL53L0X_REG_POWER_MANAGEMENT_GO1_POWER_FORCE_API = VL53L0X_REG_POWER_MANAGEMENT_GO1_POWER_FORCE, // 0x80,
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184 | VL53L0X_SPEED_OF_LIGHT_IN_AIR_API = VL53L0X_SPEED_OF_LIGHT_IN_AIR, // 2997,
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185 | VL53L0X_REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV_API = VL53L0X_REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV, // 0x0089,
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186 | VL53L0X_REG_ALGO_PHASECAL_LIM_API = VL53L0X_REG_ALGO_PHASECAL_LIM, // 0x0030,
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187 | VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT_API = VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, // 0x0030,
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188 | } vl53l0x_lld_regaddr_t; |
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189 | |||
190 | |||
191 | /******************************************************************************/
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192 | /* MACROS */
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193 | /******************************************************************************/
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194 | |||
195 | /******************************************************************************/
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196 | /* EXTERN DECLARATIONS */
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197 | /******************************************************************************/
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198 | |||
199 | #ifdef __cplusplus
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200 | extern "C" { |
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201 | #endif
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202 | |||
203 | apalExitStatus_t vl53l0x_lld_init(VL53L0XDriver* vl53l0x); |
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204 | apalExitStatus_t vl53l0x_lld_set_mode(VL53L0XDriver* vl53l0x, VL53L0X_DeviceModes mode, VL53L0X_GpioFunctionality interrupt, |
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205 | FixPoint1616_t low, FixPoint1616_t high); |
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206 | apalExitStatus_t vl53l0x_lld_start_measurement(VL53L0XDriver* vl53l0x); |
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207 | apalExitStatus_t vl53l0x_lld_stop_measurement(VL53L0XDriver* vl53l0x); |
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208 | apalExitStatus_t vl53l0x_lld_CheckRangingDataReady(VL53L0XDriver* vl53l0x, uint8_t *pMeasurementDataReady); |
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209 | apalExitStatus_t vl53l0x_lld_getRangingData(VL53L0XDriver* vl53l0x, VL53L0X_RangingMeasurementData_t *pRangingMeasurementData); |
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210 | apalExitStatus_t vl53l0x_lld_set_address(VL53L0XDriver* vl53l0x, uint8_t new_address); |
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211 | apalExitStatus_t vl53l0x_lld_perform_mesaurement(VL53L0XDriver* vl53l0x, uint16_t* data); |
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212 | VL53L0X_Error WaitMeasurementDataReady(VL53L0X_DEV Dev); |
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213 | |||
214 | |||
215 | #ifdef __cplusplus
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216 | } |
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217 | #endif
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218 | |||
219 | /******************************************************************************/
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220 | /* INLINE FUNCTIONS */
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221 | /******************************************************************************/
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222 | |||
223 | #endif /* defined(AMIROLLD_CFG_VL53L0X) */ |
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224 | |||
225 | #endif /* AMIROLLD_VL53L0X_V1_H */ |
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226 | |||
227 | /** @} */
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228 | |||
229 |