ATY_LIB/VL6180X_ATY.c

/**
* @file VL6180X_ATY.c
*
* @param Project DEVICE_GENERAL_ATY_LIB
*
* @author ATY
*
* @copyright
*       - Copyright 2017 - 2025 MZ-ATY
*       - This code follows:
*           - MZ-ATY Various Contents Joint Statement -
*               <a href="https://mengze.top/MZ-ATY_VCJS">
*                        https://mengze.top/MZ-ATY_VCJS</a>
*           - CC 4.0 BY-NC-SA -
*               <a href="https://creativecommons.org/licenses/by-nc-sa/4.0/">
*                        https://creativecommons.org/licenses/by-nc-sa/4.0/</a>
*       - Your use will be deemed to have accepted the terms of this statement.
*
* @brief Familiar functions of VL6180 for all embedded device
*
* @version
*       - 1_01_231228 > ATY
*           -# Preliminary version, first Release
*       - 1_01_240104 > ATY
*           -# base tested VL6180
*       - 1_01_240111 > ATY
*           -# add lock
********************************************************************************
*/

#ifndef __VL6180X_ATY_C
#define __VL6180X_ATY_C

#include "VL6180X_ATY.h"

/******************************* For user *************************************/

/******************************************************************************/

/**
 * @brief
 *
 * @param   reg
 * @param   data
 * @param   dev
 * @return  uint8_t
 */
uint8_t VL6180X_WriteByte(uint16_t reg, uint8_t data, struct VL6180X_ATY_Dev* dev)
{
    uint8_t groupRegData[3], errCode = 0;
    __ATY_LOCK(dev);
    groupRegData[0] = (reg >> 8) & 0xFF;    // MSB of register address
    groupRegData[1] = reg & 0xFF;           // LSB of register address
    groupRegData[2] = data & 0xFF;
    errCode = dev->i2cProcess(dev->addr, groupRegData, 3, _ATY_RW_W);
    __ATY_UNLOCK(dev);
    return errCode;
}

/**
 * @brief
 *
 * @param   reg
 * @param   data
 * @param   bytes num to write
 * @param   dev
 * @return  uint8_t
 */
uint8_t VL6180X_WriteBytes(uint16_t reg, uint8_t* data, uint8_t bytes, struct VL6180X_ATY_Dev* dev)
{
    uint8_t groupRegData[3], i = 0, errCode = 0;
    __ATY_LOCK(dev);
    groupRegData[0] = (reg >> 8) & 0xFF;    // MSB of register address
    groupRegData[1] = reg & 0xFF;           // LSB of register address
    for(i = 0; i < bytes; i++)
        groupRegData[2 + i] = data[i] & 0xFF;
    errCode = dev->i2cProcess(dev->addr, groupRegData, 2 + bytes, _ATY_RW_W);
    __ATY_UNLOCK(dev);
    return errCode;
}

/**
 * @brief
 *
 * @param   reg
 * @param   data
 * @param   dev
 * @return  uint8_t
 */
uint8_t VL6180X_ReadByte(uint16_t reg, uint8_t* data, struct VL6180X_ATY_Dev* dev)
{
    uint8_t groupReg[2], errCode = 0;
    __ATY_LOCK(dev);
    groupReg[0] = (reg >> 8) & 0xFF;            // MSB of register address
    groupReg[1] = reg & 0xFF;                   // LSB of register address
    errCode = dev->i2cProcess(dev->addr, groupReg, 2, _ATY_RW_W);
    if(errCode){ __ATY_UNLOCK(dev); return errCode; }
    errCode = dev->i2cProcess(dev->addr, data, 1, _ATY_RW_R);
    __ATY_UNLOCK(dev);
    return errCode;
}

/**
 * @brief
 *
 * @param   reg
 * @param   data
 * @param   bytes num to read
 * @param   dev
 * @return  uint8_t
 */
uint8_t VL6180X_ReadBytes(uint16_t reg, uint8_t* data, uint8_t bytes, struct VL6180X_ATY_Dev* dev)
{
    uint8_t groupReg[2], errCode = 0;
    __ATY_LOCK(dev);
    groupReg[0] = (reg >> 8) & 0xFF;        // MSB of register address
    groupReg[1] = reg & 0xFF;               // LSB of register address
    errCode = dev->i2cProcess(dev->addr, groupReg, 2, _ATY_RW_W);
    if(errCode){ __ATY_UNLOCK(dev); return errCode; }
    errCode = dev->i2cProcess(dev->addr, data, bytes, _ATY_RW_R);
    __ATY_UNLOCK(dev);
    return errCode;
}

