diff options
Diffstat (limited to 'ChibiOS_20.3.2/os/ex/devices/ST/vl53l0x.h')
-rw-r--r-- | ChibiOS_20.3.2/os/ex/devices/ST/vl53l0x.h | 443 |
1 files changed, 443 insertions, 0 deletions
diff --git a/ChibiOS_20.3.2/os/ex/devices/ST/vl53l0x.h b/ChibiOS_20.3.2/os/ex/devices/ST/vl53l0x.h new file mode 100644 index 0000000..1fc8f9b --- /dev/null +++ b/ChibiOS_20.3.2/os/ex/devices/ST/vl53l0x.h @@ -0,0 +1,443 @@ +/*
+ ChibiOS - Copyright (C) 2016..2018 Edoardo Lombardi, Rocco Marco Guglielmi
+
+ This file is part of ChibiOS.
+
+ ChibiOS is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
+/**
+ * @file vl53l0x.h
+ * @brief VL53L0X MEMS interface module header.
+ *
+ * @addtogroup VL53L0X
+ * @ingroup EX_ST
+ * @{
+ */
+#ifndef _VL53L0X_H_
+#define _VL53L0X_H_
+
+#include "ex_rangefinder.h"
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/**
+ * @name Version identification
+ * @{
+ */
+/**
+ * @brief VL53L0X driver version string.
+ */
+#define EX_VL53L0X_VERSION "1.0.0"
+
+/**
+ * @brief VL53L0X driver version major number.
+ */
+#define EX_VL53L0X_MAJOR 1
+
+/**
+ * @brief VL53L0X driver version minor number.
+ */
+#define EX_VL53L0X_MINOR 0
+
+/**
+ * @brief VL53L0X driver version patch number.
+ */
+#define EX_VL53L0X_PATCH 0
+/** @} */
+
+/**
+ * @brief VL53L0X rangefinder subsystem characteristics.
+ * @note Sensitivity is expressed as hPa/LSB whereas hPa stand for
+ * hectopascal.
+ * @note Bias is expressed as hPa.
+ *
+ * @{
+ */
+#define VL53L0X_RANGE_NUMBER_OF_AXES 1U
+
+/* CHTODO: Check this. */
+#define VL53L0X_RANGE_SENS 0.00024414f
+#define VL53L0X_RANGE_BIAS 0.0f
+/** @} */
+
+/**
+ * @name VL53L0X register addresses
+ * @{
+ */
+#define VL53L0X_REG_SYSRANGE_START 0x00
+#define VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG 0x01
+#define VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD 0x04
+#define VL53L0X_REG_SYSTEM_RANGE_CONFIG 0x09
+#define VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO 0x0A
+#define VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR 0x0B
+#define VL53L0X_REG_SYSTEM_THRESH_HIGH 0x0C
+#define VL53L0X_REG_SYSTEM_THRESH_LOW 0x0E
+
+#define VL53L0X_REG_RESULT_INTERRUPT_STATUS 0x13
+#define VL53L0X_REG_RESULT_RANGE_STATUS 0x14
+
+#define VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS 0x20
+#define VL53L0X_REG_PRE_RANGE_CONFIG_MIN_SNR 0x27
+#define VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM 0x28
+#define VL53L0X_REG_ALGO_PHASECAL_LIM 0x30
+#define VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT 0x30
+#define VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH 0x32
+#define VL53L0X_REG_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT 0x33
+
+#define VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT 0x44
+#define VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW 0x47
+#define VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH 0x48
+#define VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD 0x4E
+#define VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET 0x4F
+
+#define VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD 0x50
+#define VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI 0x51
+#define VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO 0x52
+#define VL53L0X_REG_HISTOGRAM_CONFIG_READOUT_CTRL 0x55
+#define VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW 0x56
+#define VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH 0x57
+
+#define VL53L0X_REG_MSRC_CONFIG_CONTROL 0x60
+#define VL53L0X_REG_PRE_RANGE_CONFIG_SIGMA_THRESH_HI 0x61
+#define VL53L0X_REG_PRE_RANGE_CONFIG_SIGMA_THRESH_LO 0x62
+#define VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT 0x64
+#define VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_SNR 0x67
+
