Diff: VL6180.hpp

Revision:

10:c752a8d76ee2

Child:

12:82b8fe254222

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/VL6180.hpp	Tue Dec 17 16:33:46 2019 +0000
@@ -0,0 +1,49 @@
+#include "mbed.h"
+#include "General.hpp"
+#include "rtos.h"
+#include "Pins.h"
+
+#ifndef Define_ONCE_VL6180
+#define Define_ONCE_VL6180
+
+#define num_VL6180 1
+#define SHDN_Pins_Cell {PC_9} //, PC_11, PD_2, PG_3}
+#define TOF_Addresses {0x29} //, 0x2A, 0x2B, 0x2C}
+#define Shifted_TOF_Addresses {0x82} //, 0x84, 0x86, 0x88}
+
+// Thread that runs TOF sensors
+int TOF_Thread();
+
+// Class Terminal expects tx and rx pins and is used for controlling a serialy conected terminal
+class VL6180
+{
+public:
+    VL6180(I2C& comm_bus, PinName SHDWN, char Address) : shutdown(SHDWN), i2c(comm_bus){addr = Address;};
+
+    bool Init(void);
+    bool TOF_PWR(bool State);
+    void WriteByte(wchar_t reg, char data);
+    void WriteByte_Uninitialized(wchar_t reg, char data, char Uninitialized_Address);
+    int Start_Range(void);
+    int Poll_Range(void);
+    int Read_Range(void);
+    int Clear_Interrupts(void);
+    
+private:
+    // I2C Bus TOF is connected to
+    I2C& i2c;
+    // Private functions
+    char ReadByte(wchar_t reg);
+    char ReadByte_Uninitialized(wchar_t reg, char Uninitialized_Address);
+    void WriteByte_Uninitialized(wchar_t reg, char data);
+    // Private Variables
+    char addr;
+    // IOs
+    DigitalOut shutdown;
+};
+
+// TypeDef for pointer to the TOF class (needed for dynamic creation of objects)
+typedef VL6180* TOFsPtr;
+// Function to Initialise all TOF sensors
+bool Init_All_TOFs(TOFsPtr *tof);
+#endif