1020 lines
36 KiB
C
1020 lines
36 KiB
C
/*******************************************************************************
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Copyright © 2015, STMicroelectronics International N.V.
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of STMicroelectronics nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
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NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
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IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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********************************************************************************/
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/*
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* @file VL6180x_api.h
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* $Date: 2018-07-04 16:49:57 +0200 (Wed, 04 Jul 2018) $
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* $Revision: 2768 $
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*/
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#ifndef VL6180x_API_H_
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#define VL6180x_API_H_
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#include "vl6180x_platform.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/** @defgroup api_ll API Low Level Functions
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* @brief API Low level functions
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*/
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/** @defgroup api_hl API High Level Functions
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* @brief API High level functions
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*/
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/*
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* Check and set default platform dependent configuration
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*/
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#ifndef VL6180x_SINGLE_DEVICE_DRIVER
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#error "VL6180x_SINGLE_DEVICE_DRIVER not defined"
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/* TODO you may remove or comment these #error but it is best you update your vl6180x_platform.h file to define it*/
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#endif
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#ifndef VL6180x_RANGE_STATUS_ERRSTRING
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#warning "VL6180x_RANGE_STATUS_ERRSTRING not defined ?"
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/* TODO you may remove or comment these #warning and keep the default below to keep compatibility
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or update your vl6180x_platform.h file */
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/**
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* force VL6180x_RANGE_STATUS_ERRSTRING to not supported when not part of any cfg file
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*/
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#define VL6180x_RANGE_STATUS_ERRSTRING 0
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#endif
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#ifndef VL6180X_SAFE_POLLING_ENTER
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#warning "VL6180X_SAFE_POLLING_ENTER not defined, likely old vl6180x_cfg.h file ?"
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/* TODO you may remove or comment these #warning and keep the default below to keep compatibility
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or update your vl6180x_platform.h file */
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/**
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* force VL6180X_SAFE_POLLING_ENTER to off when not in cfg file
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*/
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#define VL6180X_SAFE_POLLING_ENTER 0 /* off by default as in api 2.0 */
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#endif
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#ifndef VL6180X_LOG_ENABLE
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/**
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* Force VL6180X_LOG_ENABLE to none as default
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*/
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#define VL6180X_LOG_ENABLE 0
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#endif
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#if VL6180x_RANGE_STATUS_ERRSTRING
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/**@def VL6180x_HAVE_RANGE_STATUS_ERRSTRING
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* @brief is defined when @a #VL6180x_RANGE_STATUS_ERRSTRING is enable
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*/
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#define VL6180x_HAVE_RANGE_STATUS_ERRSTRING
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#endif
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/** @brief Get API version as "hex integer" 0xMMnnss
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*/
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#define VL6180x_ApiRevInt ((VL6180x_API_REV_MAJOR<<24)+(VL6180x_API_REV_MINOR<<16)+VL6180x_API_REV_SUB)
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/** Get API version as string for exe "2.1.12" "
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*/
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#define VL6180x_ApiRevStr VL6180X_STR(VL6180x_API_REV_MAJOR) "." VL6180X_STR(VL6180x_API_REV_MINOR) "." VL6180X_STR(VL6180x_API_REV_SUB)
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/** @defgroup api_init Init functions
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* @brief API init functions
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* @ingroup api_hl
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* @{
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*/
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/**
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* @brief Wait for device booted after chip enable (hardware standby)
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* @par Function Description
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* After Chip enable Application you can also simply wait at least 1ms to ensure device is ready
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* @warning After device chip enable (gpio0) de-asserted user must wait gpio1 to get asserted (hardware standby).
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* or wait at least 400usec prior to do any low level access or api call .
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*
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* This function implements polling for standby but you must ensure 400usec from chip enable passed\n
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* @warning Calling this function if device is not fresh out of reset will result in an indefinite loop\n
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*
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* @param dev The device
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* @return 0 on success
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*/
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int VL6180x_WaitDeviceBooted(VL6180xDev_t dev);
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/**
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*
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* @brief One time device initialization
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*
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* To be called once and only once after device is brought out of reset (Chip enable) and booted see @a VL6180x_WaitDeviceBooted()
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*
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* @par Function Description
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* When not used after a fresh device "power up" or reset, it may return @a #CALIBRATION_WARNING
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* meaning wrong calibration data may have been fetched from device that can result in unpredictable and wrong ranging values\n
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*
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* @param dev The device
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* @return 0 on success, @a #CALIBRATION_WARNING if failed
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*/
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int VL6180x_InitData(VL6180xDev_t dev);
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/**
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* @brief Configure GPIO1 function and set polarity.
