AMiRo-OS

/*

AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2019  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU Lesser General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

/**

 * @file    alld_vcnl4020.c

 * @brief   Proximity Sensor function implementations.

 *

 * @addtogroup lld_proximity

 * @{

 */

#include <alld_vcnl4020.h>

#if defined(AMIROLLD_CFG_USE_VCNL4020) || defined(__DOXYGEN__)

/*============================================================================*/

/* general single register access                                             */

/*============================================================================*/

/**

 * @brief Read the 8-bit data from any register.

 * @param[in]   vcnld     The VCNL402 driver to use.

 * @param[in]   reg       The register to read.

 * @param[out]  data      The data read from the VCNL4020.

 * @param[in]   timeout   Timeout for the function to return (in microseconds)

 *

 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.

 */

inline apalExitStatus_t

vcnl4020_lld_readreg(const VCNL4020Driver* const vcnld, const vcnl4020_lld_regaddr_t reg, uint8_t* const data, const apalTime_t timeout)

{

  apalDbgAssert(vcnld != NULL && vcnld->i2cd != NULL);

  apalDbgAssert(data != NULL);

  return apalI2CMasterTransmit(vcnld->i2cd, (apalI2Caddr_t)VCNL4020_LLD_I2C_ADDR, (uint8_t*)&reg, 1, data, 1, timeout);

}

/**

 * @brief Write data to any 8-bit register.

 * @param[in]   vcnld     The VCNL402 driver to use.

 * @param[in]   reg       The register to write to.

 * @param[in]   data      The data to write.

 * @param[in]   timeout   Timeout for the function to return (in microseconds)

 *

 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.

 */

inline apalExitStatus_t

vcnl4020_lld_writereg(const VCNL4020Driver* const vcnld, const vcnl4020_lld_regaddr_t reg, const uint8_t data, const apalTime_t timeout)

{

  apalDbgAssert(vcnld != NULL && vcnld->i2cd != NULL);

  uint8_t txbuf[2] = { reg, data };

  return apalI2CMasterTransmit(vcnld->i2cd, (apalI2Caddr_t)VCNL4020_LLD_I2C_ADDR, txbuf, 2, NULL, 0, timeout);

}

/*============================================================================*/

/* sensor result access                                                       */

/*============================================================================*/

/**

 * @brief Read the result of the latest ambient light measurement.

 *

 * @param[in]   vcnld     The VCNL402 driver to use.

 * @param[out]  als       Result of the latest ambient light measuremenet.

 * @param[in]   timeout   Timeout for the function to return (in microseconds).

 *

 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.

 */

inline apalExitStatus_t

vcnl4020_lld_readals(const VCNL4020Driver* const vcnld, uint16_t* const als, const apalTime_t timeout)

{

  apalDbgAssert(vcnld != NULL && vcnld->i2cd != NULL);

  apalDbgAssert(als != NULL);

  uint8_t txbuf[1] = { VCNL4020_LLD_REGADDR_ALRES_HIGH };

  uint8_t rxbuf[2];

  apalExitStatus_t status = apalI2CMasterTransmit(vcnld->i2cd, (apalI2Caddr_t)VCNL4020_LLD_I2C_ADDR, txbuf, 1, rxbuf, 2, timeout);

  *als = (rxbuf[0] << 8) | rxbuf[1];

  return status;

}

/**

 * @brief Read the result of the latest proximity measurement.

 *

 * @param[in]   vcnld     The VCNL402 driver to use.

 * @param[out]  prox      Result of the latest proximity measuremenet.

 * @param[in]   timeout   Timeout for the function to return (in microseconds).

 *

 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.

