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444 lines
16 KiB
C
444 lines
16 KiB
C
4 years ago
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/*
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ChibiOS - Copyright (C) 2016..2018 Edoardo Lombardi, Rocco Marco Guglielmi
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This file is part of ChibiOS.
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ChibiOS is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 3 of the License, or
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(at your option) any later version.
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ChibiOS is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file vl53l0x.h
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* @brief VL53L0X MEMS interface module header.
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*
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* @addtogroup VL53L0X
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* @ingroup EX_ST
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* @{
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*/
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#ifndef _VL53L0X_H_
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#define _VL53L0X_H_
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#include "ex_rangefinder.h"
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/*===========================================================================*/
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/* Driver constants. */
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/*===========================================================================*/
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/**
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* @name Version identification
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* @{
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*/
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/**
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* @brief VL53L0X driver version string.
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*/
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#define EX_VL53L0X_VERSION "1.0.0"
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/**
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* @brief VL53L0X driver version major number.
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*/
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#define EX_VL53L0X_MAJOR 1
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/**
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* @brief VL53L0X driver version minor number.
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*/
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#define EX_VL53L0X_MINOR 0
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/**
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* @brief VL53L0X driver version patch number.
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*/
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#define EX_VL53L0X_PATCH 0
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/** @} */
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/**
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* @brief VL53L0X rangefinder subsystem characteristics.
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* @note Sensitivity is expressed as hPa/LSB whereas hPa stand for
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* hectopascal.
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* @note Bias is expressed as hPa.
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*
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* @{
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*/
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#define VL53L0X_RANGE_NUMBER_OF_AXES 1U
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/* CHTODO: Check this. */
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#define VL53L0X_RANGE_SENS 0.00024414f
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#define VL53L0X_RANGE_BIAS 0.0f
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/** @} */
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/**
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* @name VL53L0X register addresses
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* @{
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*/
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#define VL53L0X_REG_SYSRANGE_START 0x00
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#define VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG 0x01
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#define VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD 0x04
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#define VL53L0X_REG_SYSTEM_RANGE_CONFIG 0x09
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#define VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO 0x0A
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#define VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR 0x0B
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#define VL53L0X_REG_SYSTEM_THRESH_HIGH 0x0C
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#define VL53L0X_REG_SYSTEM_THRESH_LOW 0x0E
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#define VL53L0X_REG_RESULT_INTERRUPT_STATUS 0x13
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#define VL53L0X_REG_RESULT_RANGE_STATUS 0x14
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#define VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS 0x20
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#define VL53L0X_REG_PRE_RANGE_CONFIG_MIN_SNR 0x27
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#define VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM 0x28
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#define VL53L0X_REG_ALGO_PHASECAL_LIM 0x30
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#define VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT 0x30
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#define VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH 0x32
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#define VL53L0X_REG_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT 0x33
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#define VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT 0x44
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#define VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW 0x47
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#define VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH 0x48
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#define VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD 0x4E
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#define VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET 0x4F
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#define VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD 0x50
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#define VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI 0x51
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#define VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO 0x52
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#define VL53L0X_REG_HISTOGRAM_CONFIG_READOUT_CTRL 0x55
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#define VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW 0x56
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#define VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH 0x57
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#define VL53L0X_REG_MSRC_CONFIG_CONTROL 0x60
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#define VL53L0X_REG_PRE_RANGE_CONFIG_SIGMA_THRESH_HI 0x61
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#define VL53L0X_REG_PRE_RANGE_CONFIG_SIGMA_THRESH_LO 0x62
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#define VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT 0x64
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#define VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_SNR 0x67
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#define VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD 0x70
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#define VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI 0x71
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#define VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO 0x72