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* @par Function Description
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* To be used prior to arm single shot measure or start continuous mode.
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*
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* The function uses @a VL6180x_SetupGPIOx() for setting gpio 1.
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* @warning changing polarity can generate a spurious interrupt on pins.
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* It sets an interrupt flags condition that must be cleared to avoid polling hangs. \n
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* It is safe to run VL6180x_ClearAllInterrupt() just after.
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*
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* @param dev The device
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* @param IntFunction The interrupt functionality to use one of :\n
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* @a #GPIOx_SELECT_OFF \n
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* @a #GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT
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* @param ActiveHigh The interrupt line polarity see ::IntrPol_e
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* use @a #INTR_POL_LOW (falling edge) or @a #INTR_POL_HIGH (rising edge)
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* @return 0 on success
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*/
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int VL6180x_SetupGPIO1(VL6180xDev_t dev, uint8_t IntFunction, int ActiveHigh);
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/**
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* @brief Prepare device for operation
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* @par Function Description
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* Does static initialization and reprogram common default settings \n
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* Device is prepared for new measure, ready single shot ranging or ALS typical polling operation\n
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* After prepare user can : \n
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* @li Call other API function to set other settings\n
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* @li Configure the interrupt pins, etc... \n
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* @li Then start ranging or ALS operations in single shot or continuous mode
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*
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* @param dev The device
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* @return 0 on success
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*/
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int VL6180x_Prepare(VL6180xDev_t dev);
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/** @} */
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/** @defgroup api_hl_range Ranging functions
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* @brief Ranging functions
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* @ingroup api_hl
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* @{
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*/
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/**
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* @brief Start continuous ranging mode
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*
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* @details End user should ensure device is in idle state and not already running
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*/
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int VL6180x_RangeStartContinuousMode(VL6180xDev_t dev);
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/**
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* @brief Start single shot ranging measure
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*
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* @details End user should ensure device is in idle state and not already running
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*/
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int VL6180x_RangeStartSingleShot(VL6180xDev_t dev);
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/**
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* @brief Set maximum convergence time
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*
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* @par Function Description
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* Setting a low convergence time can impact maximal detectable distance.
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* Refer to VL6180x Datasheet Table 7 : Typical range convergence time.
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* A typical value for up to x3 scaling is 50 ms
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*
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* @param dev
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* @param MaxConTime_msec
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* @return 0 on success. <0 on error. >0 for calibration warning status
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*/
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int VL6180x_RangeSetMaxConvergenceTime(VL6180xDev_t dev, uint8_t MaxConTime_msec);
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/**
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* @brief Single shot Range measurement in polling mode.
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*
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* @par Function Description
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* Kick off a new single shot range then wait for ready to retrieve it by polling interrupt status \n
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* Ranging must be prepared by a first call to @a VL6180x_Prepare() and it is safer to clear very first poll call \n
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* This function reference VL6180x_PollDelay(dev) porting macro/call on each polling loop,
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* but PollDelay(dev) may never be called if measure in ready on first poll loop \n
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* Should not be use in continuous mode operation as it will stop it and cause stop/start misbehaviour \n
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* VL6180x_PollDelay() is platform depending, the user has to implement this function accordingly \n
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* 1 ms of wait is the recommended value to avoid excessive I2C requests for data ready check loop \n
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* \n This function clears Range Interrupt status , but not error one. For that uses @a VL6180x_ClearErrorInterrupt() \n
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* This range error is not related VL6180x_RangeData_t::errorStatus that refer measure status \n
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*
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* @param dev The device
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* @param pRangeData Will be populated with the result ranging data @a VL6180x_RangeData_t
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* @return 0 on success , @a #RANGE_ERROR if device reports an error case in it status (not cleared) use
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*
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* \sa ::VL6180x_RangeData_t
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*/
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int VL6180x_RangePollMeasurement(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData);
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/**
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* @brief Check for measure readiness and get it if ready
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*
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* @par Function Description
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* Using this function is an alternative to @a VL6180x_RangePollMeasurement() to avoid polling operation. This is suitable for applications
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* 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
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* operation is triggered by a call to @a VL6180x_RangeStartSingleShot(). Then, host CPU regularly calls @a VL6180x_RangeGetMeasurementIfReady() to
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* get a distance measure if ready. In case the distance is not ready, host may get it at the next call.\n
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*
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* @warning
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* This function does not re-start a new measurement : this is up to the host CPU to do it.\n
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* This function clears Range Interrupt for measure ready , but not error interrupts. For that, uses @a VL6180x_ClearErrorInterrupt() \n
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*
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* @param dev The device
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* @param pRangeData Will be populated with the result ranging data if available
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* @return 0 on success and <0 in case of error. Please check pRangeData.errorStatus to check is new measurement is ready or not.
