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

Dependents:   Mapping VirtualForces_debug OneFileToRuleThemAll VirtualForces_with_class ... more

Revision:
0:15a30802e719
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/VCNL40x0.h	Thu Feb 02 12:21:11 2017 +0000
@@ -0,0 +1,190 @@
+/*
+Copyright (c) 2012 Vishay GmbH, www.vishay.com
+author: DS, version 1.2
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+
+#ifndef VCNL40x0_H
+#define VCNL40x0_H
+
+#include "mbed.h"
+
+// Library for the Vishay Proximity/Ambient Light Sensor VCNL4010/4020
+// The VCNL4x00 is a I2C digital Proximity and Ambient Light Sensor in a small SMD package
+
+#define VCNL40x0_ADDRESS               (0x26) // 001 0011 shifted left 1 bit = 0x26
+
+// registers 
+#define REGISTER_COMMAND               (0x80)
+#define REGISTER_ID                    (0x81)
+#define REGISTER_PROX_RATE             (0x82)
+#define REGISTER_PROX_CURRENT          (0x83)
+#define REGISTER_AMBI_PARAMETER        (0x84)
+#define REGISTER_AMBI_VALUE            (0x85)
+#define REGISTER_PROX_VALUE            (0x87)
+#define REGISTER_INTERRUPT_CONTROL     (0x89)
+#define REGISTER_INTERRUPT_LOW_THRES   (0x8a)
+#define REGISTER_INTERRUPT_HIGH_THRES  (0x8c)
+#define REGISTER_INTERRUPT_STATUS      (0x8e)
+#define REGISTER_PROX_TIMING           (0x8f)
+#define REGISTER_AMBI_IR_LIGHT_LEVEL   (0x90)   // This register is not intended to be use by customer
+
+// Bits in Command register (0x80)
+#define COMMAND_ALL_DISABLE            (0x00)
+#define COMMAND_SELFTIMED_MODE_ENABLE  (0x01)
+#define COMMAND_PROX_ENABLE            (0x02)
+#define COMMAND_AMBI_ENABLE            (0x04)
+#define COMMAND_PROX_ON_DEMAND         (0x08)
+#define COMMAND_AMBI_ON_DEMAND         (0x10)
+#define COMMAND_MASK_PROX_DATA_READY   (0x20)
+#define COMMAND_MASK_AMBI_DATA_READY   (0x40)
+#define COMMAND_MASK_LOCK              (0x80)
+
+// Bits in Product ID Revision Register (0x81)
+#define PRODUCT_MASK_REVISION_ID       (0x0f)
+#define PRODUCT_MASK_PRODUCT_ID        (0xf0)
+
+// Bits in Prox Measurement Rate register (0x82)
+#define PROX_MEASUREMENT_RATE_2        (0x00)   // DEFAULT
+#define PROX_MEASUREMENT_RATE_4        (0x01)
+#define PROX_MEASUREMENT_RATE_8        (0x02)
+#define PROX_MEASUREMENT_RATE_16       (0x03)
+#define PROX_MEASUREMENT_RATE_31       (0x04)
+#define PROX_MEASUREMENT_RATE_62       (0x05)
+#define PROX_MEASUREMENT_RATE_125      (0x06)
+#define PROX_MEASUREMENT_RATE_250      (0x07)
+#define PROX_MASK_MEASUREMENT_RATE     (0x07)
+
+// Bits in Procimity LED current setting (0x83)
+#define PROX_MASK_LED_CURRENT          (0x3f)   // DEFAULT = 2
+#define PROX_MASK_FUSE_PROG_ID         (0xc0)
+
+// Bits in Ambient Light Parameter register (0x84)
+#define AMBI_PARA_AVERAGE_1            (0x00)
+#define AMBI_PARA_AVERAGE_2            (0x01)
+#define AMBI_PARA_AVERAGE_4            (0x02)
+#define AMBI_PARA_AVERAGE_8            (0x03)
+#define AMBI_PARA_AVERAGE_16           (0x04)
+#define AMBI_PARA_AVERAGE_32           (0x05)   // DEFAULT
+#define AMBI_PARA_AVERAGE_64           (0x06)
+#define AMBI_PARA_AVERAGE_128          (0x07)
+#define AMBI_MASK_PARA_AVERAGE         (0x07)
+
+#define AMBI_PARA_AUTO_OFFSET_ENABLE   (0x08)   // DEFAULT enable
+#define AMBI_MASK_PARA_AUTO_OFFSET     (0x08)
+
+#define AMBI_PARA_MEAS_RATE_1          (0x00)
+#define AMBI_PARA_MEAS_RATE_2          (0x10)   // DEFAULT
+#define AMBI_PARA_MEAS_RATE_3          (0x20)
+#define AMBI_PARA_MEAS_RATE_4          (0x30)
