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/*
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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