Energy harvesting mobile robot. Developed at Institute of Systems and Robotics — University of Coimbra.

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Committer:
ISR
Date:
Thu Feb 02 12:21:11 2017 +0000
Revision:
0:15a30802e719
Initial commit.

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ISR 0:15a30802e719 1 /*
ISR 0:15a30802e719 2 Copyright (c) 2012 Vishay GmbH, www.vishay.com
ISR 0:15a30802e719 3 author: DS, version 1.2
ISR 0:15a30802e719 4
ISR 0:15a30802e719 5 Permission is hereby granted, free of charge, to any person obtaining a copy
ISR 0:15a30802e719 6 of this software and associated documentation files (the "Software"), to deal
ISR 0:15a30802e719 7 in the Software without restriction, including without limitation the rights
ISR 0:15a30802e719 8 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
ISR 0:15a30802e719 9 copies of the Software, and to permit persons to whom the Software is
ISR 0:15a30802e719 10 furnished to do so, subject to the following conditions:
ISR 0:15a30802e719 11
ISR 0:15a30802e719 12 The above copyright notice and this permission notice shall be included in
ISR 0:15a30802e719 13 all copies or substantial portions of the Software.
ISR 0:15a30802e719 14
ISR 0:15a30802e719 15 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
ISR 0:15a30802e719 16 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
ISR 0:15a30802e719 17 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
ISR 0:15a30802e719 18 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
ISR 0:15a30802e719 19 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
ISR 0:15a30802e719 20 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
ISR 0:15a30802e719 21 THE SOFTWARE.
ISR 0:15a30802e719 22 */
ISR 0:15a30802e719 23
ISR 0:15a30802e719 24 #ifndef VCNL40x0_H
ISR 0:15a30802e719 25 #define VCNL40x0_H
ISR 0:15a30802e719 26
ISR 0:15a30802e719 27 #include "mbed.h"
ISR 0:15a30802e719 28
ISR 0:15a30802e719 29 // Library for the Vishay Proximity/Ambient Light Sensor VCNL4010/4020
ISR 0:15a30802e719 30 // The VCNL4x00 is a I2C digital Proximity and Ambient Light Sensor in a small SMD package
ISR 0:15a30802e719 31
ISR 0:15a30802e719 32 #define VCNL40x0_ADDRESS (0x26) // 001 0011 shifted left 1 bit = 0x26
ISR 0:15a30802e719 33
ISR 0:15a30802e719 34 // registers
ISR 0:15a30802e719 35 #define REGISTER_COMMAND (0x80)
ISR 0:15a30802e719 36 #define REGISTER_ID (0x81)
ISR 0:15a30802e719 37 #define REGISTER_PROX_RATE (0x82)
ISR 0:15a30802e719 38 #define REGISTER_PROX_CURRENT (0x83)
ISR 0:15a30802e719 39 #define REGISTER_AMBI_PARAMETER (0x84)
ISR 0:15a30802e719 40 #define REGISTER_AMBI_VALUE (0x85)
ISR 0:15a30802e719 41 #define REGISTER_PROX_VALUE (0x87)
ISR 0:15a30802e719 42 #define REGISTER_INTERRUPT_CONTROL (0x89)
ISR 0:15a30802e719 43 #define REGISTER_INTERRUPT_LOW_THRES (0x8a)
ISR 0:15a30802e719 44 #define REGISTER_INTERRUPT_HIGH_THRES (0x8c)