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#define VL53L0X_REG_POWER_MANAGEMENT_GO1_POWER_FORCE 0x80
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#define VL53L0X_REG_SYSTEM_HISTOGRAM_BIN 0x81
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#define VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH 0x84
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#define VL53L0X_REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV 0x89
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#define VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS 0x8A
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#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 0xB0
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#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_1 0xB1
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#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_2 0xB2
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#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_3 0xB3
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#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_4 0xB4
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#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_5 0xB5
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#define VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT 0xB6
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#define VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF 0xB6
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#define VL53L0X_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN 0xBC
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#define VL53L0X_REG_SOFT_RESET_GO2_SOFT_RESET_N 0xBF
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#define VL53L0X_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN 0xC0
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#define VL53L0X_REG_IDENTIFICATION_MODEL_ID 0xC0
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#define VL53L0X_REG_IDENTIFICATION_REVISION_ID 0xC2
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#define VL53L0X_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF 0xD0
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#define VL53L0X_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_REF 0xD4
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#define VL53L0X_REG_OSC_CALIBRATE_VAL 0xF8
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/** @} */
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/**
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* @name VL53L0X_INT_CFG register bits definitions
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* @{
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*/
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#define VL53L0X_INT_CFG_MASK 0xFF
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#define VL53L0X_INT_CFG_PHE (1 << 0)
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#define VL53L0X_INT_CFG_PLE (1 << 1)
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#define VL53L0X_INT_CFG_LIR (1 << 2)
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#define VL53L0X_INT_CFG_DIFF_EN (1 << 3)
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#define VL53L0X_INT_CFG_RESET_AZ (1 << 4)
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#define VL53L0X_INT_CFG_AUTOZERO (1 << 5)
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#define VL53L0X_INT_CFG_RESET_ARP (1 << 6)
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#define VL53L0X_INT_CFG_AUTORIFP (1 << 7)
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/** @} */
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/**
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* @name VL53L0X_CTRL_REG1 register bits definitions
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* @{
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*/
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#define VL53L0X_CTRL_REG1_MASK 0x7F
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#define VL53L0X_CTRL_REG1_SIM (1 << 0)
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#define VL53L0X_CTRL_REG1_BDU (1 << 1)
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#define VL53L0X_CTRL_REG1_LPFP_CFG (1 << 2)
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#define VL53L0X_CTRL_REG1_LPFP_EN (1 << 3)
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#define VL53L0X_CTRL_REG1_ODR0 (1 << 4)
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#define VL53L0X_CTRL_REG1_ODR1 (1 << 5)
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#define VL53L0X_CTRL_REG1_ODR2 (1 << 6)
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/** @} */
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/**
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* @name VL53L0X_CTRL_REG2 register bits definitions
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* @{
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*/
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#define VL53L0X_CTRL_REG2_MASK 0xFD
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#define VL53L0X_CTRL_REG2_ONE_SHOT (1 << 0)
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#define VL53L0X_CTRL_REG2_SWRESET (1 << 2)
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#define VL53L0X_CTRL_REG2_I2C_DIS (1 << 3)
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#define VL53L0X_CTRL_REG2_IF_ADD_INC (1 << 4)
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#define VL53L0X_CTRL_REG2_STOP_ON_FTH (1 << 5)
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#define VL53L0X_CTRL_REG2_FIFO_EN (1 << 6)
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#define VL53L0X_CTRL_REG2_BOOT (1 << 7)
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/** @} */
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/**
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* @name VL53L0X_CTRL_REG3 register bits definitions
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* @{
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*/
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#define VL53L0X_CTRL_REG3_MASK 0xFF
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#define VL53L0X_CTRL_REG3_INT_S1 (1 << 0)
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#define VL53L0X_CTRL_REG3_INT_S2 (1 << 1)
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#define VL53L0X_CTRL_REG3_DRDY (1 << 2)
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#define VL53L0X_CTRL_REG3_F_OVR (1 << 3)
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#define VL53L0X_CTRL_REG3_F_FTH (1 << 4)
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#define VL53L0X_CTRL_REG3_F_FSS5 (1 << 5)
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#define VL53L0X_CTRL_REG3_PP_OD (1 << 6)
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#define VL53L0X_CTRL_REG3_INT_H_L (1 << 7)
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/** @} */
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/**
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* @name VL53L0X_INT_SRC register bits definitions
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* @{
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*/
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#define VL53L0X_INT_SRC_MASK 0x87
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#define VL53L0X_INT_SRC_PH (1 << 0)
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#define VL53L0X_INT_SRC_PL (1 << 1)
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#define VL53L0X_INT_SRC_IA (1 << 2)
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#define VL53L0X_INT_SRC_BOOT_STATUS (1 << 8)
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/** @} */
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/*===========================================================================*/
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/* Driver pre-compile time settings. */
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/*===========================================================================*/
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/**
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* @name Configuration options
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* @{
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*/
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/**
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* @brief VL53L0X I2C interface switch.
