Kenji Arai
use VL6180XA1 chip wothout X-NUCLEO-6180XA1 Board. Simple way to use the chip.
Dependents: Check_VL6180XA1_ToF
Fork of
X_NUCLEO_6180XA1
by 
ST
Diff: VL6180X.h
- Revision:
- 59:81afbb75311d
- Parent:
- 58:1e9a3a46f814
- Child:
- 60:972b4898a007
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/VL6180X.h Sun Jan 28 02:07:05 2018 +0000
@@ -0,0 +1,1187 @@
+/**
+ ******************************************************************************
+ * @file VL6180X.h
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 9-November-2015
+ * @brief Header file for component VL6180X
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. 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 AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS 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.
+ *
+ ******************************************************************************
+*/
+
+//------- January 28th, 2018 by JH1PJL / K.Arai --------------------------------
+// Change X_NUCLEO_6180XA1 library to 6180XA1_simple library
+// modified -> VL6180X.h
+// only MY_LOG in vl6180x_platform.h and VL6180X.cpp
+// deleted -> Components directory, ST_INTERFACES Lib.,
+// SX_NUCLEO_COMMON Lib. and X_NUCLEO_COMMON lib.
+// except following files
+// moved -> Component.h, DevI2C.h, LightSensor.h and RangSensor.h
+//------------------------------------------------------------------------------
+
+#ifndef __VL6180X_CLASS_H
+#define __VL6180X_CLASS_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "RangeSensor.h"
+#include "LightSensor.h"
+#include "DevI2C.h"
+#include "vl6180x_cfg.h"
+#include "vl6180x_def.h"
+#include "vl6180x_types.h"
+#include "vl6180x_platform.h"
+
+/* Definitions ---------------------------------------------------------------*/
+
+/**
+ * @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)
+
+/**
+ * Default device address
+ */
+#define DEFAULT_DEVICE_ADDRESS 0x29
+
+/* Types ---------------------------------------------------------------------*/
+
+/* 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 {
+ uint32_t range_mm;
+ uint32_t lux;
+ uint32_t range_error;
+ uint32_t als_error;
+ uint32_t int_error;
+} measure_data_t;
+
+/* sensor operating modes */
+typedef enum {
+ range_single_shot_polling=1,
+ als_single_shot_polling,
+ range_continuous_polling,
+ als_continuous_polling,
+ range_continuous_interrupt,
+ als_continuous_interrupt,
+ interleaved_mode_interrupt,
+ range_continuous_polling_low_threshold,
+ range_continuous_polling_high_threshold,
+ range_continuous_polling_out_of_window,
+ als_continuous_polling_low_threshold,
+ als_continuous_polling_high_threshold,
+ als_continuous_polling_out_of_window,
+ range_continuous_interrupt_low_threshold,
+ range_continuous_interrupt_high_threshold,
+ range_continuous_interrupt_out_of_window,
+ als_continuous_interrupt_low_threshold,
+ als_continuous_interrupt_high_threshold,
+ als_continuous_interrupt_out_of_window,
+ range_continuous_als_single_shot,
+ range_single_shot_als_continuous,
+} operating_mode_t;
+
+
+/* Classes -------------------------------------------------------------------*/
+
+/**
+ * Class representing a VL6180X sensor component
+ */
+class VL6180X : public RangeSensor, public LightSensor
+{
+public:
+ /** Constructor 1 (DigitalOut)
+ * @param[in] &i2c device I2C to be used for communication
+ * @param[in] pin Mbed DigitalOut PinName to be used as component GPIO_0 CE
+ * @param[in] &pin_gpio1 pin Mbed InterruptIn PinName to be used as component GPIO_1 INT
+ * @param[in] DevAddr device address, 0x29 by default
+ */
+ VL6180X(DevI2C &i2c, PinName ce_pin, PinName pin_gpio1, uint8_t DevAddr=DEFAULT_DEVICE_ADDRESS)
+ : RangeSensor(), LightSensor(), _dev_i2c(&i2c), _gpio0(ce_pin) {
+ _my_device.I2cAddr=DevAddr;
+ _my_device.Present=0;
+ _my_device.Ready=0;
+ _device=&_my_device;;
+ if (pin_gpio1 != NC) {
+ _gpio1Int = new InterruptIn(pin_gpio1);
+ } else {
+ _gpio1Int = NULL;
+ }
+ init((void *)DevAddr);
+ }
+
+ /** Destructor
+ */
+ virtual ~VL6180X() {
+ if (_gpio1Int != NULL) {
+ delete _gpio1Int;
+ }
+ }
+
+ /* warning: VL6180X class inherits from GenericSensor, RangeSensor and LightSensor, that haven`t a destructor.