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*/
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int VL6180x_RangeGetMeasurementIfReady(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData);
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/**
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* @brief Retrieve range measurements set from device
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*
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* @par Function Description
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* The measurement is made of range_mm status and error code @a VL6180x_RangeData_t \n
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* Based on configuration selected extra measures are included.
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*
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* @warning should not be used in continuous if wrap around filter is active \n
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* Does not perform any wait nor check for result availability or validity.
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*\sa VL6180x_RangeGetResult for "range only" measurement
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*
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* @param dev The device
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* @param pRangeData Pointer to the data structure to fill up
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* @return 0 on success
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*/
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int VL6180x_RangeGetMeasurement(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData);
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/**
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* @brief Get ranging result and only that
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*
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* @par Function Description
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* Unlike @a VL6180x_RangeGetMeasurement() this function only retrieves the range in millimeter \n
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* It does any required up-scale translation\n
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* It can be called after success status polling or in interrupt mode \n
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* @warning these function is not doing wrap around filtering \n
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* This function doesn't perform any data ready check!
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*
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* @param dev The device
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* @param pRange_mm Pointer to range distance
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* @return 0 on success
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*/
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int VL6180x_RangeGetResult(VL6180xDev_t dev, int32_t *pRange_mm);
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/**
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* @brief Configure ranging interrupt reported to application
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*
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* @param dev The device
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* @param ConfigGpioInt Select ranging report\n select one (and only one) of:\n
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* @a #CONFIG_GPIO_INTERRUPT_DISABLED \n
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* @a #CONFIG_GPIO_INTERRUPT_LEVEL_LOW \n
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* @a #CONFIG_GPIO_INTERRUPT_LEVEL_HIGH \n
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* @a #CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW \n
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* @a #CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY
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* @return 0 on success
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*/
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int VL6180x_RangeConfigInterrupt(VL6180xDev_t dev, uint8_t ConfigGpioInt);
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/**
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* @brief Clear range interrupt
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*
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* @param dev The device
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* @return 0 On success
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*/
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#define VL6180x_RangeClearInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_RANGING)
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/**
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* @brief Return ranging error interrupt status
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*
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* @par Function Description
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* Appropriate Interrupt report must have been selected first by @a VL6180x_RangeConfigInterrupt() or @a VL6180x_Prepare() \n
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*
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* Can be used in polling loop to wait for a given ranging event or in interrupt to read the trigger \n
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* Events triggers are : \n
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* @a #RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD \n
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* @a #RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD \n
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* @a #RES_INT_STAT_GPIO_OUT_OF_WINDOW \n (RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD|RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD)
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* @a #RES_INT_STAT_GPIO_NEW_SAMPLE_READY \n
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*
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* @sa IntrStatus_t
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* @param dev The device
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* @param pIntStatus Pointer to status variable to update
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* @return 0 on success
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*/
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int VL6180x_RangeGetInterruptStatus(VL6180xDev_t dev, uint8_t *pIntStatus);
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#if VL6180x_RANGE_STATUS_ERRSTRING
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extern const char *ROMABLE_DATA VL6180x_RangeStatusErrString[];
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/**
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* @brief Human readable error string for range error status
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*
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* @param RangeErrCode The error code as stored on @a VL6180x_RangeData_t::errorStatus
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* @return error string , NULL for invalid RangeErrCode
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* @sa ::RangeError_u