 */

inline apalExitStatus_t

vcnl4020_lld_readprox(const VCNL4020Driver* const vcnld, uint16_t* const prox, const apalTime_t timeout)

{

  apalDbgAssert(vcnld != NULL && vcnld->i2cd != NULL);

  apalDbgAssert(prox != NULL);

  uint8_t txbuf[1] = { VCNL4020_LLD_REGADDR_PROXRES_HIGH };

  uint8_t rxbuf[2];

  apalExitStatus_t status = apalI2CMasterTransmit(vcnld->i2cd, (apalI2Caddr_t)VCNL4020_LLD_I2C_ADDR, txbuf, 1, rxbuf, 2, timeout);

  *prox = (rxbuf[0] << 8) | rxbuf[1];

  return status;

}

/**

 * @brief Read the results of the latest ambient light and proximity measurements.

 *

 * @param[in]   vcnld     The VCNL402 driver to use.

 * @param[out]  als       Result of the latest ambient light measuremenet.

 * @param[out]  prox      Result of the latest proximity measuremenet.

 * @param[in]   timeout   Timeout for the function to return (in microseconds).

 *

 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.

 */

inline apalExitStatus_t

vcnl4020_lld_readalsandprox(const VCNL4020Driver* const vcnld, uint16_t* const als, uint16_t* const prox, const apalTime_t timeout)

{

  apalDbgAssert(vcnld != NULL && vcnld->i2cd != NULL);

  apalDbgAssert(als != NULL);

  apalDbgAssert(prox != NULL);

  uint8_t txbuf[1] = { VCNL4020_LLD_REGADDR_ALRES_HIGH };

  uint8_t rxbuf[4];

  apalExitStatus_t status = apalI2CMasterTransmit(vcnld->i2cd, (apalI2Caddr_t)VCNL4020_LLD_I2C_ADDR, txbuf, 1, rxbuf, 4, timeout);

  *als = (rxbuf[0] << 8) | rxbuf[1];

  *prox = (rxbuf[2] << 8) | rxbuf[3];

  return status;

}

/*============================================================================*/

/* threshold register access                                                  */

/*============================================================================*/

/**

 * @brief Read the current value of the low threshold.

 *

 * @param[in]   vcnld     The VCNL402 driver to use.

 * @param[out]  th        Current value of the low threshold.

 * @param[in]   timeout   Timeout for the function to return (in microseconds).

 *

 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.

 */

inline apalExitStatus_t

vcnl4020_lld_readlth(const VCNL4020Driver* const vcnld, uint16_t* const th, const apalTime_t timeout)

{

  apalDbgAssert(vcnld != NULL && vcnld->i2cd != NULL);

  apalDbgAssert(th != NULL);

  uint8_t txbuf[1] = { VCNL4020_LLD_REGADDR_LTH_HIGH };

  uint8_t rxbuf[2];

  apalExitStatus_t status = apalI2CMasterTransmit(vcnld->i2cd, (apalI2Caddr_t)VCNL4020_LLD_I2C_ADDR, txbuf, 1, rxbuf, 2, timeout);

  *th = (rxbuf[0] << 8) | rxbuf[1];

  return status;

}

/**

 * @brief Read the current value of the high threshold.

 *

 * @param[in]   vcnld     The VCNL402 driver to use.

 * @param[out]  th        Current value of the high threshold.

 * @param[in]   timeout   Timeout for the function to return (in microseconds).

 *

 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.

 */

inline apalExitStatus_t

vcnl4020_lld_readhth(const VCNL4020Driver* const vcnld, uint16_t* const th, const apalTime_t timeout)

{

  apalDbgAssert(vcnld != NULL && vcnld->i2cd != NULL);

  apalDbgAssert(th != NULL);

  uint8_t txbuf[1] = { VCNL4020_LLD_REGADDR_HTH_HIGH };

  uint8_t rxbuf[2];

  apalExitStatus_t status = apalI2CMasterTransmit(vcnld->i2cd, (apalI2Caddr_t)VCNL4020_LLD_I2C_ADDR, txbuf, 1, rxbuf, 2, timeout);

  *th = (rxbuf[0] << 8) | rxbuf[1];

  return status;

}

/**

 * @brief Read the current value of both (high and low) thresholds.

 *

 * @param[in]   vcnld     The VCNL402 driver to use.

 * @param[out]  lth       Current value of the low threshold.