+#define VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD 0x70
+#define VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI 0x71
+#define VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO 0x72
+
+#define VL53L0X_REG_POWER_MANAGEMENT_GO1_POWER_FORCE 0x80
+#define VL53L0X_REG_SYSTEM_HISTOGRAM_BIN 0x81
+#define VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH 0x84
+#define VL53L0X_REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV 0x89
+#define VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS 0x8A
+
+#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 0xB0
+#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_1 0xB1
+#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_2 0xB2
+#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_3 0xB3
+#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_4 0xB4
+#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_5 0xB5
+#define VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT 0xB6
+#define VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF 0xB6
+#define VL53L0X_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN 0xBC
+#define VL53L0X_REG_SOFT_RESET_GO2_SOFT_RESET_N 0xBF
+
+#define VL53L0X_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN 0xC0
+#define VL53L0X_REG_IDENTIFICATION_MODEL_ID 0xC0
+#define VL53L0X_REG_IDENTIFICATION_REVISION_ID 0xC2
+
+#define VL53L0X_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF 0xD0
+#define VL53L0X_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_REF 0xD4
+
+#define VL53L0X_REG_OSC_CALIBRATE_VAL 0xF8
+/** @} */
+
+/**
+ * @name VL53L0X_INT_CFG register bits definitions
+ * @{
+ */
+#define VL53L0X_INT_CFG_MASK 0xFF
+#define VL53L0X_INT_CFG_PHE (1 << 0)
+#define VL53L0X_INT_CFG_PLE (1 << 1)
+#define VL53L0X_INT_CFG_LIR (1 << 2)
+#define VL53L0X_INT_CFG_DIFF_EN (1 << 3)
+#define VL53L0X_INT_CFG_RESET_AZ (1 << 4)
+#define VL53L0X_INT_CFG_AUTOZERO (1 << 5)
+#define VL53L0X_INT_CFG_RESET_ARP (1 << 6)
+#define VL53L0X_INT_CFG_AUTORIFP (1 << 7)
+/** @} */
+
+/**
+ * @name VL53L0X_CTRL_REG1 register bits definitions
+ * @{
+ */
+#define VL53L0X_CTRL_REG1_MASK 0x7F
+#define VL53L0X_CTRL_REG1_SIM (1 << 0)
+#define VL53L0X_CTRL_REG1_BDU (1 << 1)
+#define VL53L0X_CTRL_REG1_LPFP_CFG (1 << 2)
+#define VL53L0X_CTRL_REG1_LPFP_EN (1 << 3)
+#define VL53L0X_CTRL_REG1_ODR0 (1 << 4)
+#define VL53L0X_CTRL_REG1_ODR1 (1 << 5)
+#define VL53L0X_CTRL_REG1_ODR2 (1 << 6)
+/** @} */
+
+/**
+ * @name VL53L0X_CTRL_REG2 register bits definitions
+ * @{
+ */
+#define VL53L0X_CTRL_REG2_MASK 0xFD
+#define VL53L0X_CTRL_REG2_ONE_SHOT (1 << 0)
+#define VL53L0X_CTRL_REG2_SWRESET (1 << 2)
+#define VL53L0X_CTRL_REG2_I2C_DIS (1 << 3)
+#define VL53L0X_CTRL_REG2_IF_ADD_INC (1 << 4)
+#define VL53L0X_CTRL_REG2_STOP_ON_FTH (1 << 5)
+#define VL53L0X_CTRL_REG2_FIFO_EN (1 << 6)
+#define VL53L0X_CTRL_REG2_BOOT (1 << 7)
+/** @} */
+
+/**
+ * @name VL53L0X_CTRL_REG3 register bits definitions
+ * @{
+ */
+#define VL53L0X_CTRL_REG3_MASK 0xFF
+#define VL53L0X_CTRL_REG3_INT_S1 (1 << 0)
+#define VL53L0X_CTRL_REG3_INT_S2 (1 << 1)
+#define VL53L0X_CTRL_REG3_DRDY (1 << 2)
+#define VL53L0X_CTRL_REG3_F_OVR (1 << 3)
+#define VL53L0X_CTRL_REG3_F_FTH (1 << 4)
+#define VL53L0X_CTRL_REG3_F_FSS5 (1 << 5)
+#define VL53L0X_CTRL_REG3_PP_OD (1 << 6)
+#define VL53L0X_CTRL_REG3_INT_H_L (1 << 7)
+/** @} */
+
+/**
+ * @name VL53L0X_INT_SRC register bits definitions
+ * @{
+ */
+#define VL53L0X_INT_SRC_MASK 0x87
+#define VL53L0X_INT_SRC_PH (1 << 0)
+#define VL53L0X_INT_SRC_PL (1 << 1)
+#define VL53L0X_INT_SRC_IA (1 << 2)
+#define VL53L0X_INT_SRC_BOOT_STATUS (1 << 8)
+/** @} */
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/**
+ * @name Configuration options
+ * @{
+ */
+/**
+ * @brief VL53L0X I2C interface switch.