+ The warning should request to introduce a virtual destructor to make sure to delete the object */
+
+ /*** Interface Methods ***/
+ /*** High level API ***/
+ /**
+ * @brief PowerOn the sensor
+ * @return void
+ */
+ /* turns on the sensor */
+ void on(void) {
+ _gpio0=1;
+ _my_device.I2cAddr=DEFAULT_DEVICE_ADDRESS;
+ _my_device.Ready=0;
+ }
+
+ /**
+ * @brief PowerOff the sensor
+ * @return void
+ */
+ /* turns off the sensor */
+ void off(void) {
+ _gpio0=0;
+ _my_device.I2cAddr=DEFAULT_DEVICE_ADDRESS;
+ _my_device.Ready=0;
+ }
+
+ /**
+ * @brief Start the measure indicated by operating mode
+ * @param[in] operating_mode specifies requested measure
+ * @param[in] fptr specifies call back function must be !NULL in case of interrupt measure
+ * @param[in] low specifies measure low threashold in Lux or in mm according to measure
+ * @param[in] high specifies measure high threashold in Lux or in mm according to measure
+ * @return 0 on Success
+ */
+ int start_measurement(operating_mode_t operating_mode, void (*fptr)(void), uint16_t low, uint16_t high);
+
+ /**
+ * @brief Get results for the measure indicated by operating mode
+ * @param[in] operating_mode specifies requested measure results
+ * @param[out] Data pointer to the measure_data_t structure to read data in to
+ * @return 0 on Success
+ */
+ int get_measurement(operating_mode_t operating_mode, measure_data_t *Data);
+
+ /**
+ * @brief Stop the currently running measure indicate by operating_mode
+ * @param[in] operating_mode specifies requested measure to stop
+ * @return 0 on Success
+ */
+ int stop_measurement(operating_mode_t operating_mode);
+
+ /**
+ * @brief Interrupt handling func to be called by user after an INT is occourred
+ * @param[in] opeating_mode indicating the in progress measure
+ * @param[out] Data pointer to the measure_data_t structure to read data in to
+ * @return 0 on Success
+ */
+ int handle_irq(operating_mode_t operating_mode, measure_data_t *Data);
+
+ /**
+ * @brief Enable interrupt measure IRQ
+ * @return 0 on Success
+ */
+ void enable_interrupt_measure_detection_irq(void) {
+ if (_gpio1Int != NULL) {
+ _gpio1Int->enable_irq();
+ }
+ }
+
+ /**
+ * @brief Disable interrupt measure IRQ
+ * @return 0 on Success
+ */
+ void disable_interrupt_measure_detection_irq(void) {
+ if (_gpio1Int != NULL) {
+ _gpio1Int->disable_irq();
+ }
+ }
+
+ /*** End High level API ***/
+
+ /**
+ * @brief Attach a function to call when an interrupt is detected, i.e. measurement is ready
+ * @param[in] fptr pointer to call back function to be called whenever an interrupt occours
+ * @return 0 on Success
+ */
+ void attach_interrupt_measure_detection_irq(void (*fptr)(void)) {
+ if (_gpio1Int != NULL) {
+ _gpio1Int->rise(fptr);
+ }
+ }
+
+ /**
+ * @brief Check the sensor presence
+ * @return 1 when device is present
+ */
+ unsigned present() {
+ return _device->Present;
+ }
+
+ /** Wrapper functions */
+ /** @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 wait_device_booted() {
+ 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
+ */
+ virtual int init(void * NewAddr) {
+ int status;
+
+ off();
+ on();
+
+ status=VL6180X_WaitDeviceBooted(_device);
+ if(status) {
+ VL6180X_ErrLog("WaitDeviceBooted fail\n\r");
+ }
+ status=IsPresent();
+ if(!status) {
+ _device->Present=1;
+ VL6180X_InitData(_device);
+ if(status) {
+ printf("Failed to init VL6180X sensor!\n\r");
+ return status;
+ }
+ status=prepare();
+ if(status) {
+ printf("Failed to prepare VL6180X!\n\r");
+ return status;
+ }
+ if(*(uint8_t*)NewAddr!=DEFAULT_DEVICE_ADDRESS) {
+ status=set_i2c_address(*(uint8_t*)NewAddr);
+ if(status) {
+ printf("Failed to change I2C address!\n\r");
+ return status;
+ }
+ }
+ _device->Ready=1;
+ }
+ return status;
+ }
+
+ /**
+ * @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 setup_gpio_1(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 range_start_continuous_mode() {
+ 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 range_start_single_shot() {
+ 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 range_set_max_convergence_time(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 range_poll_measurement(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 _range_get_measurement_if_ready(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 range_get_measurement(VL6180X_RangeData_t *pRangeData) {
+ return VL6180X_RangeGetMeasurement(_device, pRangeData);
+ }
+
+ /**
+ * @brief Get a single distance measure result
+ *
+ * @par Function Description
+ * It can be called after having initialized a component. It start a single
