Librairie adaptée au laboratoire 2
Dependencies: ST_INTERFACES X_NUCLEO_COMMON
Fork of X_NUCLEO_6180XA1 by
Revision 35:407b0b127eb8, committed 2015-11-18
- Comitter:
- mapellil
- Date:
- Wed Nov 18 16:35:04 2015 +0000
- Parent:
- 34:5bcffb4c5b47
- Child:
- 36:f6278b3e7c82
- Commit message:
- Removed vl6180x_api.h, added doxy comments to API
Changed in this revision
--- a/Components/VL6180X/vl6180x_api.h Tue Nov 17 17:38:38 2015 +0100 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,982 +0,0 @@ -/******************************************************************************* -Copyright © 2014, STMicroelectronics International N.V. -All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - * Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - * Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - * Neither the name of STMicroelectronics nor the - names of its contributors may be used to endorse or promote products - derived from this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND -NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. -IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY -DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -********************************************************************************/ -/* - * @file VL6180x_api.h - * $Date: 2015-03-24 14:15:14 +0100 (Tue, 24 Mar 2015) $ - * $Revision: 2213 $ - */ - - - -#ifndef VL6180x_API_H_ -#define VL6180x_API_H_ - -#include "vl6180x_def.h" -#include "vl6180x_platform.h" - -#ifdef __cplusplus -extern "C" { -#endif - -/** @defgroup api_ll API Low Level Functions - * @brief API Low level functions - */ - -/** @defgroup api_hl API High Level Functions - * @brief API High level functions - */ - - -/* - * Check and set default platform dependent configuration - */ -#ifndef VL6180x_SINGLE_DEVICE_DRIVER -#error "VL6180x_SINGLE_DEVICE_DRIVER not defined" -/* TODO you may remove or comment these #error but it is best you update your vl6180x_platform.h file to define it*/ -#endif - - -#ifndef VL6180x_RANGE_STATUS_ERRSTRING -#warning "VL6180x_RANGE_STATUS_ERRSTRING not defined ?" -/* TODO you may remove or comment these #warning and keep the default below to keep compatibility - or update your vl6180x_platform.h file */ -/** - * force VL6180x_RANGE_STATUS_ERRSTRING to not supported when not part of any cfg file - */ -#define VL6180x_RANGE_STATUS_ERRSTRING 0 -#endif - -#ifndef VL6180X_SAFE_POLLING_ENTER -#warning "VL6180X_SAFE_POLLING_ENTER not defined, likely old vl6180x_cfg.h file ?" -/* TODO you may remove or comment these #warning and keep the default below to keep compatibility - or update your vl6180x_platform.h file */ -/** - * force VL6180X_SAFE_POLLING_ENTER to off when not in cfg file - */ -#define VL6180X_SAFE_POLLING_ENTER 0 /* off by default as in api 2.0 */ -#endif - -#ifndef VL6180X_LOG_ENABLE -/** - * Force VL6180X_LOG_ENABLE to none as default - */ -#define VL6180X_LOG_ENABLE 0 -#endif - -#if VL6180x_RANGE_STATUS_ERRSTRING -/**@def VL6180x_HAVE_RANGE_STATUS_ERRSTRING - * @brief is defined when @a #VL6180x_RANGE_STATUS_ERRSTRING is enable - */ -#define VL6180x_HAVE_RANGE_STATUS_ERRSTRING -#endif - - -/** @brief Get API version as "hex integer" 0xMMnnss - */ -#define VL6180x_ApiRevInt ((VL6180x_API_REV_MAJOR<<24)+(VL6180x_API_REV_MINOR<<16)+VL6180x_API_REV_SUB) - -/** Get API version as string for exe "2.1.12" " - */ -#define VL6180x_ApiRevStr VL6180X_STR(VL6180x_API_REV_MAJOR) "." VL6180X_STR(VL6180x_API_REV_MINOR) "." VL6180X_STR(VL6180x_API_REV_SUB) - -/** @defgroup api_init Init functions - * @brief API init functions - * @ingroup api_hl - * @{ - */ -/** - * @brief Wait for device booted after chip enable (hardware standby) - * @par Function Description - * After Chip enable Application you can also simply wait at least 1ms to ensure device is ready - * @warning After device chip enable (gpio0) de-asserted user must wait gpio1 to get asserted (hardware standby). - * or wait at least 400usec prior to do any low level access or api call . - * - * This function implements polling for standby but you must ensure 400usec from chip enable passed\n - * @warning if device get prepared @a VL6180x_Prepare() re-using these function can hold indefinitely\n - * - * @param dev The device - * @return 0 on success - */ -int VL6180x_WaitDeviceBooted(VL6180xDev_t dev); - -/** - * - * @brief One time device initialization - * - * To be called once and only once after device is brought out of reset (Chip enable) and booted see @a VL6180x_WaitDeviceBooted() - * - * @par Function Description - * When not used after a fresh device "power up" or reset, it may return @a #CALIBRATION_WARNING - * meaning wrong calibration data may have been fetched from device that can result in ranging offset error\n - * If application cannot execute device reset or need to run VL6180x_InitData multiple time - * then it must ensure proper offset calibration saving and restore on its own - * by using @a VL6180x_GetOffsetCalibrationData() on first power up and then @a VL6180x_SetOffsetCalibrationData() all all subsequent init - * - * @param dev The device - * @return 0 on success, @a #CALIBRATION_WARNING if failed - */ -int VL6180x_InitData(VL6180xDev_t dev ); - -/** - * @brief Configure GPIO1 function and set polarity. - * @par Function Description - * To be used prior to arm single shot measure or start continuous mode. - * - * The function uses @a VL6180x_SetupGPIOx() for setting gpio 1. - * @warning changing polarity can generate a spurious interrupt on pins. - * It sets an interrupt flags condition that must be cleared to avoid polling hangs. \n - * It is safe to run VL6180x_ClearAllInterrupt() just after. - * - * @param dev The device - * @param IntFunction The interrupt functionality to use one of :\n - * @a #GPIOx_SELECT_OFF \n - * @a #GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT - * @param ActiveHigh The interrupt line polarity see ::IntrPol_e - * use @a #INTR_POL_LOW (falling edge) or @a #INTR_POL_HIGH (rising edge) - * @return 0 on success - */ -int VL6180x_SetupGPIO1(VL6180xDev_t dev, uint8_t IntFunction, int ActiveHigh); - - /** - * @brief Prepare device for operation - * @par Function Description - * Does static initialization and reprogram common default settings \n - * Device is prepared for new measure, ready single shot ranging or ALS typical polling operation\n - * After prepare user can : \n - * @li Call other API function to set other settings\n - * @li Configure the interrupt pins, etc... \n - * @li Then start ranging or ALS operations in single shot or continuous mode - * - * @param dev The device - * @return 0 on success - */ - int VL6180x_Prepare(VL6180xDev_t dev); - - /** @} */ - - -/** @defgroup api_hl_range Ranging functions - * @brief Ranging functions - * @ingroup api_hl - * @{ - */ - - /** - * @brief Start continuous ranging mode - * - * @details End user should ensure device is in idle state and not already running - */ -int VL6180x_RangeStartContinuousMode(VL6180xDev_t dev); - -/** - * @brief Start single shot ranging measure - * - * @details End user should ensure device is in idle state and not already running - */ -int VL6180x_RangeStartSingleShot(VL6180xDev_t dev); - -/** - * @brief Set maximum convergence time - * - * @par Function Description - * Setting a low convergence time can impact maximal detectable distance. - * Refer to VL6180x Datasheet Table 7 : Typical range convergence time. - * A typical value for up to x3 scaling is 50 ms - * - * @param dev - * @param MaxConTime_msec - * @return 0 on success. <0 on error. >0 for calibration warning status - */ -int VL6180x_RangeSetMaxConvergenceTime(VL6180xDev_t dev, uint8_t MaxConTime_msec); - -/** - * @brief Single shot Range measurement in polling mode. - * - * @par Function Description - * Kick off a new single shot range then wait for ready to retrieve it by polling interrupt status \n - * Ranging must be prepared by a first call to @a VL6180x_Prepare() and it is safer to clear very first poll call \n - * This function reference VL6180x_PollDelay(dev) porting macro/call on each polling loop, - * but PollDelay(dev) may never be called if measure in ready on first poll