 * @param[out]  hth       Current value of the high threshold.

 * @param[in]   timeout   Timeout for the function to return (in microseconds).

 *

 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.

 */

inline apalExitStatus_t

vcnl4020_lld_readth(const VCNL4020Driver* const vcnld, uint16_t* const lth, uint16_t* const hth, const apalTime_t timeout)

{

  apalDbgAssert(vcnld != NULL && vcnld->i2cd != NULL);

  apalDbgAssert(lth != NULL);

  apalDbgAssert(hth != NULL);

  uint8_t txbuf[1] = { VCNL4020_LLD_REGADDR_LTH_HIGH };

  uint8_t rxbuf[4];

  apalExitStatus_t status = apalI2CMasterTransmit(vcnld->i2cd, (apalI2Caddr_t)VCNL4020_LLD_I2C_ADDR, txbuf, 1, rxbuf, 4, timeout);

  *lth = (rxbuf[0] << 8) | rxbuf[1];

  *hth = (rxbuf[2] << 8) | rxbuf[3];

  return status;

}

/**

 * @brief Set the low threshold value.

 *

 * @param[in]   vcnld     The VCNL402 driver to use.

 * @param[in]   th        The new threshold value to write.

 * @param[in]   timeout   Timeout for the function to return (in microseconds).

 *

 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.

 */

inline apalExitStatus_t

vcnl4020_lld_writelth(const VCNL4020Driver* const vcnld, const uint16_t th, const apalTime_t timeout)

{

  apalDbgAssert(vcnld != NULL && vcnld->i2cd != NULL);

  uint8_t txbuf[3] = { VCNL4020_LLD_REGADDR_LTH_HIGH ,(th & 0xFF00u) >> 8, th & 0x00FFu };

  return apalI2CMasterTransmit(vcnld->i2cd, (apalI2Caddr_t)VCNL4020_LLD_I2C_ADDR, txbuf, 3, NULL, 0, timeout);

}

/**

 * @brief Set the high threshold value.

 *

 * @param[in]   vcnld     The VCNL402 driver to use.

 * @param[in]   th        The new threshold value to write.

 * @param[in]   timeout   Timeout for the function to return (in microseconds).

 *

 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.

 */

inline apalExitStatus_t

vcnl4020_lld_writehth(const VCNL4020Driver* const vcnld, const uint16_t th, const apalTime_t timeout)

{

  apalDbgAssert(vcnld != NULL && vcnld->i2cd != NULL);

  uint8_t txbuf[3] = { VCNL4020_LLD_REGADDR_HTH_HIGH, (th & 0xFF00u) >> 8, th & 0x00FFu };

  return apalI2CMasterTransmit(vcnld->i2cd, (apalI2Caddr_t)VCNL4020_LLD_I2C_ADDR, txbuf, 3, NULL, 0, timeout);

}

/**

 * @brief Set both (high and low) threshold values.

 *

 * @param[in]   vcnld     The VCNL402 driver to use.

 * @param[in]   lth       The new value of the low threshold.

 * @param[in]   hth       The new value of the high threshold.

 * @param[in]   timeout   Timeout for the function to return (in microseconds).

 *

 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.

 */

inline apalExitStatus_t

vcnl4020_lld_writeth(const VCNL4020Driver* const vcnld, const uint16_t lth, const uint16_t hth, const apalTime_t timeout)

{

  apalDbgAssert(vcnld != NULL && vcnld->i2cd != NULL);

  uint8_t txbuf[5] = { VCNL4020_LLD_REGADDR_LTH_HIGH, (lth & 0xFF00u) >> 8, lth & 0x00FFu, (hth & 0xFF00u) >> 8, hth & 0x00FFu };

  return apalI2CMasterTransmit(vcnld->i2cd, (apalI2Caddr_t)VCNL4020_LLD_I2C_ADDR, txbuf, 5, NULL, 0, timeout);

}

#endif /* defined(AMIROLLD_CFG_USE_VCNL4020) */

/** @} */