+ * distance measure in polling mode and wait until the measure is finisched.
+ * The function block until the measure is finished, it can blocks indefinitely
+ * in case the measure never ends for any reason \n
+ *
+ * @param pi_data Pointer to distance
+ * @return 0 on success
+ */
+ virtual int get_distance(uint32_t *pi_data) {
+ int status=0;
+ LOG_FUNCTION_START("");
+ status=start_measurement(range_single_shot_polling, NULL, NULL, NULL);
+ if (!status) {
+ range_wait_device_ready(2000);
+ for (status=1; status!=0; status=VL6180X_RangeGetResult(_device, pi_data));
+ }
+ stop_measurement(range_single_shot_polling);
+ range_wait_device_ready(2000);
+ LOG_FUNCTION_END(status);
+
+ return status;
+ }
+
+ /**
+ * @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 range_config_interrupt(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 range_get_interrupt_status(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 als_poll_measurement(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 als_get_measurement(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 als_config_interrupt(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 als_set_integration_period(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 als_set_inter_measurement_period(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 als_set_analogue_gain(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 als_set_thresholds(uint16_t lux_threshold_low, uint16_t lux_threshold_high);
+
+ /**
+ * Read ALS interrupt status
+ * @param pIntStatus Pointer to status
+ * @return 0 on success
+ */
+ int als_get_interrupt_status(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 static_init() {
+ 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 range_wait_device_ready(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 range_set_inter_meas_period(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 upscale_set_scaling(uint8_t scaling) {
+ return VL6180X_UpscaleSetScaling(_device, scaling);
+ }
+
+ /**
+ * @brief Get current ranging scaling factor
+ *
+ * @return The current scaling factor
+ */
+ int upscale_get_scaling() {
+ 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 get_upper_limit() {
+ 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 range_set_thresholds(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 range_get_thresholds(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 range_set_raw_thresholds(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 range_set_ece_factor(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 range_set_ece_state(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 flter_set_state(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 filter_get_state() {
+ 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 d_max_set_state(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 d_max_get_state() {
+ 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 range_set_system_mode(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 get_offset_calibration_data() {
+ return VL6180X_GetOffsetCalibrationData(_device);
+ }
+
+ /**
+ * Set or over-write part to part calibration offset
+ * \sa VL6180X_InitData(), VL6180X_GetOffsetCalibrationData()
+ * @param offset Offset
+ */
+ void set_offset_calibration_data(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 set_x_talk_compensation_rate(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 als_wait_device_ready(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 als_set_system_mode(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 set_group_param_hold(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 set_i2c_address(int NewAddr) {
+ int status;
+
+ status=VL6180X_SetI2CAddress(_device, NewAddr);
+ if (!status) {
+ _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 setup_gpio_x(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 set_gpio_x_polarity(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 set_gpio_x_functionality(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 disable_gpio_x_out(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 get_interrupt_status(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 clear_interrupt(uint8_t IntClear) {
+ return VL6180X_ClearInterrupt(_device, IntClear );
+ }
+
+ /** @} */
+
+ /**
+ * @brief Get a single light (in Lux) measure result
+ *
+ * @par Function Description
+ * It can be called after having initialized a component. It start a single
+ * light measure in polling mode and wait until the measure is finisched.