loop \n - * Should not be use in continuous mode operation as it will stop it and cause stop/start misbehaviour \n - * \n This function clears Range Interrupt status , but not error one. For that uses @a VL6180x_ClearErrorInterrupt() \n - * This range error is not related VL6180x_RangeData_t::errorStatus that refer measure status \n - * - * @param dev The device - * @param pRangeData Will be populated with the result ranging data @a VL6180x_RangeData_t - * @return 0 on success , @a #RANGE_ERROR if device reports an error case in it status (not cleared) use - * - * \sa ::VL6180x_RangeData_t - */ -int VL6180x_RangePollMeasurement(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData); - -/** - * @brief Check for measure readiness and get it if ready - * - * @par Function Description - * Using this function is an alternative to @a VL6180x_RangePollMeasurement() to avoid polling operation. This is suitable for applications - * where host CPU is triggered on a interrupt (not from VL6180X) to perform ranging operation. In this scenario, we assume that the very first ranging - * operation is triggered by a call to @a VL6180x_RangeStartSingleShot(). Then, host CPU regularly calls @a VL6180x_RangeGetMeasurementIfReady() to - * get a distance measure if ready. In case the distance is not ready, host may get it at the next call.\n - * - * @warning - * This function does not re-start a new measurement : this is up to the host CPU to do it.\n - * This function clears Range Interrupt for measure ready , but not error interrupts. For that, uses @a VL6180x_ClearErrorInterrupt() \n - * - * @param dev The device - * @param pRangeData Will be populated with the result ranging data if available - * @return 0 when measure is ready pRange data is updated (untouched when not ready), >0 for warning and @a #NOT_READY if measurement not yet ready, <0 for error @a #RANGE_ERROR if device report an error, - */ -int VL6180x_RangeGetMeasurementIfReady(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData); - -/** - * @brief Retrieve range measurements set from device - * - * @par Function Description - * The measurement is made of range_mm status and error code @a VL6180x_RangeData_t \n - * Based on configuration selected extra measures are included. - * - * @warning should not be used in continuous if wrap around filter is active \n - * Does not perform any wait nor check for result availability or validity. - *\sa VL6180x_RangeGetResult for "range only" measurement - * - * @param dev The device - * @param pRangeData Pointer to the data structure to fill up - * @return 0 on success - */ -int VL6180x_RangeGetMeasurement(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData); - -/** - * @brief Get ranging result and only that - * - * @par Function Description - * Unlike @a VL6180x_RangeGetMeasurement() this function only retrieves the range in millimeter \n - * It does any required up-scale translation\n - * It can be called after success status polling or in interrupt mode \n - * @warning these function is not doing wrap around filtering \n - * This function doesn't perform any data ready check! - * - * @param dev The device - * @param pRange_mm Pointer to range distance - * @return 0 on success - */ -int VL6180x_RangeGetResult(VL6180xDev_t dev, int32_t *pRange_mm); - -/** - * @brief Configure ranging interrupt reported to application - * - * @param dev The device - * @param ConfigGpioInt Select ranging report\n select one (and only one) of:\n - * @a #CONFIG_GPIO_INTERRUPT_DISABLED \n - * @a #CONFIG_GPIO_INTERRUPT_LEVEL_LOW \n - * @a #CONFIG_GPIO_INTERRUPT_LEVEL_HIGH \n - * @a #CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW \n - * @a #CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY - * @return 0 on success - */ -int VL6180x_RangeConfigInterrupt(VL6180xDev_t dev, uint8_t ConfigGpioInt); - - -/** - * @brief Clear range interrupt - * - * @param dev The device - * @return 0 On success - */ -#define VL6180x_RangeClearInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_RANGING) - -/** - * @brief Return ranging error interrupt status - * - * @par Function Description - * Appropriate Interrupt report must have been selected first by @a VL6180x_RangeConfigInterrupt() or @a VL6180x_Prepare() \n - * - * Can be used in polling loop to wait for a given ranging event or in interrupt to read the trigger \n - * Events triggers are : \n - * @a #RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD \n - * @a #RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD \n - * @a #RES_INT_STAT_GPIO_OUT_OF_WINDOW \n (RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD|RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD) - * @a #RES_INT_STAT_GPIO_NEW_SAMPLE_READY \n - * - * @sa IntrStatus_t - * @param dev The device - * @param pIntStatus Pointer to status variable to update - * @return 0 on success - */ -int VL6180x_RangeGetInterruptStatus(VL6180xDev_t dev, uint8_t *pIntStatus); - -#if VL6180x_RANGE_STATUS_ERRSTRING - -extern const char * ROMABLE_DATA VL6180x_RangeStatusErrString[]; -/** - * @brief Human readable error string for range error status - * - * @param RangeErrCode The error code as stored on @a VL6180x_RangeData_t::errorStatus - * @return error string , NULL for invalid RangeErrCode - * @sa ::RangeError_u - */ -const char * VL6180x_RangeGetStatusErrString(uint8_t RangeErrCode); -#else -#define VL6180x_RangeGetStatusErrString(...) NULL -#endif - -/** @} */ - -#if VL6180x_ALS_SUPPORT - -/** @defgroup api_hl_als ALS functions - * @brief ALS functions - * @ingroup api_hl - * @{ - */ - -/** - * @brief Run a single ALS measurement in single shot polling mode - * - * @par Function Description - * Kick off a new single shot ALS then wait new measurement ready to retrieve it ( polling system interrupt status register for als) \n - * ALS must be prepared by a first call to @a VL6180x_Prepare() \n - * \n Should not be used in continuous or interrupt mode it will break it and create hazard in start/stop \n - * - * @param dev The device - * @param pAlsData Als data structure to fill up @a VL6180x_AlsData_t - * @return 0 on success - */ -int VL6180x_AlsPollMeasurement(VL6180xDev_t dev, VL6180x_AlsData_t *pAlsData); - - -/** - * @brief Get actual ALS measurement - * - * @par Function Description - * Can be called after success status polling or in interrupt mode to retrieve ALS measurement from device \n - * This function doesn't perform any data ready check ! - * - * @param dev The device - * @param pAlsData Pointer to measurement struct @a VL6180x_AlsData_t - * @return 0 on success - */ -int VL6180x_AlsGetMeasurement(VL6180xDev_t dev, VL6180x_AlsData_t *pAlsData); - -/** - * @brief Configure ALS interrupts provide to application - * - * @param dev The Device - * @param ConfigGpioInt Select one (and only one) of : \n - * @a #CONFIG_GPIO_INTERRUPT_DISABLED \n - * @a #CONFIG_GPIO_INTERRUPT_LEVEL_LOW \n - * @a #CONFIG_GPIO_INTERRUPT_LEVEL_HIGH \n - * @a #CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW \n - * @a #CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY - * @return 0 on success may return #INVALID_PARAMS for invalid mode - */ -int VL6180x_AlsConfigInterrupt(VL6180xDev_t dev, uint8_t ConfigGpioInt); - - -/** - * @brief Set ALS integration period - * - * @param dev The device - * @param period_ms Integration period in msec. Value in between 50 to 100 msec is recommended\n - * @return 0 on success - */ -int VL6180x_AlsSetIntegrationPeriod(VL6180xDev_t dev, uint16_t period_ms); - -/** - * @brief Set ALS "inter-measurement period" - * - * @par Function Description - * The so call data-sheet "inter measurement period" is actually an extra inter-measurement delay - * - * @param dev The device - * @param intermeasurement_period_ms Inter measurement time in milli second\n - * @warning applied value is clipped to 2550 ms\n - * @return 0 on success if value is - */ -int VL6180x_AlsSetInterMeasurementPeriod(VL6180xDev_t dev, uint16_t intermeasurement_period_ms); - -/** - * @brief Set ALS analog gain code - * - * @par Function Description - * ALS gain code value programmed in @a SYSALS_ANALOGUE_GAIN . - * @param dev The device - * @param gain Gain code see datasheet or AlsGainLookUp for real value. Value is clipped to 7. - * @return 0 on success - */ - -int VL6180x_AlsSetAnalogueGain(VL6180xDev_t dev, uint8_t gain); -/** - * @brief Set thresholds for ALS continuous mode - * @warning Threshold are raw device value not lux! - * - * @par Function Description - * Basically value programmed in @a SYSALS_THRESH_LOW and @a SYSALS_THRESH_HIGH registers - * @param dev The device - * @param low ALS low raw threshold for @a SYSALS_THRESH_LOW - * @param high ALS high raw threshold for @a SYSALS_THRESH_HIGH - * @return 0 on success - */ -int VL6180x_AlsSetThresholds(VL6180xDev_t dev, uint8_t low, uint8_t high); - -/** - * @brief Clear ALS interrupt - * - * @param dev The device - * @return 0 On success - */ - #define VL6180x_AlsClearInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_ALS) - -/** - * Read ALS interrupt status - * @param dev Device - * @param pIntStatus Pointer to status - * @return 0 on success - */ -int VL6180x_AlsGetInterruptStatus(VL6180xDev_t dev, uint8_t *pIntStatus); - -/** @} */ -#endif - -/** @defgroup api_ll_init Init functions - * @brief Init functions - * @ingroup api_ll - * @{ - */ - -/** - * @brief Low level ranging and ALS register static settings (you should call @a VL6180x_Prepare() function instead) - * - * @param dev - * @return 0 on success - */ -int VL6180x_StaticInit(VL6180xDev_t dev); - - /** @} */ - -/** @defgroup api_ll_range Ranging functions - * @brief Ranging Low Level functions - * @ingroup api_ll - * @{ - */ - -/** - * @brief Wait for device to be ready (before a new ranging command can be issued by application) - * @param dev The device - * @param MaxLoop Max Number of i2c polling loop see @a #msec_2_i2cloop - * @return 0 on success. <0 when fail \n - * @ref VL6180x_ErrCode_t::TIME_OUT for time out \n - * @ref VL6180x_ErrCode_t::INVALID_PARAMS if MaxLop<1 - */ -int VL6180x_RangeWaitDeviceReady(VL6180xDev_t dev, int MaxLoop ); - -/** - * @brief Program Inter measurement period (used only in continuous mode) - * - * @par Function Description - * When trying to set too long time, it returns #INVALID_PARAMS - * - * @param dev The device - * @param InterMeasTime_msec Requires inter-measurement time in msec - * @return 0 on success - */ -int VL6180x_RangeSetInterMeasPeriod(VL6180xDev_t dev, uint32_t InterMeasTime_msec); - - -/** - * @brief Set device ranging scaling factor - * - * @par Function Description - * The ranging scaling factor is applied on the raw distance measured by the device to increase operating ranging at the price of the precision. - * Changing the scaling factor when device is not in f/w standby state (free running) is not safe. - * It can be source of spurious interrupt, wrongly scaled range etc ... - * @warning __This function doesns't update high/low threshold and other programmed settings linked to scaling factor__. - * To ensure proper operation, threshold and scaling changes should be done following this procedure: \n - * @li Set Group hold : @a VL6180x_SetGroupParamHold() \n - * @li Get Threshold @a VL6180x_RangeGetThresholds() \n - * @li Change scaling : @a VL6180x_UpscaleSetScaling() \n - * @li Set Threshold : @a VL6180x_RangeSetThresholds() \n - * @li Unset Group Hold : @a VL6180x_SetGroupParamHold() - * - * @param dev The device - * @param scaling Scaling factor to apply (1,2 or 3) - * @return 0 on success when up-scale support is not configured it fail for any - * scaling than the one statically configured. - */ -int VL6180x_UpscaleSetScaling(VL6180xDev_t dev, uint8_t scaling); - -/** - * @brief Get current ranging scaling factor - * - * @param dev The device - * @return The current scaling factor - */ -int VL6180x_UpscaleGetScaling(VL6180xDev_t dev); - - -/** - * @brief Give filtered state (wrap-around filter) of a range measurement - * @param pRangeData Range measurement data - * @return 0 means measure was not filtered, when not 0 range from device got filtered by filter post processing - */ -#define VL6180x_RangeIsFilteredMeasurement(pRangeData) ((pRangeData)->errorStatus == RangingFiltered) - -/** - * @brief Get the maximal distance for actual scaling - * @par Function Description - * Do not use prior to @a VL6180x_Prepare() or at least @a VL6180x_InitData() - * - * Any range value more than the value returned by this function is to be considered as "no target detected" - * or "no target in detectable range" \n - * @warning The maximal distance depends on the scaling - * - * @param dev The device - * @return The maximal range limit for actual mode and scaling - */ -uint16_t VL6180x_GetUpperLimit(VL6180xDev_t dev); - -/** - * @brief Apply low and high ranging thresholds that are considered only in continuous mode - * - * @par Function Description - * This function programs low and high ranging thresholds that are considered in continuous mode : - * interrupt will be raised only when an object is detected at a distance inside this [low:high] range. - * The function takes care of applying current scaling factor if any.\n - * To be safe, in continuous operation, thresholds must be changed under "group parameter hold" cover. - * Group hold can be activated/deactivated directly in the function or externally (then set 0) - * using /a VL6180x_SetGroupParamHold() function. - * - * @param dev The device - * @param low Low threshold in mm - * @param high High threshold in mm - * @param SafeHold Use of group parameters hold to surround threshold programming. - * @return 0 On success - */ -int VL6180x_RangeSetThresholds(VL6180xDev_t dev, uint16_t low, uint16_t high, int SafeHold); - -/** - * @brief Get scaled high and low threshold from device - * - * @par Function Description - * Due to scaling factor, the returned value may be different from what has been programmed first (precision lost). - * For instance VL6180x_RangeSetThresholds(dev,11,22) with scale 3 - * will read back 9 ((11/3)x3) and 21 ((22/3)x3). - - * @param dev The device - * @param low scaled low Threshold ptr can be NULL if not needed - * @param high scaled High Threshold ptr can be NULL if not needed - * @return 0 on success, return value is undefined if both low and high are NULL - * @warning return value is undefined if both low and high are NULL - */ -int VL6180x_RangeGetThresholds(VL6180xDev_t dev, uint16_t *low, uint16_t *high); - -/** - * @brief Set ranging raw thresholds (scaling not considered so not recommended to use it) - * - * @param dev The device - * @param low raw low threshold set to raw register - * @param high raw high threshold set to raw register - * @return 0 on success - */ -int VL6180x_RangeSetRawThresholds(VL6180xDev_t dev, uint8_t low, uint8_t high); - -/** - * @brief Set Early Convergence Estimate ratio - * @par Function Description - * For more information on ECE check datasheet - * @warning May return a calibration warning in some use cases - * - * @param dev The device - * @param FactorM ECE factor M in M/D - * @param FactorD ECE factor D in M/D - * @return 0 on success. <0 on error. >0 on warning - */ -int VL6180x_RangeSetEceFactor(VL6180xDev_t dev, uint16_t FactorM, uint16_t FactorD); - -/** - * @brief Set Early Convergence Estimate state (See #SYSRANGE_RANGE_CHECK_ENABLES register) - * @param dev The device - * @param enable State to be set 0=disabled, otherwise enabled - * @return 0 on success - */ -int VL6180x_RangeSetEceState(VL6180xDev_t dev, int enable ); - -/** - * @brief Set activation state of the wrap around filter - * @param dev The device - * @param state New activation state (0=off, otherwise on) - * @return 0 on success - */ -int VL6180x_FilterSetState(VL6180xDev_t dev, int state); - -/** - * Get activation state of the wrap around filter - * @param dev The device - * @return Filter enabled or not, when filter is not supported it always returns 0S - */ -int VL6180x_FilterGetState(VL6180xDev_t dev); - - -/** - * @brief Set activation state of DMax computation - * @param dev The device - * @param state New activation state (0=off, otherwise on) - * @return 0 on success - */ -int VL6180x_DMaxSetState(VL6180xDev_t dev, int state); - -/** - * Get activation state of DMax computation - * @param dev The device - * @return Filter enabled or not, when filter is not supported it always returns 0S - */ -int VL6180x_DMaxGetState(VL6180xDev_t dev); - - -/** - * @brief Set ranging mode and start/stop measure (use high level functions instead : @a VL6180x_RangeStartSingleShot() or @a VL6180x_RangeStartContinuousMode()) - * - * @par Function Description - * When used outside scope of known polling single shot stopped state, \n - * user must ensure the device state is "idle" before to issue a new command. - * - * @param dev The device - * @param mode A combination of working mode (#MODE_SINGLESHOT or #MODE_CONTINUOUS) and start/stop condition (#MODE_START_STOP) \n - * @return 0 on success - */ -int VL6180x_RangeSetSystemMode(VL6180xDev_t dev, uint8_t mode); - -/** @} */ - -/** @defgroup api_ll_range_calibration Ranging calibration functions - * @brief Ranging calibration functions - * @ingroup api_ll - * @{ - */ -/** - * @brief Get part to part calibration offset - * - * @par Function Description - * Should only be used after a successful call to @a VL6180x_InitData to backup device nvm value - * - * @param dev The device - * @return part to part calibration offset from device - */ -int8_t VL6180x_GetOffsetCalibrationData(VL6180xDev_t dev); - -/** - * Set or over-write part to part calibration offset - * \sa VL6180x_InitData(), VL6180x_GetOffsetCalibrationData() - * @param dev The device - * @param offset Offset - */ -void VL6180x_SetOffsetCalibrationData(VL6180xDev_t dev, int8_t offset); - -/** - * @brief Set Cross talk compensation rate - * - * @par Function Description - * It programs register @a #SYSRANGE_CROSSTALK_COMPENSATION_RATE - * - * @param dev The device - * @param Rate Compensation rate (9.7 fix point) see datasheet for details - * @return 0 on success - */ -int VL6180x_SetXTalkCompensationRate(VL6180xDev_t dev, FixPoint97_t Rate); - -/** @} */ - - - -#if VL6180x_ALS_SUPPORT -/** @defgroup api_ll_als ALS functions - * @brief ALS functions - * @ingroup api_ll - * @{ - */ - -/** - * @brief Wait for device to be ready for new als operation or max pollign loop (time out) - * @param dev The device - * @param MaxLoop Max Number of i2c polling loop see @a #msec_2_i2cloop - * @return 0 on success. <0 when @a VL6180x_ErrCode_t::TIME_OUT if timed out - */ -int VL6180x_AlsWaitDeviceReady(VL6180xDev_t dev, int MaxLoop ); - -/** - * @brief Set ALS system mode and start/stop measure - * - * @warning When used outside after single shot polling, \n - * User must ensure the device state is ready before issuing a new command (using @a VL6180x_AlsWaitDeviceReady()). \n - * Non respect of this, can cause loss of interrupt or device hanging. - * - * @param dev The device - * @param mode A combination of working mode (#MODE_SINGLESHOT or #MODE_CONTINUOUS) and start condition (#MODE_START_STOP) \n - * @return 0 on success - */ -int VL6180x_AlsSetSystemMode(VL6180xDev_t dev, uint8_t mode); - -/** @} */ -#endif - -/** @defgroup api_ll_misc Misc functions - * @brief Misc functions - * @ingroup api_ll - * @{ - */ - -/** - * Set Group parameter Hold state - * - * @par Function Description - * Group parameter holds @a #SYSTEM_GROUPED_PARAMETER_HOLD enable safe update (non atomic across multiple measure) by host - * \n The critical register group is composed of: \n - * #SYSTEM_INTERRUPT_CONFIG_GPIO \n - * #SYSRANGE_THRESH_HIGH \n - * #SYSRANGE_THRESH_LOW \n - * #SYSALS_INTEGRATION_PERIOD \n - * #SYSALS_ANALOGUE_GAIN \n - * #SYSALS_THRESH_HIGH \n - * #SYSALS_THRESH_LOW - * - * - * @param dev The device - * @param Hold Group parameter Hold state to be set (on/off) - * @return 0 on success - */ -int VL6180x_SetGroupParamHold(VL6180xDev_t dev, int Hold); - -/** - * @brief Set new device i2c address - * - * After completion the device will answer to the new address programmed. - * - * @sa AN4478: Using multiple VL6180X's in a single design - * @param dev The device - * @param NewAddr The new i2c address (7bit) - * @return 0 on success - */ -int VL6180x_SetI2CAddress(VL6180xDev_t dev, uint8_t NewAddr); - -/** - * @brief Fully configure gpio 0/1 pin : polarity and functionality - * - * @param dev The device - * @param pin gpio pin 0 or 1 - * @param IntFunction Pin functionality : either #GPIOx_SELECT_OFF or #GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT (refer to #SYSTEM_MODE_GPIO1 register definition) - * @param ActiveHigh Set active high polarity, or active low see @a ::IntrPol_e - * @return 0 on success - */ -int VL6180x_SetupGPIOx(VL6180xDev_t dev, int pin, uint8_t IntFunction, int ActiveHigh); - - -/** - * @brief Set interrupt pin polarity for the given GPIO - * - * @param dev The device - * @param pin Pin 0 or 1 - * @param active_high select active high or low polarity using @ref IntrPol_e - * @return 0 on success - */ -int VL6180x_SetGPIOxPolarity(VL6180xDev_t dev, int pin, int active_high); - -/** - * Select interrupt functionality for the given GPIO - * - * @par Function Description - * Functionality refer to @a SYSTEM_MODE_GPIO0 - * - * @param dev The device - * @param pin Pin to configure 0 or 1 (gpio0 or gpio1)\nNote that gpio0 is chip enable at power up ! - * @param functionality Pin functionality : either #GPIOx_SELECT_OFF or #GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT (refer to #SYSTEM_MODE_GPIO1 register definition) - * @return 0 on success - */ -int VL6180x_SetGPIOxFunctionality(VL6180xDev_t dev, int pin, uint8_t functionality); - -/** - * #brief Disable and turn to Hi-Z gpio output pin - * - * @param dev The device - * @param pin The pin number to disable 0 or 1 - * @return 0 on success - */ -int VL6180x_DisableGPIOxOut(VL6180xDev_t dev, int pin); - -/** - * @def msec_2_i2cloop - * @brief Number of I2C polling loop (an 8 bit register) to run for maximal wait time. - * - * @par Function Description - * When polling via I2C the overall time is mainly the I2C transaction time because it is a slow bus - * one 8 bit register poll on I2C bus timing is shown below: \n - * start + addr_w(a) + 2x8bit index(a) + stop + start + addr_rd(a) + 1x8bit data_rd(a) + stop \n - * 1 8 1 2*(8+1) 1 1 8 1 8 1 1 \n - * so 49 serial bits - * - * @param time_ms Time to wait in milli second 10 - * @param i2c_khz I2C bus frequencies in KHz for instance 400 - * @return The number of loops (at least 1) - */ -#define msec_2_i2cloop( time_ms, i2c_khz ) (((time_ms)*(i2c_khz)/49)+1) - -/** @} */ - - - -/** - * polarity use in @a VL6180x_SetupGPIOx() , @a VL6180x_SetupGPIO1() - */ -typedef enum { - INTR_POL_LOW =0, /*!< set active low polarity best setup for falling edge */ - INTR_POL_HIGH =1, /*!< set active high polarity best setup for rising edge */ -}IntrPol_e; - -/** @defgroup api_ll_intr Interrupts management functions - * @brief Interrupts management functions - * @ingroup api_ll - * @{ - */ - -/** - * @brief Get all interrupts cause - * - * @param dev The device - * @param status Ptr to interrupt status. You can use @a IntrStatus_t::val - * @return 0 on success - */ -int VL6180x_GetInterruptStatus(VL6180xDev_t dev, uint8_t *status); - -/** - * @brief Clear given system interrupt condition - * - * @par Function Description - * Clear given interrupt cause by writing into register #SYSTEM_INTERRUPT_CLEAR register. - * @param dev The device - * @param IntClear Which interrupt source to clear. Use any combinations of #INTERRUPT_CLEAR_RANGING , #INTERRUPT_CLEAR_ALS , #INTERRUPT_CLEAR_ERROR. - * @return 0 On success - */ -int VL6180x_ClearInterrupt(VL6180xDev_t dev, uint8_t IntClear ); - -/** - * @brief Clear error interrupt - * - * @param dev The device - * @return 0 On success - */ - #define VL6180x_ClearErrorInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_ERROR) - -/** - * @brief Clear All interrupt causes (als+range+error) - * - * @param dev The device - * @return 0 On success - */ -#define VL6180x_ClearAllInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_ERROR|INTERRUPT_CLEAR_RANGING|INTERRUPT_CLEAR_ALS) - -/** @} */ - - -/** @defgroup api_reg API Register access functions - * @brief Registers access functions called by API core functions - * @ingroup api_ll - * @{ - */ - -/** - * Write VL6180x single byte register - * @param dev The device - * @param index The register index - * @param data 8 bit register data - * @return success - */ -int VL6180x_WrByte(VL6180xDev_t dev, uint16_t index, uint8_t data); -/** - * Thread safe VL6180x Update (rd/modify/write) single byte register - * - * Final_reg = (Initial_reg & and_data) |or_data - * - * @param dev The device - * @param index The register index - * @param AndData 8 bit and data - * @param OrData 8 bit or data - * @return 0 on success - */ -int VL6180x_UpdateByte(VL6180xDev_t dev, uint16_t index, uint8_t AndData, uint8_t OrData); -/** - * Write VL6180x word register - * @param dev The device - * @param index The register index - * @param data 16 bit register data - * @return 0 on success - */ -int VL6180x_WrWord(VL6180xDev_t dev, uint16_t index, uint16_t data); -/** - * Write VL6180x double word (4 byte) register - * @param dev The device - * @param index The register index - * @param data 32 bit register data - * @return 0 on success - */ -int VL6180x_WrDWord(VL6180xDev_t dev, uint16_t index, uint32_t data); - -/** - * Read VL6180x single byte register - * @param dev The device - * @param index The register index - * @param data pointer to 8 bit data - * @return 0 on success - */ -int VL6180x_RdByte(VL6180xDev_t dev, uint16_t index, uint8_t *data); - -/** - * Read VL6180x word (2byte) register - * @param dev The device - * @param index The register index - * @param data pointer to 16 bit data - * @return 0 on success - */ -int VL6180x_RdWord(VL6180xDev_t dev, uint16_t index, uint16_t *data); - -/** - * Read VL6180x dword (4byte) register - * @param dev The device - * @param index The register index - * @param data pointer to 32 bit data - * @return 0 on success - */ -int VL6180x_RdDWord(VL6180xDev_t dev, uint16_t index, uint32_t *data); - -/** @} */ - - - - -#ifdef __cplusplus -} -#endif - -#endif /* VL6180x_API_H_ */
--- a/Components/VL6180X/vl6180x_appcfg.h Tue Nov 17 17:38:38 2015 +0100 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,78 +0,0 @@ - -/******************************************************************************* -Copyright © 2014, STMicroelectronics International N.V. -All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - * Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - * Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - * Neither the name of STMicroelectronics nor the - names of its contributors may be used to endorse or promote products - derived from this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND -NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. -IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY -DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -********************************************************************************/ - - -/* - * vl6180x_appcfg.h - * - */ - -#ifndef VL6180X_APPCFG_H_ -#define VL6180X_APPCFG_H_ - - -/** - * @def VL6180x_RANGE_STATUS_ERRSTRING - * @brief when define include range status Error string and related - * - * The string table lookup require some space in read only area - * @ingroup Configuration - */ -#define VL6180x_RANGE_STATUS_ERRSTRING 1 - -/** - * @def VL6180X_SAFE_POLLING_ENTER - * - * @brief Ensure safe polling method when set - * - * Polling for a condition can be hazardous and result in infinite looping if any previous interrupt status - * condition is not cleared. \n - * Setting these flags enforce error clearing on start of polling method to avoid it. - * the drawback are : \n - * @li extra use-less i2c bus usage and traffic - * @li potentially slower measure rate. - * If application ensure interrupt get clear on mode or interrupt configuration change - * then keep option disabled. \n - * To be safe set these option to 1 - * @ingroup Configuration - */ -#define VL6180X_SAFE_POLLING_ENTER 0 - - -/** - * @brief Enable function start/end logging - * - * requires porting @a #LOG_FUNCTION_START @a #LOG_FUNCTION_END @a #LOG_FUNCTION_END_FMT - * @ingroup Configuration - */ -#define VL6180X_LOG_ENABLE 0 - - - -#endif /* VL6180X_APPCFG_H_ */
--- a/Components/VL6180X/vl6180x_cfg.h Tue Nov 17 17:38:38 2015 +0100 +++ b/Components/VL6180X/vl6180x_cfg.h Wed Nov 18 16:35:04 2015 +0000 @@ -108,8 +108,8 @@ */ //#define VL6180x_EXTENDED_RANGE 0 -//#define EXTENDED_RANGE_50CM 0 -#define EXTENDED_RANGE_50CM 1 +#define EXTENDED_RANGE_50CM 0 +//#define EXTENDED_RANGE_50CM 1 #if EXTENDED_RANGE_50CM #define VL6180x_UPSCALE_SUPPORT -3
--- a/Components/VL6180X/vl6180x_class.h Tue Nov 17 17:38:38 2015 +0100 +++ b/Components/VL6180X/vl6180x_class.h Wed Nov 18 16:35:04 2015 +0000 @@ -42,14 +42,14 @@ #include "RangeSensor.h" #include "LightSensor.h" #include "DevI2C.h" -#include "vl6180x_api.h" +//#include "vl6180x_api.h" #include "vl6180x_cfg.h" #include "vl6180x_def.h" #include "vl6180x_types.h" #include "vl6180x_platform.h" -//#include "vl6180x_appcfg.h" #include "stmpe1600_class.h" + /* data struct containing range measure, light measure and type of error provided to the user in case of invalid data range_mm=0xFFFFFFFF and lux=0xFFFFFFFF */ typedef struct MeasureData @@ -237,223 +237,684 @@ } /** Wrapper functions */ - - /** - * @brief Wait sensor to boot - * @return 0 when device is booted - */ +/** @defgroup api_init Init functions + * @brief API init functions + * @ingroup api_hl + * @{ + */ +/** + * @brief Wait for device booted after chip enable (hardware standby) + * @par Function Description + * After Chip enable Application you can also simply wait at least 1ms to ensure device is ready + * @warning After device chip enable (gpio0) de-asserted user must wait gpio1 to get asserted (hardware standby). + * or wait at least 400usec prior to do any low level access or api call . + * + * This function implements polling for standby but you must ensure 400usec from chip enable passed\n + * @warning if device get prepared @a VL6180x_Prepare() re-using these function can hold indefinitely\n + * + * @param void + * @return 0 on success + */ int WaitDeviceBooted() { return VL6180x_WaitDeviceBooted(Device); } - + +/** + * + * @brief One time device initialization + * + * To be called once and only once after device is brought out of reset (Chip enable) and booted see @a VL6180x_WaitDeviceBooted() + * + * @par Function Description + * When not used after a fresh device "power up" or reset, it may return @a #CALIBRATION_WARNING + * meaning wrong calibration data may have been fetched from device that can result in ranging offset error\n + * If application cannot execute device reset or need to run VL6180x_InitData multiple time + * then it must ensure proper offset calibration saving and restore on its own + * by using @a VL6180x_GetOffsetCalibrationData() on first power up and then @a VL6180x_SetOffsetCalibrationData() all all subsequent init + * + * @param void + * @return 0 on success, @a #CALIBRATION_WARNING if failed + */ int Init() { return VL6180x_InitData(Device); } - + +/** + * @brief Configure GPIO1 function and set polarity. + * @par Function Description + * To be used prior to arm single shot measure or start continuous mode. + * + * The function uses @a VL6180x_SetupGPIOx() for setting gpio 1. + * @warning changing polarity can generate a spurious interrupt on pins. + * It sets an interrupt flags condition that must be cleared to avoid polling hangs. \n + * It is safe to run VL6180x_ClearAllInterrupt() just after. + * + * @param IntFunction The interrupt functionality to use one of :\n + * @a #GPIOx_SELECT_OFF \n + * @a #GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT + * @param ActiveHigh The interrupt line polarity see ::IntrPol_e + * use @a #INTR_POL_LOW (falling edge) or @a #INTR_POL_HIGH (rising edge) + * @return 0 on success + */ int SetupGPIO1(uint8_t InitFunction, int ActiveHigh) { return VL6180x_SetupGPIO1(Device, InitFunction, ActiveHigh); } - + +/** + * @brief Prepare device for operation + * @par Function Description + * Does static initialization and reprogram common default settings \n + * Device is prepared for new measure, ready single shot ranging or ALS typical polling operation\n + * After prepare user can : \n + * @li Call other API function to set other