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* @details If set to @p TRUE the support for I2C is included.
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* @note The default is @p TRUE.
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*/
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#if !defined(VL53L0X_USE_I2C) || defined(__DOXYGEN__)
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#define VL53L0X_USE_I2C TRUE
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#endif
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/**
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* @brief VL53L0X shared I2C switch.
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* @details If set to @p TRUE the device acquires I2C bus ownership
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* on each transaction.
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* @note The default is @p FALSE. Requires I2C_USE_MUTUAL_EXCLUSION.
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*/
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#if !defined(VL53L0X_SHARED_I2C) || defined(__DOXYGEN__)
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#define VL53L0X_SHARED_I2C FALSE
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#endif
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/**
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* @brief VL53L0X advanced configurations switch.
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* @details If set to @p TRUE more configurations are available.
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* @note The default is @p FALSE.
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*/
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#if !defined(VL53L0X_USE_ADVANCED) || defined(__DOXYGEN__)
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#define VL53L0X_USE_ADVANCED FALSE
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#endif
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/** @} */
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/*===========================================================================*/
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/* Derived constants and error checks. */
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/*===========================================================================*/
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#if VL53L0X_USE_I2C && !HAL_USE_I2C
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#error "VL53L0X_USE_I2C requires HAL_USE_I2C"
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#endif
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#if VL53L0X_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION
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#error "VL53L0X_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION"
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#endif
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/*===========================================================================*/
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/* Driver data structures and types. */
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/*===========================================================================*/
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/**
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* @name VL53L0X data structures and types.
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* @{
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*/
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/**
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* @brief Structure representing a VL53L0X driver.
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*/
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typedef struct VL53L0XDriver VL53L0XDriver;
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/**
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* @brief VL53L0X slave address
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*/
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typedef enum {
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VL53L0X_SAD_DEFAULT = 0x29, /**< Default slave address */
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}vl53l0x_sad_t;
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/**
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* @brief Driver state machine possible states.
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*/
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typedef enum {
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VL53L0X_UNINIT = 0, /**< Not initialized. */
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VL53L0X_STOP = 1, /**< Stopped. */
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VL53L0X_READY = 2, /**< Ready. */
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} vl53l0x_state_t;
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/**
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* @brief VL53L0X configuration structure.
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*/
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typedef struct {
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#if VL53L0X_USE_I2C || defined(__DOXYGEN__)
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/**
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* @brief I2C driver associated to this VL53L0X.
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*/
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I2CDriver *i2cp;
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/**
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* @brief I2C configuration associated to this VL53L0X.
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*/
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const I2CConfig *i2ccfg;
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/**
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* @brief VL53L0X slave address
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*/
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vl53l0x_sad_t slaveaddress;
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#endif /* VL53L0X_USE_I2C */
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#if VL53L0X_USE_ADVANCED || defined(__DOXYGEN__)
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/**
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* @brief Dummy placeholder
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*/
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#endif
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} VL53L0XConfig;
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/**
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|
|
* @brief @p VL53L0X specific methods.
|
||
|
|
* @note No methods so far, just a common ancestor interface.
|
||
|
|
*/
|
||
|
|
#define _vl53l0x_methods_alone
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief @p VL53L0X specific methods with inherited ones.
|
||
|
|
*/
|
||
|
|
#define _vl53l0x_methods \
|
||
|
|
_base_object_methods \
|
||
|
|
_vl53l0x_methods_alone
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @extends BaseObjectVMT
|
||
|
|
*
|
||
|
|
* @brief @p VL53L0X virtual methods table.
|
||
|
|
*/
|
||
|
|
struct VL53L0XVMT {
|
||
|
|
_vl53l0x_methods
|
||
|
|
};
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief @p VL53L0XDriver specific data.