+ * The function block until the measure is finished, it can blocks indefinitely
+ * in case the measure never ends for any reason \n
+ */
+ virtual int get_lux(uint32_t *pi_data) {
+ int status=0;
+ LOG_FUNCTION_START("");
+ status = start_measurement(als_single_shot_polling, NULL, NULL, NULL);
+ if (!status) {
+ als_wait_device_ready(2000);
+ for (status=1; status!=0; status=VL6180X_AlsGetLux(_device, pi_data));
+ }
+ stop_measurement(als_single_shot_polling);
+ als_wait_device_ready(2000);
+ LOG_FUNCTION_END(status);
+
+ return status;
+ }
+
+ /**
+ * @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 als_start_continuous_mode() {
+ 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 als_start_single_shot() {
+ return VL6180X_AlsSetSystemMode(_device, MODE_START_STOP|MODE_SINGLESHOT);
+ }
+
+private:
+ /* api.h functions */
+ int VL6180X_WaitDeviceBooted(VL6180XDev_t dev);
+ int VL6180X_InitData(VL6180XDev_t dev );
+ int VL6180X_SetupGPIO1(VL6180XDev_t dev, uint8_t IntFunction, int ActiveHigh);
+ int VL6180X_Prepare(VL6180XDev_t dev);
+ int VL6180X_RangeStartContinuousMode(VL6180XDev_t dev);
+ int VL6180X_RangeStartSingleShot(VL6180XDev_t dev);
+ int VL6180X_RangeSetMaxConvergenceTime(VL6180XDev_t dev, uint8_t MaxConTime_msec);
+ int VL6180X_RangePollMeasurement(VL6180XDev_t dev, VL6180X_RangeData_t *pRangeData);
+ int VL6180X_RangeGetMeasurementIfReady(VL6180XDev_t dev, VL6180X_RangeData_t *pRangeData);
+ int VL6180X_RangeGetMeasurement(VL6180XDev_t dev, VL6180X_RangeData_t *pRangeData);
+ int VL6180X_RangeGetResult(VL6180XDev_t dev, uint32_t *pRange_mm);
+ int VL6180X_RangeConfigInterrupt(VL6180XDev_t dev, uint8_t ConfigGpioInt);
+ int VL6180X_RangeGetInterruptStatus(VL6180XDev_t dev, uint8_t *pIntStatus);
+ int VL6180X_AlsPollMeasurement(VL6180XDev_t dev, VL6180X_AlsData_t *pAlsData);
+ int VL6180X_AlsGetMeasurement(VL6180XDev_t dev, VL6180X_AlsData_t *pAlsData);
+ int VL6180X_AlsConfigInterrupt(VL6180XDev_t dev, uint8_t ConfigGpioInt);
+ int VL6180X_AlsSetIntegrationPeriod(VL6180XDev_t dev, uint16_t period_ms);
+ int VL6180X_AlsSetInterMeasurementPeriod(VL6180XDev_t dev, uint16_t intermeasurement_period_ms);
+ int VL6180X_AlsSetAnalogueGain(VL6180XDev_t dev, uint8_t gain);
+ int VL6180X_AlsSetThresholds(VL6180XDev_t dev, uint16_t low, uint16_t high);
+ int VL6180X_AlsGetInterruptStatus(VL6180XDev_t dev, uint8_t *pIntStatus);
+ int VL6180X_StaticInit(VL6180XDev_t dev);
+ int VL6180X_RangeWaitDeviceReady(VL6180XDev_t dev, int MaxLoop );