settings\n + * @li Configure the interrupt pins, etc... \n + * @li Then start ranging or ALS operations in single shot or continuous mode + * + * @param void + * @return 0 on success + */ int Prepare() { return VL6180x_Prepare(Device); } - + + /** + * @brief Start continuous ranging mode + * + * @details End user should ensure device is in idle state and not already running + * @return 0 on success + */ int RangeStartContinuousMode() { return VL6180x_RangeStartContinuousMode(Device); } - + +/** + * @brief Start single shot ranging measure + * + * @details End user should ensure device is in idle state and not already running + * @return 0 on success + */ int RangeStartSingleShot() { return VL6180x_RangeStartSingleShot(Device); } - + +/** + * @brief Set maximum convergence time + * + * @par Function Description + * Setting a low convergence time can impact maximal detectable distance. + * Refer to VL6180x Datasheet Table 7 : Typical range convergence time. + * A typical value for up to x3 scaling is 50 ms + * + * @param MaxConTime_msec + * @return 0 on success. <0 on error. >0 for calibration warning status + */ int RangeSetMaxConvergenceTime(uint8_t MaxConTime_msec) { return VL6180x_RangeSetMaxConvergenceTime(Device, MaxConTime_msec); } - + +/** + * @brief Single shot Range measurement in polling mode. + * + * @par Function Description + * Kick off a new single shot range then wait for ready to retrieve it by polling interrupt status \n + * Ranging must be prepared by a first call to @a VL6180x_Prepare() and it is safer to clear very first poll call \n + * This function reference VL6180x_PollDelay(dev) porting macro/call on each polling loop, + * but PollDelay(dev) may never be called if measure in ready on first poll loop \n + * Should not be use in continuous mode operation as it will stop it and cause stop/start misbehaviour \n + * \n This function clears Range Interrupt status , but not error one. For that uses @a VL6180x_ClearErrorInterrupt() \n + * This range error is not related VL6180x_RangeData_t::errorStatus that refer measure status \n + * + * @param pRangeData Will be populated with the result ranging data @a VL6180x_RangeData_t + * @return 0 on success , @a #RANGE_ERROR if device reports an error case in it status (not cleared) use + * + * \sa ::VL6180x_RangeData_t + */ int RangePollMeasurement(VL6180x_RangeData_t *pRangeData) { return VL6180x_RangePollMeasurement(Device, pRangeData); } - + +/** + * @brief Check for measure readiness and get it if ready + * + * @par Function Description + * Using this function is an alternative to @a VL6180x_RangePollMeasurement() to avoid polling operation. This is suitable for applications + * where host CPU is triggered on a interrupt (not from VL6180X) to perform ranging operation. In this scenario, we assume that the very first ranging + * operation is triggered by a call to @a VL6180x_RangeStartSingleShot(). Then, host CPU regularly calls @a VL6180x_RangeGetMeasurementIfReady() to + * get a distance measure if ready. In case the distance is not ready, host may get it at the next call.\n + * + * @warning + * This function does not re-start a new measurement : this is up to the host CPU to do it.\n + * This function clears Range Interrupt for measure ready , but not error interrupts. For that, uses @a VL6180x_ClearErrorInterrupt() \n + * + * @param pRangeData Will be populated with the result ranging data if available + * @return 0 when measure is ready pRange data is updated (untouched when not ready), >0 for warning and @a #NOT_READY if measurement not yet ready, <0 for error @a #RANGE_ERROR if device report an error, + */ int RangeGetMeasurementIfReady(VL6180x_RangeData_t *pRangeData) { return VL6180x_RangeGetMeasurementIfReady(Device, pRangeData); } - + +/** + * @brief Retrieve range measurements set from device + * + * @par Function Description + * The measurement is made of range_mm status and error code @a VL6180x_RangeData_t \n + * Based on configuration selected extra measures are included. + * + * @warning should not be used in continuous if wrap around filter is active \n + * Does not perform any wait nor check for result availability or validity. + *\sa VL6180x_RangeGetResult for "range only" measurement + * + * @param pRangeData Pointer to the data structure to fill up + * @return 0 on success + */ int RangeGetMeasurement(VL6180x_RangeData_t *pRangeData) { return VL6180x_RangeGetMeasurement(Device, pRangeData); } - + +/** + * @brief Get ranging result and only that + * + * @par Function Description + * Unlike @a VL6180x_RangeGetMeasurement() this function only retrieves the range in millimeter \n + * It does any required up-scale translation\n + * It can be called after success status polling or in interrupt mode \n + * @warning these function is not doing wrap around filtering \n + * This function doesn't perform any data ready check! + * + * @param pRange_mm Pointer to range distance + * @return 0 on success + */ int GetRange(int32_t *piData) { return VL6180x_RangeGetResult(Device, piData); } +/** + * @brief Configure ranging interrupt reported to application + * + * @param ConfigGpioInt Select ranging report\n select one (and only one) of:\n + * @a #CONFIG_GPIO_INTERRUPT_DISABLED \n + * @a #CONFIG_GPIO_INTERRUPT_LEVEL_LOW \n + * @a #CONFIG_GPIO_INTERRUPT_LEVEL_HIGH \n + * @a #CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW \n + * @a #CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY + * @return 0 on success + */ int RangeConfigInterrupt(uint8_t ConfigGpioInt) { return VL6180x_RangeConfigInterrupt(Device, ConfigGpioInt); } - + +/** + * @brief Return ranging error interrupt status + * + * @par Function Description + * Appropriate Interrupt report must have been selected first by @a VL6180x_RangeConfigInterrupt() or @a VL6180x_Prepare() \n + * + * Can be used in polling loop to wait for a given ranging event or in interrupt to read the trigger \n + * Events triggers are : \n + * @a #RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD \n + * @a #RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD \n + * @a #RES_INT_STAT_GPIO_OUT_OF_WINDOW \n (RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD|RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD) + * @a #RES_INT_STAT_GPIO_NEW_SAMPLE_READY \n + * + * @sa IntrStatus_t + * @param pIntStatus Pointer to status variable to update + * @return 0 on success + */ int RangeGetInterruptStatus(uint8_t *pIntStatus) { return VL6180x_RangeGetInterruptStatus(Device, pIntStatus); } - + +/** + * @brief Run a single ALS measurement in single shot polling mode + * + * @par Function Description + * Kick off a new single shot ALS then wait new measurement ready to retrieve it ( polling system interrupt status register for als) \n + * ALS must be prepared by a first call to @a VL6180x_Prepare() \n + * \n Should not be used in continuous or interrupt mode it will break it and create hazard in start/stop \n + * + * @param dev The device + * @param pAlsData Als data structure to fill up @a VL6180x_AlsData_t + * @return 0 on success + */ int AlsPollMeasurement(VL6180x_AlsData_t *pAlsData) { return VL6180x_AlsPollMeasurement(Device, pAlsData); } - + +/** + * @brief Get actual ALS measurement + * + * @par Function Description + * Can be called after success status polling or in interrupt mode to retrieve ALS measurement from device \n + * This function doesn't perform any data ready check ! + * + * @param pAlsData Pointer to measurement struct @a VL6180x_AlsData_t + * @return 0 on success + */ int AlsGetMeasurement(VL6180x_AlsData_t *pAlsData) { return VL6180x_AlsGetMeasurement(Device, pAlsData); } - + +/** + * @brief Configure ALS interrupts provide to application + * + * @param ConfigGpioInt Select one (and only one) of : \n + * @a #CONFIG_GPIO_INTERRUPT_DISABLED \n + * @a #CONFIG_GPIO_INTERRUPT_LEVEL_LOW \n + * @a #CONFIG_GPIO_INTERRUPT_LEVEL_HIGH \n + * @a #CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW \n + * @a #CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY + * @return 0 on success may return #INVALID_PARAMS for invalid mode + */ int AlsConfigInterrupt(uint8_t ConfigGpioInt) { return