ISR 0:15a30802e719 45 #define REGISTER_INTERRUPT_STATUS (0x8e)
ISR 0:15a30802e719 46 #define REGISTER_PROX_TIMING (0x8f)
ISR 0:15a30802e719 47 #define REGISTER_AMBI_IR_LIGHT_LEVEL (0x90) // This register is not intended to be use by customer
ISR 0:15a30802e719 48
ISR 0:15a30802e719 49 // Bits in Command register (0x80)
ISR 0:15a30802e719 50 #define COMMAND_ALL_DISABLE (0x00)
ISR 0:15a30802e719 51 #define COMMAND_SELFTIMED_MODE_ENABLE (0x01)
ISR 0:15a30802e719 52 #define COMMAND_PROX_ENABLE (0x02)
ISR 0:15a30802e719 53 #define COMMAND_AMBI_ENABLE (0x04)
ISR 0:15a30802e719 54 #define COMMAND_PROX_ON_DEMAND (0x08)
ISR 0:15a30802e719 55 #define COMMAND_AMBI_ON_DEMAND (0x10)
ISR 0:15a30802e719 56 #define COMMAND_MASK_PROX_DATA_READY (0x20)
ISR 0:15a30802e719 57 #define COMMAND_MASK_AMBI_DATA_READY (0x40)
ISR 0:15a30802e719 58 #define COMMAND_MASK_LOCK (0x80)
ISR 0:15a30802e719 59
ISR 0:15a30802e719 60 // Bits in Product ID Revision Register (0x81)
ISR 0:15a30802e719 61 #define PRODUCT_MASK_REVISION_ID (0x0f)
ISR 0:15a30802e719 62 #define PRODUCT_MASK_PRODUCT_ID (0xf0)
ISR 0:15a30802e719 63
ISR 0:15a30802e719 64 // Bits in Prox Measurement Rate register (0x82)
ISR 0:15a30802e719 65 #define PROX_MEASUREMENT_RATE_2 (0x00) // DEFAULT
ISR 0:15a30802e719 66 #define PROX_MEASUREMENT_RATE_4 (0x01)
ISR 0:15a30802e719 67 #define PROX_MEASUREMENT_RATE_8 (0x02)
ISR 0:15a30802e719 68 #define PROX_MEASUREMENT_RATE_16 (0x03)
ISR 0:15a30802e719 69 #define PROX_MEASUREMENT_RATE_31 (0x04)
ISR 0:15a30802e719 70 #define PROX_MEASUREMENT_RATE_62 (0x05)
ISR 0:15a30802e719 71 #define PROX_MEASUREMENT_RATE_125 (0x06)
ISR 0:15a30802e719 72 #define PROX_MEASUREMENT_RATE_250 (0x07)
ISR 0:15a30802e719 73 #define PROX_MASK_MEASUREMENT_RATE (0x07)
ISR 0:15a30802e719 74
ISR 0:15a30802e719 75 // Bits in Procimity LED current setting (0x83)
ISR 0:15a30802e719 76 #define PROX_MASK_LED_CURRENT (0x3f) // DEFAULT = 2
ISR 0:15a30802e719 77 #define PROX_MASK_FUSE_PROG_ID (0xc0)
ISR 0:15a30802e719 78
ISR 0:15a30802e719 79 // Bits in Ambient Light Parameter register (0x84)
ISR 0:15a30802e719 80 #define AMBI_PARA_AVERAGE_1 (0x00)
ISR 0:15a30802e719 81 #define AMBI_PARA_AVERAGE_2 (0x01)
ISR 0:15a30802e719 82 #define AMBI_PARA_AVERAGE_4 (0x02)
ISR 0:15a30802e719 83 #define AMBI_PARA_AVERAGE_8 (0x03)
ISR 0:15a30802e719 84 #define AMBI_PARA_AVERAGE_16 (0x04)
ISR 0:15a30802e719 85 #define AMBI_PARA_AVERAGE_32 (0x05) // DEFAULT
ISR 0:15a30802e719 86 #define AMBI_PARA_AVERAGE_64 (0x06)
ISR 0:15a30802e719 87 #define AMBI_PARA_AVERAGE_128 (0x07)
ISR 0:15a30802e719 88 #define AMBI_MASK_PARA_AVERAGE (0x07)
ISR 0:15a30802e719 89
ISR 0:15a30802e719 90 #define AMBI_PARA_AUTO_OFFSET_ENABLE (0x08) // DEFAULT enable
ISR 0:15a30802e719 91 #define AMBI_MASK_PARA_AUTO_OFFSET (0x08)
ISR 0:15a30802e719 92
ISR 0:15a30802e719 93 #define AMBI_PARA_MEAS_RATE_1 (0x00)