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*/
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const char *VL6180x_RangeGetStatusErrString(uint8_t RangeErrCode);
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#else
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#define VL6180x_RangeGetStatusErrString(...) NULL
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#endif
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/** @} */
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#if VL6180x_ALS_SUPPORT
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/** @defgroup api_hl_als ALS functions
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* @brief ALS functions
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* @ingroup api_hl
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* @{
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*/
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/**
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* @brief Run a single ALS measurement in single shot polling mode
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*
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* @par Function Description
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* Kick off a new single shot ALS then wait new measurement ready to retrieve it ( polling system interrupt status register for als) \n
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* ALS must be prepared by a first call to @a VL6180x_Prepare() \n
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* \n Should not be used in continuous or interrupt mode it will break it and create hazard in start/stop \n
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*
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* @param dev The device
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* @param pAlsData Als data structure to fill up @a VL6180x_AlsData_t
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* @return 0 on success
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*/
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int VL6180x_AlsPollMeasurement(VL6180xDev_t dev, VL6180x_AlsData_t *pAlsData);
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/**
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* @brief Get actual ALS measurement
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*
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* @par Function Description
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* Can be called after success status polling or in interrupt mode to retrieve ALS measurement from device \n
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* This function doesn't perform any data ready check !
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*
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* @param dev The device
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* @param pAlsData Pointer to measurement struct @a VL6180x_AlsData_t
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* @return 0 on success
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*/
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int VL6180x_AlsGetMeasurement(VL6180xDev_t dev, VL6180x_AlsData_t *pAlsData);
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/**
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* @brief Configure ALS interrupts provide to application
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*
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* @param dev The Device
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* @param ConfigGpioInt Select one (and only one) of : \n
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* @a #CONFIG_GPIO_INTERRUPT_DISABLED \n
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* @a #CONFIG_GPIO_INTERRUPT_LEVEL_LOW \n
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* @a #CONFIG_GPIO_INTERRUPT_LEVEL_HIGH \n
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* @a #CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW \n
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* @a #CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY
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* @return 0 on success may return #INVALID_PARAMS for invalid mode
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*/
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int VL6180x_AlsConfigInterrupt(VL6180xDev_t dev, uint8_t ConfigGpioInt);
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/**
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* @brief Set ALS integration period
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*
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* @param dev The device
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* @param period_ms Integration period in msec. Value in between 50 to 100 msec is recommended\n
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* @return 0 on success
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*/
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int VL6180x_AlsSetIntegrationPeriod(VL6180xDev_t dev, uint16_t period_ms);
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/**
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* @brief Set ALS "inter-measurement period"
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*
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* @par Function Description
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* The so call data-sheet "inter measurement period" is actually an extra inter-measurement delay
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*
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* @param dev The device
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* @param intermeasurement_period_ms Inter measurement time in milli second\n
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* @warning applied value is clipped to 2550 ms\n
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* @return 0 on success if value is
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*/
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int VL6180x_AlsSetInterMeasurementPeriod(VL6180xDev_t dev, uint16_t intermeasurement_period_ms);
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/**
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* @brief Set ALS analog gain code
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*
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* @par Function Description
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* ALS gain code value programmed in @a SYSALS_ANALOGUE_GAIN .
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* @param dev The device
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* @param gain Gain code see datasheet or AlsGainLookUp for real value. Value is clipped to 7.
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* @return 0 on success
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*/
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int VL6180x_AlsSetAnalogueGain(VL6180xDev_t dev, uint8_t gain);
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/**
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* @brief Set thresholds for ALS continuous mode
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* @warning Threshold are raw device value not lux!