VL6180x_AlsConfigInterrupt(Device, ConfigGpioInt); } - + +/** + * @brief Set ALS integration period + * + * @param period_ms Integration period in msec. Value in between 50 to 100 msec is recommended\n + * @return 0 on success + */ int AlsSetIntegrationPeriod(uint16_t period_ms) { return VL6180x_AlsSetIntegrationPeriod(Device, period_ms); } - + +/** + * @brief Set ALS "inter-measurement period" + * + * @par Function Description + * The so call data-sheet "inter measurement period" is actually an extra inter-measurement delay + * + * @param intermeasurement_period_ms Inter measurement time in milli second\n + * @warning applied value is clipped to 2550 ms\n + * @return 0 on success if value is + */ int AlsSetInterMeasurementPeriod(uint16_t intermeasurement_period_ms) { return VL6180x_AlsSetInterMeasurementPeriod(Device, intermeasurement_period_ms); } +/** + * @brief Set ALS analog gain code + * + * @par Function Description + * ALS gain code value programmed in @a SYSALS_ANALOGUE_GAIN . + * @param gain Gain code see datasheet or AlsGainLookUp for real value. Value is clipped to 7. + * @return 0 on success + */ int AlsSetAnalogueGain(uint8_t gain) { return VL6180x_AlsSetAnalogueGain(Device, gain); } - + +/** + * @brief Set thresholds for ALS continuous mode + * @warning Threshold are raw device value not lux! + * + * @par Function Description + * Basically value programmed in @a SYSALS_THRESH_LOW and @a SYSALS_THRESH_HIGH registers + * @param low ALS low raw threshold for @a SYSALS_THRESH_LOW + * @param high ALS high raw threshold for @a SYSALS_THRESH_HIGH + * @return 0 on success + */ int AlsSetThresholds(uint16_t lux_threshold_low, uint16_t lux_threshold_high); +/** + * Read ALS interrupt status + * @param pIntStatus Pointer to status + * @return 0 on success + */ int AlsGetInterruptStatus(uint8_t *pIntStatus) { return VL6180x_AlsGetInterruptStatus(Device, pIntStatus); } +/** + * @brief Low level ranging and ALS register static settings (you should call @a VL6180x_Prepare() function instead) + * + * @return 0 on success + */ int StaticInit() { return VL6180x_StaticInit(Device); } - + +/** + * @brief Wait for device to be ready (before a new ranging command can be issued by application) + * @param MaxLoop Max Number of i2c polling loop see @a #msec_2_i2cloop + * @return 0 on success. <0 when fail \n + * @ref VL6180x_ErrCode_t::TIME_OUT for time out \n + * @ref VL6180x_ErrCode_t::INVALID_PARAMS if MaxLop<1 + */ int RangeWaitDeviceReady(int MaxLoop ) { return VL6180x_RangeWaitDeviceReady(Device, MaxLoop); } - + +/** + * @brief Program Inter measurement period (used only in continuous mode) + * + * @par Function Description + * When trying to set too long time, it returns #INVALID_PARAMS + * + * @param InterMeasTime_msec Requires inter-measurement time in msec + * @return 0 on success + */ int RangeSetInterMeasPeriod(uint32_t InterMeasTime_msec) { return VL6180x_RangeSetInterMeasPeriod(Device, InterMeasTime_msec); } - + +/** + * @brief Set device ranging scaling factor + * + * @par Function Description + * The ranging scaling factor is applied on the raw distance measured by the device to increase operating ranging at the price of the precision. + * Changing the scaling factor when device is not in f/w standby state (free running) is not safe. + * It can be source of spurious interrupt, wrongly scaled range etc ... + * @warning __This function doesns't update high/low threshold and other programmed settings linked to scaling factor__. + * To ensure proper operation, threshold and scaling changes should be done following this procedure: \n + * @li Set Group hold : @a VL6180x_SetGroupParamHold() \n + * @li Get Threshold @a VL6180x_RangeGetThresholds() \n + * @li Change scaling : @a VL6180x_UpscaleSetScaling() \n + * @li Set Threshold : @a VL6180x_RangeSetThresholds() \n + * @li Unset Group Hold : @a VL6180x_SetGroupParamHold() + * + * @param scaling Scaling factor to apply (1,2 or 3) + * @return 0 on success when up-scale support is not configured it fail for any + * scaling than the one statically configured. + */ int UpscaleSetScaling(uint8_t scaling) { return VL6180x_UpscaleSetScaling(Device, scaling); } - + +/** + * @brief Get current ranging scaling factor + * + * @return The current scaling factor + */ int UpscaleGetScaling() { return VL6180x_UpscaleGetScaling(Device); } - + +/** + * @brief Get the maximal distance for actual scaling + * @par Function Description + * Do not use prior to @a VL6180x_Prepare() or at least @a VL6180x_InitData() + * + * Any range value more than the value returned by this function is to be considered as "no target detected" + * or "no target in detectable range" \n + * @warning The maximal distance depends on the scaling + * + * @return The maximal range limit for actual mode and scaling + */ uint16_t GetUpperLimit() { return VL6180x_GetUpperLimit(Device); } - + +/** + * @brief Apply low and high ranging thresholds that are considered only in continuous mode + * + * @par Function Description + * This function programs low and high ranging thresholds that are considered in continuous mode : + * interrupt will be raised only when an object is detected at a distance inside this [low:high] range. + * The function takes care of applying current scaling factor if any.\n + * To be safe, in continuous operation, thresholds must be changed under "group parameter hold" cover. + * Group hold can be activated/deactivated directly in the function or externally (then set 0) + * using /a VL6180x_SetGroupParamHold() function. + * + * @param low Low threshold in mm + * @param high High threshold in mm + * @param SafeHold Use of group parameters hold to surround threshold programming. + * @return 0 On success + */ int RangeSetThresholds(uint16_t low, uint16_t high, int SafeHold) { return VL6180x_RangeSetThresholds(Device, low, high, SafeHold); } +/** + * @brief Get scaled high and low threshold from device + * + * @par Function Description + * Due to scaling factor, the returned value may be different from what has been programmed first (precision lost). + * For instance VL6180x_RangeSetThresholds(dev,11,22) with scale 3 + * will read back 9 ((11/3)x3) and 21 ((22/3)x3). + * + * @param low scaled low Threshold ptr can be NULL if not needed + * @param high scaled High Threshold ptr can be NULL if not needed + * @return 0 on success, return value is undefined if both low and high are NULL + * @warning return value is undefined if both low and high are NULL + */ int RangeGetThresholds(uint16_t *low, uint16_t *high) { return VL6180x_RangeGetThresholds(Device, low, high); } - + +/** + * @brief Set ranging raw thresholds (scaling not considered so not recommended to use it) + * + * @param low raw low threshold set to raw register + * @param high raw high threshold set to raw register + * @return 0 on success + */ int RangeSetRawThresholds(uint8_t low, uint8_t high) { return VL6180x_RangeSetRawThresholds(Device, low, high); } - + +/** + * @brief Set Early Convergence Estimate ratio + * @par Function Description + * For more information on ECE check datasheet + * @warning May return a calibration warning in some use cases + * + * @param FactorM ECE factor M in M/D + * @param FactorD ECE factor D in M/D + * @return 0 on success. <0 on error. >0 on warning + */ int RangeSetEceFactor(uint16_t FactorM, uint16_t FactorD) { return VL6180x_RangeSetEceFactor(Device, FactorM, FactorD); } - + +/** + * @brief Set Early Convergence Estimate state (See #SYSRANGE_RANGE_CHECK_ENABLES register) + * @param enable State to be set 0=disabled, otherwise enabled + * @return 0 on success + */ int RangeSetEceState(int enable) { return VL6180x_RangeSetEceState(Device, enable); } - + +/** + * @brief Set activation state of the wrap around filter + * @param state New activation state (0=off, otherwise on) + * @return 0 on success + */ int FilterSetState(int state) { return VL6180x_FilterSetState(Device, state); } - + +/** + * Get activation state of the wrap around filter + * @return Filter enabled or not, when filter is not supported it always returns 0S + */ int FilterGetState() { return VL6180x_FilterGetState(Device); } - + +/** + * @brief Set