+ * @details If set to @p TRUE the support for I2C is included.
+ * @note The default is @p TRUE.
+ */
+#if !defined(VL53L0X_USE_I2C) || defined(__DOXYGEN__)
+#define VL53L0X_USE_I2C TRUE
+#endif
+
+/**
+ * @brief VL53L0X shared I2C switch.
+ * @details If set to @p TRUE the device acquires I2C bus ownership
+ * on each transaction.
+ * @note The default is @p FALSE. Requires I2C_USE_MUTUAL_EXCLUSION.
+ */
+#if !defined(VL53L0X_SHARED_I2C) || defined(__DOXYGEN__)
+#define VL53L0X_SHARED_I2C FALSE
+#endif
+
+/**
+ * @brief VL53L0X advanced configurations switch.
+ * @details If set to @p TRUE more configurations are available.
+ * @note The default is @p FALSE.
+ */
+#if !defined(VL53L0X_USE_ADVANCED) || defined(__DOXYGEN__)
+#define VL53L0X_USE_ADVANCED FALSE
+#endif
+/** @} */
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+#if VL53L0X_USE_I2C && !HAL_USE_I2C
+#error "VL53L0X_USE_I2C requires HAL_USE_I2C"
+#endif
+
+#if VL53L0X_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION
+#error "VL53L0X_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION"
+#endif
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @name VL53L0X data structures and types.
+ * @{
+ */
+/**
+ * @brief Structure representing a VL53L0X driver.
+ */
+typedef struct VL53L0XDriver VL53L0XDriver;
+
+/**
+ * @brief VL53L0X slave address
+ */
+typedef enum {
+ VL53L0X_SAD_DEFAULT = 0x29, /**< Default slave address */
+}vl53l0x_sad_t;
+
+/**
+ * @brief Driver state machine possible states.
+ */
+typedef enum {
+ VL53L0X_UNINIT = 0, /**< Not initialized. */
+ VL53L0X_STOP = 1, /**< Stopped. */
+ VL53L0X_READY = 2, /**< Ready. */
+} vl53l0x_state_t;
+
+/**
+ * @brief VL53L0X configuration structure.
+ */
+typedef struct {
+#if VL53L0X_USE_I2C || defined(__DOXYGEN__)
+ /**
+ * @brief I2C driver associated to this VL53L0X.
+ */
+ I2CDriver *i2cp;
+ /**
+ * @brief I2C configuration associated to this VL53L0X.
+ */
+ const I2CConfig *i2ccfg;
+ /**
+ * @brief VL53L0X slave address
+ */
+ vl53l0x_sad_t slaveaddress;
+#endif /* VL53L0X_USE_I2C */
+#if VL53L0X_USE_ADVANCED || defined(__DOXYGEN__)
+ /**
+ * @brief Dummy placeholder
+ */
+#endif
+} VL53L0XConfig;
+
+/**
+ * @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_ */
+
+/** @} */
+
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