+ int VL6180X_RangeSetInterMeasPeriod(VL6180XDev_t dev, uint32_t InterMeasTime_msec);
+ int VL6180X_UpscaleSetScaling(VL6180XDev_t dev, uint8_t scaling);
+ int VL6180X_UpscaleGetScaling(VL6180XDev_t dev);
+ uint16_t VL6180X_GetUpperLimit(VL6180XDev_t dev);
+ int VL6180X_RangeSetThresholds(VL6180XDev_t dev, uint16_t low, uint16_t high, int SafeHold);
+ int VL6180X_RangeGetThresholds(VL6180XDev_t dev, uint16_t *low, uint16_t *high);
+ int VL6180X_RangeSetRawThresholds(VL6180XDev_t dev, uint8_t low, uint8_t high);
+ int VL6180X_RangeSetEceFactor(VL6180XDev_t dev, uint16_t FactorM, uint16_t FactorD);
+ int VL6180X_RangeSetEceState(VL6180XDev_t dev, int enable );
+ int VL6180X_FilterSetState(VL6180XDev_t dev, int state);
+ int VL6180X_FilterGetState(VL6180XDev_t dev);
+ int VL6180X_DMaxSetState(VL6180XDev_t dev, int state);
+ int VL6180X_DMaxGetState(VL6180XDev_t dev);
+ int VL6180X_RangeSetSystemMode(VL6180XDev_t dev, uint8_t mode);
+ int8_t VL6180X_GetOffsetCalibrationData(VL6180XDev_t dev);
+ void VL6180X_SetOffsetCalibrationData(VL6180XDev_t dev, int8_t offset);
+ int VL6180X_SetXTalkCompensationRate(VL6180XDev_t dev, FixPoint97_t Rate);
+ int VL6180X_AlsWaitDeviceReady(VL6180XDev_t dev, int MaxLoop );
+ int VL6180X_AlsSetSystemMode(VL6180XDev_t dev, uint8_t mode);
+ int VL6180X_SetGroupParamHold(VL6180XDev_t dev, int Hold);
+ int VL6180X_SetI2CAddress(VL6180XDev_t dev, uint8_t NewAddr);
+ int VL6180X_SetupGPIOx(VL6180XDev_t dev, int pin, uint8_t IntFunction, int ActiveHigh);
+ int VL6180X_SetGPIOxPolarity(VL6180XDev_t dev, int pin, int active_high);
+ int VL6180X_SetGPIOxFunctionality(VL6180XDev_t dev, int pin, uint8_t functionality);
+ int VL6180X_DisableGPIOxOut(VL6180XDev_t dev, int pin);
+ int VL6180X_GetInterruptStatus(VL6180XDev_t dev, uint8_t *status);
+ int VL6180X_ClearInterrupt(VL6180XDev_t dev, uint8_t IntClear );
+
+ /* Other functions defined in api.c */
+ int VL6180X_RangeStaticInit(VL6180XDev_t dev);
+ int VL6180X_UpscaleRegInit(VL6180XDev_t dev);
+ int VL6180X_UpscaleStaticInit(VL6180XDev_t dev);
+ int VL6180X_AlsGetLux(VL6180XDev_t dev, lux_t *pLux);
+ int _UpscaleInitPatch0(VL6180XDev_t dev);
+ int VL6180X_RangeGetDeviceReady(VL6180XDev_t dev, int * Ready);
+ int VL6180X_RangeSetEarlyConvergenceEestimateThreshold(VL6180XDev_t dev);
+ int32_t _GetAveTotalTime(VL6180XDev_t dev);
+ int32_t _filter_Start(VL6180XDev_t dev, uint16_t m_trueRange_mm, uint16_t m_rawRange_mm, uint32_t m_rtnSignalRate, uint32_t m_rtnAmbientRate, uint16_t errorCode);