activation state of DMax computation + * @param state New activation state (0=off, otherwise on) + * @return 0 on success + */ int DMaxSetState(int state) { return VL6180x_DMaxSetState(Device, state); } - + +/** + * Get activation state of DMax computation + * @return Filter enabled or not, when filter is not supported it always returns 0S + */ int DMaxGetState() { return VL6180x_DMaxGetState(Device); } - + +/** + * @brief Set ranging mode and start/stop measure (use high level functions instead : @a VL6180x_RangeStartSingleShot() or @a VL6180x_RangeStartContinuousMode()) + * + * @par Function Description + * When used outside scope of known polling single shot stopped state, \n + * user must ensure the device state is "idle" before to issue a new command. + * + * @param mode A combination of working mode (#MODE_SINGLESHOT or #MODE_CONTINUOUS) and start/stop condition (#MODE_START_STOP) \n + * @return 0 on success + */ int RangeSetSystemMode(uint8_t mode) { return VL6180x_RangeSetSystemMode(Device, mode); } - + +/** @} */ + +/** @defgroup api_ll_range_calibration Ranging calibration functions + * @brief Ranging calibration functions + * @ingroup api_ll + * @{ + */ +/** + * @brief Get part to part calibration offset + * + * @par Function Description + * Should only be used after a successful call to @a VL6180x_InitData to backup device nvm value + * + * @return part to part calibration offset from device + */ int8_t GetOffsetCalibrationData() { return VL6180x_GetOffsetCalibrationData(Device); } - + +/** + * Set or over-write part to part calibration offset + * \sa VL6180x_InitData(), VL6180x_GetOffsetCalibrationData() + * @param offset Offset + */ void SetOffsetCalibrationData(int8_t offset) { return VL6180x_SetOffsetCalibrationData(Device, offset); } - + +/** + * @brief Set Cross talk compensation rate + * + * @par Function Description + * It programs register @a #SYSRANGE_CROSSTALK_COMPENSATION_RATE + * + * @param Rate Compensation rate (9.7 fix point) see datasheet for details + * @return 0 on success + */ int SetXTalkCompensationRate(FixPoint97_t Rate) { return VL6180x_SetXTalkCompensationRate(Device, Rate); } - +/** @} */ + +/** @defgroup api_ll_als ALS functions + * @brief ALS functions + * @ingroup api_ll + * @{ + */ + +/** + * @brief Wait for device to be ready for new als operation or max pollign loop (time out) + * @param MaxLoop Max Number of i2c polling loop see @a #msec_2_i2cloop + * @return 0 on success. <0 when @a VL6180x_ErrCode_t::TIME_OUT if timed out + */ int AlsWaitDeviceReady(int MaxLoop) { return VL6180x_AlsWaitDeviceReady(Device, MaxLoop); } +/** + * @brief Set ALS system mode and start/stop measure + * + * @warning When used outside after single shot polling, \n + * User must ensure the device state is ready before issuing a new command (using @a VL6180x_AlsWaitDeviceReady()). \n + * Non respect of this, can cause loss of interrupt or device hanging. + * + * @param mode A combination of working mode (#MODE_SINGLESHOT or #MODE_CONTINUOUS) and start condition (#MODE_START_STOP) \n + * @return 0 on success + */ int AlsSetSystemMode(uint8_t mode) { return VL6180x_AlsSetSystemMode(Device, mode); } +/** @defgroup api_ll_misc Misc functions + * @brief Misc functions + * @ingroup api_ll + * @{ + */ + +/** + * Set Group parameter Hold state + * + * @par Function Description + * Group parameter holds @a #SYSTEM_GROUPED_PARAMETER_HOLD enable safe update (non atomic across multiple measure) by host + * \n The critical register group is composed of: \n + * #SYSTEM_INTERRUPT_CONFIG_GPIO \n + * #SYSRANGE_THRESH_HIGH \n + * #SYSRANGE_THRESH_LOW \n + * #SYSALS_INTEGRATION_PERIOD \n + * #SYSALS_ANALOGUE_GAIN \n + * #SYSALS_THRESH_HIGH \n + * #SYSALS_THRESH_LOW + * + * + * @param Hold Group parameter Hold state to be set (on/off) + * @return 0 on success + */ int SetGroupParamHold(int Hold) { return VL6180x_SetGroupParamHold(Device, Hold); } - + +/** + * @brief Set new device i2c address + * + * After completion the device will answer to the new address programmed. + * + * @sa AN4478: Using multiple VL6180X's in a single design + * @param NewAddr The new i2c address (7bit) + * @return 0 on success + */ int SetI2CAddress(int NewAddr) { int status; @@ -463,47 +924,141 @@ Device->I2cAddr=NewAddr; return status; } - + +/** + * @brief Fully configure gpio 0/1 pin : polarity and functionality + * + * @param pin gpio pin 0 or 1 + * @param IntFunction Pin functionality : either #GPIOx_SELECT_OFF or #GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT (refer to #SYSTEM_MODE_GPIO1 register definition) + * @param ActiveHigh Set active high polarity, or active low see @a ::IntrPol_e + * @return 0 on success + */ int SetupGPIOx(int pin, uint8_t IntFunction, int ActiveHigh) { return VL6180x_SetupGPIOx(Device, pin, IntFunction, ActiveHigh); } - + +/** + * @brief Set interrupt pin polarity for the given GPIO + * + * @param pin Pin 0 or 1 + * @param active_high select active high or low polarity using @ref IntrPol_e + * @return 0 on success + */ int SetGPIOxPolarity(int pin, int active_high) { return VL6180x_SetGPIOxPolarity(Device, pin, active_high); } - + +/** + * Select interrupt functionality for the given GPIO + * + * @par Function Description + * Functionality refer to @a SYSTEM_MODE_GPIO0 + * + * @param pin Pin to configure 0 or 1 (gpio0 or gpio1)\nNote that gpio0 is chip enable at power up ! + * @param functionality Pin functionality : either #GPIOx_SELECT_OFF or #GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT (refer to #SYSTEM_MODE_GPIO1 register definition) + * @return 0 on success + */ int SetGPIOxFunctionality(int pin, uint8_t functionality) { return VL6180x_SetGPIOxFunctionality(Device, pin, functionality); } - + +/** + * #brief Disable and turn to Hi-Z gpio output pin + * + * @param pin The pin number to disable 0 or 1 + * @return 0 on success + */ int DisableGPIOxOut(int pin) { return VL6180x_DisableGPIOxOut(Device, pin); } - + +/** @} */ + +/** @defgroup api_ll_intr Interrupts management functions + * @brief Interrupts management functions + * @ingroup api_ll + * @{ + */ + +/** + * @brief Get all interrupts cause + * + * @param status Ptr to interrupt status. You can use @a IntrStatus_t::val + * @return 0 on success + */ int GetInterruptStatus(uint8_t *status) { return VL6180x_GetInterruptStatus(Device, status); } - + +/** + * @brief Clear given system interrupt condition + * + * @par Function Description + * Clear given interrupt cause by writing into register #SYSTEM_INTERRUPT_CLEAR register. + * @param dev The device + * @param IntClear Which interrupt source to clear. Use any combinations of #INTERRUPT_CLEAR_RANGING , #INTERRUPT_CLEAR_ALS , #INTERRUPT_CLEAR_ERROR. + * @return 0 On success + */ int ClearInterrupt(uint8_t IntClear) { return VL6180x_ClearInterrupt(Device, IntClear ); } - + +/** + * @brief Clear error interrupt + * + * @param dev The device + * @return 0 On success + */ + #define VL6180x_ClearErrorInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_ERROR) + +/** + * @brief Clear All interrupt causes (als+range+error) + * + * @param dev The device + * @return 0 On success + */ +#define VL6180x_ClearAllInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_ERROR|INTERRUPT_CLEAR_RANGING|INTERRUPT_CLEAR_ALS) + +/** @} */ + +/** + * @brief Get the ALS (light in Lux) level + * + * @par Function Description + * Get the ALS (light in Lux) level + * @param *piData The pointer to variable to write in the measure in Lux + * @return 0 On success + */ int GetLight(uint32_t *piData) { return VL6180x_AlsGetLux(Device, piData); } - + +/** + * @brief Start the ALS (light) measure in continous mode + * + * @par Function Description + * Start the ALS (light) measure in continous mode + * @return 0 On success + */ int AlsStartContinuousMode() { return VL6180x_AlsSetSystemMode(Device, MODE_START_STOP|MODE_CONTINUOUS); } - + +/** + * @brief Start the ALS (light) measure in single shot mode + * + * @par Function Description + * Start the ALS (light) measure in single shot mode + * @return 0 On success + */ int AlsStartSingleShot() { return VL6180x_AlsSetSystemMode(Device, MODE_START_STOP|MODE_SINGLESHOT);