+#define AMBI_PARA_MEAS_RATE_5          (0x40)
+#define AMBI_PARA_MEAS_RATE_6          (0x50)
+#define AMBI_PARA_MEAS_RATE_8          (0x60)
+#define AMBI_PARA_MEAS_RATE_10         (0x70)
+#define AMBI_MASK_PARA_MEAS_RATE       (0x70)
+
+#define AMBI_PARA_CONT_CONV_ENABLE     (0x80)
+#define AMBI_MASK_PARA_CONT_CONV       (0x80)   // DEFAULT disable
+
+// Bits in Interrupt Control Register (x89)
+#define INTERRUPT_THRES_SEL_PROX       (0x00)
+#define INTERRUPT_THRES_SEL_ALS        (0x01)
+
+#define INTERRUPT_THRES_ENABLE         (0x02)
+
+#define INTERRUPT_ALS_READY_ENABLE     (0x04)
+
+#define INTERRUPT_PROX_READY_ENABLE    (0x08)
+
+#define INTERRUPT_COUNT_EXCEED_1       (0x00)   // DEFAULT
+#define INTERRUPT_COUNT_EXCEED_2       (0x20)
+#define INTERRUPT_COUNT_EXCEED_4       (0x40)
+#define INTERRUPT_COUNT_EXCEED_8       (0x60)
+#define INTERRUPT_COUNT_EXCEED_16      (0x80)
+#define INTERRUPT_COUNT_EXCEED_32      (0xa0)
+#define INTERRUPT_COUNT_EXCEED_64      (0xc0)
+#define INTERRUPT_COUNT_EXCEED_128     (0xe0)
+#define INTERRUPT_MASK_COUNT_EXCEED    (0xe0) 
+
+// Bits in Interrupt Status Register (x8e)
+#define INTERRUPT_STATUS_THRES_HI      (0x01)
+#define INTERRUPT_STATUS_THRES_LO      (0x02)
+#define INTERRUPT_STATUS_ALS_READY     (0x04)
+#define INTERRUPT_STATUS_PROX_READY    (0x08)
+#define INTERRUPT_MASK_STATUS_THRES_HI (0x01)
+#define INTERRUPT_MASK_THRES_LO        (0x02)
+#define INTERRUPT_MASK_ALS_READY       (0x04)
+#define INTERRUPT_MASK_PROX_READY      (0x08)
+
+typedef enum {
+    VCNL40x0_ERROR_OK = 0,               // Everything executed normally
+    VCNL40x0_ERROR_I2CINIT,              // Unable to initialise I2C
+    VCNL40x0_ERROR_I2CBUSY,              // I2C already in use
+    VCNL40x0_ERROR_LAST
+} VCNL40x0Error_e;
+
+
+class VCNL40x0 {
+public:
+// Creates an instance of the class.
+// Connect module at I2C address addr using I2C port pins sda and scl.
+
+    VCNL40x0 (PinName sda, PinName scl, unsigned char addr);
+
+// Destroys instance
+
+    ~VCNL40x0();
+
+// public functions
+
+    VCNL40x0Error_e Init (void);
+    
+    VCNL40x0Error_e SetCommandRegister (unsigned char Command);
+    VCNL40x0Error_e SetCurrent (unsigned char CurrentValue);
+    VCNL40x0Error_e SetProximityRate (unsigned char ProximityRate);
+    VCNL40x0Error_e SetAmbiConfiguration (unsigned char AmbiConfiguration);
+    VCNL40x0Error_e SetLowThreshold (unsigned int LowThreshold);
+    VCNL40x0Error_e SetHighThreshold (unsigned int HighThreshold);
+    VCNL40x0Error_e SetInterruptControl (unsigned char InterruptControl);
+    VCNL40x0Error_e SetInterruptStatus (unsigned char InterruptStatus);
+    VCNL40x0Error_e SetModulatorTimingAdjustment (unsigned char ModulatorTimingAdjustment);
+
+    VCNL40x0Error_e ReadID (unsigned char *ID);
+    VCNL40x0Error_e ReadCurrent (unsigned char *CurrentValue);
+    VCNL40x0Error_e ReadCommandRegister (unsigned char *Command);
+    VCNL40x0Error_e ReadProxiValue (unsigned int *ProxiValue);
+    VCNL40x0Error_e ReadAmbiValue (unsigned int *AmbiValue);
+    VCNL40x0Error_e ReadInterruptStatus (unsigned char *InterruptStatus);
+    VCNL40x0Error_e ReadInterruptControl (unsigned char *InterruptControl);
+    
+    VCNL40x0Error_e ReadProxiOnDemand (unsigned int *ProxiValue);
+    VCNL40x0Error_e ReadAmbiOnDemand (unsigned int *AmbiValue);
+ 
+private:
+    I2C _i2c;
+    int _addr;
+    char _send[3];
+    char _receive[2];
+    
+};
+
+#endif
+
+