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*
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* @par Function Description
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* Basically value programmed in @a SYSALS_THRESH_LOW and @a SYSALS_THRESH_HIGH registers
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* @param dev The device
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* @param low ALS low raw threshold for @a SYSALS_THRESH_LOW
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* @param high ALS high raw threshold for @a SYSALS_THRESH_HIGH
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* @return 0 on success
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*/
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int VL6180x_AlsSetThresholds(VL6180xDev_t dev, uint8_t low, uint8_t high);
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/**
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* @brief Clear ALS interrupt
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*
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* @param dev The device
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* @return 0 On success
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*/
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#define VL6180x_AlsClearInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_ALS)
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/**
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* Read ALS interrupt status
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* @param dev Device
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* @param pIntStatus Pointer to status
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* @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"
|
|
* @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);
|
|
|
|
/**
|
|
* @brief Enable/disable range ignore feature
|
|
*
|
|
* @par Function Description
|
|
* Enable range ignore feature to ensure that the device does not range on the cover glass because of cross-talk.
|
|
* @a VL6180x_RangeIgnoreConfigure() should be run first to configure feature prior to enable it.
|
|
*
|
|
* @param dev The Device
|
|
* @param EnableState Feature state to set 0= off else =on
|
|
* @return 0 on success
|
|
*/
|
|
int VL6180x_RangeIgnoreSetEnable(VL6180xDev_t dev, int EnableState);
|
|
|
|
/**
|
|
* @brief Configure Range ignore feature
|
|
*
|
|
* @par Function Description
|
|
* When return signal rate is below the IgnoreThreshold and return distance is below the ValidHeight, the distance will be ignored
|
|
* @warning It is recommended to enable range ignore feature and configure it only when device is in stop or idle state
|
|
* @warning Once this function is called, next call to @a VL6180x_InitData() function without reseting the device will result in wrong ranging operation
|
|
* @param dev The Device
|
|
* @param ValidHeight_mm Valid height in mm (unscaled ie not raw value before scaling)
|
|
* @param IgnoreThreshold Ignore threshold in fixpoint 9.7 MegaCount/sec
|
|
* @return
|
|
*/
|
|
int VL6180x_RangeIgnoreConfigure(VL6180xDev_t dev, uint16_t ValidHeight_mm, uint16_t IgnoreThreshold);
|
|
/** @} */
|
|
|
|
/** @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 and apply it immediately
|
|
* \sa VL6180x_InitData(), VL6180x_GetOffsetCalibrationData()
|
|
* @param dev The device
|
|
* @param offset Offset
|
|
* @return 0 on success
|
|
*/
|
|
int 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 (8 bits)
|
|
* @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
|
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* @param data 8 bit register data
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* @return success
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*/
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int VL6180x_WrByte(VL6180xDev_t dev, uint16_t index, uint8_t data);
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/**
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* Thread safe VL6180x Update (rd/modify/write) single byte register
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*
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* Final_reg = (Initial_reg & and_data) |or_data
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*
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* @param dev The device
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* @param index The register index
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* @param AndData 8 bit and data
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* @param OrData 8 bit or data
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* @return 0 on success
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*/
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int VL6180x_UpdateByte(VL6180xDev_t dev, uint16_t index, uint8_t AndData, uint8_t OrData);
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/**
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* Write VL6180x word register
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* @param dev The device
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* @param index The register index
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* @param data 16 bit register data
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* @return 0 on success
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|
*/
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int VL6180x_WrWord(VL6180xDev_t dev, uint16_t index, uint16_t data);
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/**
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* Write VL6180x double word (4 byte) register
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* @param dev The device
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* @param index The register index
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* @param data 32 bit register data
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* @return 0 on success
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|
*/
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int VL6180x_WrDWord(VL6180xDev_t dev, uint16_t index, uint32_t data);
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|
|
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/**
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* Read VL6180x single byte register
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* @param dev The device
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* @param index The register index
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* @param data pointer to 8 bit data
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* @return 0 on success
|
|
*/
|
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int VL6180x_RdByte(VL6180xDev_t dev, uint16_t index, uint8_t *data);
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|
|
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/**
|
|
* Read VL6180x word (2byte) register
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|
* @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);
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|
|
|
|
|
/**
|
|
* Read VL6180x multiple bytes
|
|
* @note required only if #VL6180x_HAVE_MULTI_READ is set
|
|
* @param dev The device
|
|
* @param index The register index
|
|
* @param data pointer to 8 bit data
|
|
* @param nData number of data bytes to read
|
|
* @return 0 on success
|
|
*/
|
|
int VL6180x_RdMulti(VL6180xDev_t dev, uint16_t index, uint8_t *data, int nData);
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|
|
|
/** @} */
|
|
|
|
|
|
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
#endif /* VL6180x_API_H_ */
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