|
||
|
|
*/
|
||
|
|
#define _vl53l0x_data \
|
||
|
|
/* Driver state.*/ \
|
||
|
|
vl53l0x_state_t state; \
|
||
|
|
/* Current configuration data.*/ \
|
||
|
|
const VL53L0XConfig *config; \
|
||
|
|
/* RangeFinder subsystem axes number.*/ \
|
||
|
|
size_t rangeaxes;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief VL53L0X 2-axis rangemeter/thermometer class.
|
||
|
|
*/
|
||
|
|
struct VL53L0XDriver {
|
||
|
|
/** @brief Virtual Methods Table.*/
|
||
|
|
const struct VL53L0XVMT *vmt;
|
||
|
|
/** @brief Base rangemeter interface.*/
|
||
|
|
BaseRangeFinder range_if;
|
||
|
|
_vl53l0x_data
|
||
|
|
};
|
||
|
|
/** @} */
|
||
|
|
|
||
|
|
/*===========================================================================*/
|
||
|
|
/* Driver macros. */
|
||
|
|
/*===========================================================================*/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Return the number of axes of the BaseRangeFinder.
|
||
|
|
*
|
||
|
|
* @param[in] devp pointer to @p VL53L0XDriver.
|
||
|
|
*
|
||
|
|
* @return the number of axes.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
#define vl53l0xRangeFinderGetAxesNumber(devp) \
|
||
|
|
rangemeterGetAxesNumber(&((devp)->range_if))
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Retrieves raw data from the BaseRangeFinder.
|
||
|
|
* @note This data is retrieved from MEMS register without any algebraical
|
||
|
|
* manipulation.
|
||
|
|
* @note The axes array must be at least the same size of the
|
||
|
|
* BaseRangeFinder axes number.
|
||
|
|
*
|
||
|
|
* @param[in] devp pointer to @p VL53L0XDriver.
|
||
|
|
* @param[out] axes a buffer which would be filled with raw data.
|
||
|
|
*
|
||
|
|
* @return The operation status.
|
||
|
|
* @retval MSG_OK if the function succeeded.
|
||
|
|
* @retval MSG_RESET if one or more I2C errors occurred, the errors can
|
||
|
|
* be retrieved using @p i2cGetErrors().
|
||
|
|
* @retval MSG_TIMEOUT if a timeout occurred before operation end.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
#define vl53l0xRangeFinderReadRaw(devp, axes) \
|
||
|
|
rangemeterReadRaw(&((devp)->range_if), axes)
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Retrieves cooked data from the BaseRangeFinder.
|
||
|
|
* @note Final data is expressed as mm.
|
||
|
|
* @note The axes array must be at least the same size of the
|
||
|
|
* BaseRangeFinder axes number.
|
||
|
|
*
|
||
|
|
* @param[in] devp pointer to @p VL53L0XDriver.
|
||
|
|
* @param[out] axes a buffer which would be filled with cooked data.
|
||
|
|
*
|
||
|
|
* @return The operation status.
|
||
|
|
* @retval MSG_OK if the function succeeded.
|
||
|
|
* @retval MSG_RESET if one or more I2C errors occurred, the errors can
|
||
|
|
* be retrieved using @p i2cGetErrors().
|
||
|
|
* @retval MSG_TIMEOUT if a timeout occurred before operation end.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
#define vl53l0xRangeFinderReadCooked(devp, axes) \
|
||
|
|
rangemeterReadCooked(&((devp)->range_if), axes)
|
||
|
|
|
||
|
|
/*===========================================================================*/
|
||
|
|
/* External declarations. */
|
||
|
|
/*===========================================================================*/
|
||
|
|
|
||
|
|
#ifdef __cplusplus
|
||
|
|
extern "C" {
|
||
|
|
#endif
|
||
|
|
void vl53l0xObjectInit(VL53L0XDriver *devp);
|
||
|
|
void vl53l0xStart(VL53L0XDriver *devp, const VL53L0XConfig *config);
|
||
|
|
void vl53l0xStop(VL53L0XDriver *devp);
|
||
|
|
#ifdef __cplusplus
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#endif /* _VL53L0X_H_ */
|
||
|
|
|
||
|
|
/** @} */
|
||
|
|
|