ISR 0:15a30802e719 94 #define AMBI_PARA_MEAS_RATE_2 (0x10) // DEFAULT
ISR 0:15a30802e719 95 #define AMBI_PARA_MEAS_RATE_3 (0x20)
ISR 0:15a30802e719 96 #define AMBI_PARA_MEAS_RATE_4 (0x30)
ISR 0:15a30802e719 97 #define AMBI_PARA_MEAS_RATE_5 (0x40)
ISR 0:15a30802e719 98 #define AMBI_PARA_MEAS_RATE_6 (0x50)
ISR 0:15a30802e719 99 #define AMBI_PARA_MEAS_RATE_8 (0x60)
ISR 0:15a30802e719 100 #define AMBI_PARA_MEAS_RATE_10 (0x70)
ISR 0:15a30802e719 101 #define AMBI_MASK_PARA_MEAS_RATE (0x70)
ISR 0:15a30802e719 102
ISR 0:15a30802e719 103 #define AMBI_PARA_CONT_CONV_ENABLE (0x80)
ISR 0:15a30802e719 104 #define AMBI_MASK_PARA_CONT_CONV (0x80) // DEFAULT disable
ISR 0:15a30802e719 105
ISR 0:15a30802e719 106 // Bits in Interrupt Control Register (x89)
ISR 0:15a30802e719 107 #define INTERRUPT_THRES_SEL_PROX (0x00)
ISR 0:15a30802e719 108 #define INTERRUPT_THRES_SEL_ALS (0x01)
ISR 0:15a30802e719 109
ISR 0:15a30802e719 110 #define INTERRUPT_THRES_ENABLE (0x02)
ISR 0:15a30802e719 111
ISR 0:15a30802e719 112 #define INTERRUPT_ALS_READY_ENABLE (0x04)
ISR 0:15a30802e719 113
ISR 0:15a30802e719 114 #define INTERRUPT_PROX_READY_ENABLE (0x08)
ISR 0:15a30802e719 115
ISR 0:15a30802e719 116 #define INTERRUPT_COUNT_EXCEED_1 (0x00) // DEFAULT
ISR 0:15a30802e719 117 #define INTERRUPT_COUNT_EXCEED_2 (0x20)
ISR 0:15a30802e719 118 #define INTERRUPT_COUNT_EXCEED_4 (0x40)
ISR 0:15a30802e719 119 #define INTERRUPT_COUNT_EXCEED_8 (0x60)
ISR 0:15a30802e719 120 #define INTERRUPT_COUNT_EXCEED_16 (0x80)
ISR 0:15a30802e719 121 #define INTERRUPT_COUNT_EXCEED_32 (0xa0)
ISR 0:15a30802e719 122 #define INTERRUPT_COUNT_EXCEED_64 (0xc0)
ISR 0:15a30802e719 123 #define INTERRUPT_COUNT_EXCEED_128 (0xe0)
ISR 0:15a30802e719 124 #define INTERRUPT_MASK_COUNT_EXCEED (0xe0)
ISR 0:15a30802e719 125
ISR 0:15a30802e719 126 // Bits in Interrupt Status Register (x8e)
ISR 0:15a30802e719 127 #define INTERRUPT_STATUS_THRES_HI (0x01)
ISR 0:15a30802e719 128 #define INTERRUPT_STATUS_THRES_LO (0x02)
ISR 0:15a30802e719 129 #define INTERRUPT_STATUS_ALS_READY (0x04)
ISR 0:15a30802e719 130 #define INTERRUPT_STATUS_PROX_READY (0x08)
ISR 0:15a30802e719 131 #define INTERRUPT_MASK_STATUS_THRES_HI (0x01)
ISR 0:15a30802e719 132 #define INTERRUPT_MASK_THRES_LO (0x02)
ISR 0:15a30802e719 133 #define INTERRUPT_MASK_ALS_READY (0x04)
ISR 0:15a30802e719 134 #define INTERRUPT_MASK_PROX_READY (0x08)
ISR 0:15a30802e719 135
ISR 0:15a30802e719 136 typedef enum {
ISR 0:15a30802e719 137 VCNL40x0_ERROR_OK = 0, // Everything executed normally
ISR 0:15a30802e719 138 VCNL40x0_ERROR_I2CINIT, // Unable to initialise I2C
ISR 0:15a30802e719 139 VCNL40x0_ERROR_I2CBUSY, // I2C already in use
ISR 0:15a30802e719 140 VCNL40x0_ERROR_LAST
ISR 0:15a30802e719 141 } VCNL40x0Error_e;
ISR 0:15a30802e719 142
ISR 0:15a30802e719 143
ISR 0:15a30802e719 144 class VCNL40x0 {
ISR 0:15a30802e719 145 public:
ISR 0:15a30802e719 146 // Creates an instance of the class.