+ int _filter_GetResult(VL6180XDev_t dev, VL6180X_RangeData_t *pRangeData);
+ int _GetRateResult(VL6180XDev_t dev, VL6180X_RangeData_t *pRangeData);
+ int _DMax_InitData(VL6180XDev_t dev);
+
+ /* Read function of the ID device */
+ virtual int read_id(uint8_t *id);
+
+ /* Write and read functions from I2C */
+ int VL6180X_WrByte(VL6180XDev_t dev, uint16_t index, uint8_t data);
+ int VL6180X_WrWord(VL6180XDev_t dev, uint16_t index, uint16_t data);
+ int VL6180X_WrDWord(VL6180XDev_t dev, uint16_t index, uint32_t data);
+ int VL6180X_RdByte(VL6180XDev_t dev, uint16_t index, uint8_t *data);
+ int VL6180X_RdWord(VL6180XDev_t dev, uint16_t index, uint16_t *data);
+ int VL6180X_RdDWord(VL6180XDev_t dev, uint16_t index, uint32_t *data);
+ int VL6180X_UpdateByte(VL6180XDev_t dev, uint16_t index, uint8_t AndData, uint8_t OrData);
+ int VL6180X_I2CWrite(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t *pBuffer, uint16_t NumByteToWrite);
+ int VL6180X_I2CRead(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t *pBuffer, uint16_t NumByteToRead);
+
+ int IsPresent();
+ int StopRangeMeasurement(operating_mode_t operating_mode);
+ int StopAlsMeasurement(operating_mode_t operating_mode);
+ int GetRangeMeas(operating_mode_t operating_mode, measure_data_t *Data);
+ int GetAlsMeas(operating_mode_t operating_mode, measure_data_t *Data);
+ int GetRangeAlsMeas(measure_data_t *Data);
+ int RangeSetLowThreshold(uint16_t threshold);
+ int RangeSetHighThreshold(uint16_t threshold);
+ int AlsSetLowThreshold(uint16_t threshold);
+ int AlsSetHighThreshold(uint16_t threshold);
+ int GetRangeError(measure_data_t *Data, VL6180X_RangeData_t RangeData);
+ int GetAlsError(measure_data_t *Data, VL6180X_AlsData_t AlsData);
+ int RangeMeasPollSingleShot();
+ int AlsMeasPollSingleShot();
+ int RangeMeasPollContinuousMode();
+ int AlsMeasPollContinuousMode();
+ int AlsGetMeasurementIfReady(VL6180XDev_t dev, VL6180X_AlsData_t *pAlsData);
+ int RangeMeasIntContinuousMode(void (*fptr)(void));
+ int AlsMeasIntContinuousMode(void (*fptr)(void));
+ int InterleavedMode(void (*fptr)(void));
+ int StartInterleavedMode();
+ int AlsGetThresholds(VL6180XDev_t dev, lux_t *low, lux_t *high);
+
+ /* IO _device */
+ DevI2C *_dev_i2c;
+ /* Digital out pin */
+ DigitalOut _gpio0;
+ /* Measure detection IRQ */
+ InterruptIn *_gpio1Int;
+ /* _device data */
+ MyVL6180Dev_t _my_device;
+ VL6180XDev_t _device;
+};
+
+#endif // __VL6180X_CLASS_H