/* 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 . */ /** * @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_ */ /** @} */