ISR 0:15a30802e719 147 // Connect module at I2C address addr using I2C port pins sda and scl.
ISR 0:15a30802e719 148
ISR 0:15a30802e719 149 VCNL40x0 (PinName sda, PinName scl, unsigned char addr);
ISR 0:15a30802e719 150
ISR 0:15a30802e719 151 // Destroys instance
ISR 0:15a30802e719 152
ISR 0:15a30802e719 153 ~VCNL40x0();
ISR 0:15a30802e719 154
ISR 0:15a30802e719 155 // public functions
ISR 0:15a30802e719 156
ISR 0:15a30802e719 157 VCNL40x0Error_e Init (void);
ISR 0:15a30802e719 158
ISR 0:15a30802e719 159 VCNL40x0Error_e SetCommandRegister (unsigned char Command);
ISR 0:15a30802e719 160 VCNL40x0Error_e SetCurrent (unsigned char CurrentValue);
ISR 0:15a30802e719 161 VCNL40x0Error_e SetProximityRate (unsigned char ProximityRate);
ISR 0:15a30802e719 162 VCNL40x0Error_e SetAmbiConfiguration (unsigned char AmbiConfiguration);
ISR 0:15a30802e719 163 VCNL40x0Error_e SetLowThreshold (unsigned int LowThreshold);
ISR 0:15a30802e719 164 VCNL40x0Error_e SetHighThreshold (unsigned int HighThreshold);
ISR 0:15a30802e719 165 VCNL40x0Error_e SetInterruptControl (unsigned char InterruptControl);
ISR 0:15a30802e719 166 VCNL40x0Error_e SetInterruptStatus (unsigned char InterruptStatus);
ISR 0:15a30802e719 167 VCNL40x0Error_e SetModulatorTimingAdjustment (unsigned char ModulatorTimingAdjustment);
ISR 0:15a30802e719 168
ISR 0:15a30802e719 169 VCNL40x0Error_e ReadID (unsigned char *ID);
ISR 0:15a30802e719 170 VCNL40x0Error_e ReadCurrent (unsigned char *CurrentValue);
ISR 0:15a30802e719 171 VCNL40x0Error_e ReadCommandRegister (unsigned char *Command);
ISR 0:15a30802e719 172 VCNL40x0Error_e ReadProxiValue (unsigned int *ProxiValue);
ISR 0:15a30802e719 173 VCNL40x0Error_e ReadAmbiValue (unsigned int *AmbiValue);
ISR 0:15a30802e719 174 VCNL40x0Error_e ReadInterruptStatus (unsigned char *InterruptStatus);
ISR 0:15a30802e719 175 VCNL40x0Error_e ReadInterruptControl (unsigned char *InterruptControl);
ISR 0:15a30802e719 176
ISR 0:15a30802e719 177 VCNL40x0Error_e ReadProxiOnDemand (unsigned int *ProxiValue);
ISR 0:15a30802e719 178 VCNL40x0Error_e ReadAmbiOnDemand (unsigned int *AmbiValue);
ISR 0:15a30802e719 179
ISR 0:15a30802e719 180 private:
ISR 0:15a30802e719 181 I2C _i2c;
ISR 0:15a30802e719 182 int _addr;
ISR 0:15a30802e719 183 char _send[3];
ISR 0:15a30802e719 184 char _receive[2];
ISR 0:15a30802e719 185
ISR 0:15a30802e719 186 };
ISR 0:15a30802e719 187
ISR 0:15a30802e719 188 #endif
ISR 0:15a30802e719 189
ISR 0:15a30802e719 190