/**
 * @brief   get ids
 *
 * @param   id need 9 size array
 * @param   dev device
 * @return  uint8_t
 */
uint8_t VL6180X_GetId(uint8_t* id, struct VL6180X_ATY_Dev* dev)
{
    uint8_t errCode = 0;
    errCode = 0x00 & VL6180X_ReadByte(VL6180X_REG_IDENTIFICATION_MODEL_ID, &id[0], dev);
    errCode = 0x10 & VL6180X_ReadByte(VL6180X_REG_IDENTIFICATION_MODEL_REV_MAJOR, &id[1], dev);
    errCode = 0x20 & VL6180X_ReadByte(VL6180X_REG_IDENTIFICATION_MODEL_REV_MINOR, &id[2], dev);
    errCode = 0x30 & VL6180X_ReadByte(VL6180X_REG_IDENTIFICATION_MODULE_REV_MAJOR, &id[3], dev);
    errCode = 0x40 & VL6180X_ReadByte(VL6180X_REG_IDENTIFICATION_MODULE_REV_MINOR, &id[4], dev);
    errCode = 0x50 & VL6180X_ReadByte(VL6180X_REG_IDENTIFICATION_DATE_HI, &id[5], dev);
    errCode = 0x60 & VL6180X_ReadByte(VL6180X_REG_IDENTIFICATION_DATE_LO, &id[6], dev);
    errCode = 0x70 & VL6180X_ReadBytes(VL6180X_REG_IDENTIFICATION_TIME, &id[7], 2, dev);

    if(dev->debugEnable == 1){
        uint8_t i = 0;
        for(i = 0; i < 9; i++)
            dev->LOG("%02X ", id[i]);
        dev->LOG("\r\n");
    }
    if(id[0] != 0x84){ return 0x81; }
    return errCode;
}

/**
 * @brief   set offset
 *
 * @param   offset
 * @param   dev
 * @return  uint8_t
 */
uint8_t VL6180X_SetOffset(uint8_t offset, struct VL6180X_ATY_Dev* dev)
{
    return VL6180X_WriteByte(VL6180X_REG_SYSRANGE_PART_TO_PART_RANGE_OFFSET, offset, dev);
}

/**
 * @brief   write new addr
 *
 * @param   newAddr
 * @param   dev
 * @note    not real tested
 * @return  uint8_t
 */
uint8_t VL6180X_SetAddress(uint8_t newAddr, struct VL6180X_ATY_Dev* dev)
{
    if(VL6180X_WriteByte(VL6180X_REG_SLAVE_DEVICE_ADDRESS, newAddr & 0x7F, dev) == 1)
        return 1;
    dev->addr = newAddr;
    return 0;
}

/**
 * @brief
 *
 * @param   dev
 * @return  uint8_t
 */
uint8_t VL6180X_ClearInterrupts(struct VL6180X_ATY_Dev* dev)
{
    if(VL6180X_WriteByte(VL6180X_REG_SYSTEM_INTERRUPT_CLEAR, 0x07, dev) == 1)
        return 1;
    return 0;
}

/**
 * @brief
 *
 * @return  uint8_t 1 for ready
 */
uint8_t VL6180X_IsDeviceReady(struct VL6180X_ATY_Dev* dev)
{
    uint8_t byte = 0;
    if(VL6180X_ReadByte(VL6180X_REG_RESULT_INTERRUPT_STATUS_GPIO, &byte, dev) == 1)
        return 2;
    if((byte & 0x01))
        return 1;
    return 0;
}

/**
 * @brief
 *
 * @return  uint8_t 1 for ready
 */
uint8_t VL6180X_WaitDeviceReady(struct VL6180X_ATY_Dev* dev)
{
    uint16_t errCount = 0;
    while(VL6180X_IsDeviceReady(dev) != 1){
        errCount++;
        if(errCount > 100) return 2;
    }
    return 1;
}

/**
 * @brief
 *
 * @return  uint8_t 1 for complete
 */
uint8_t VL6180X_IsRangeComplete(struct VL6180X_ATY_Dev* dev)
{
    uint8_t status = 0;
    if(VL6180X_ReadByte(VL6180X_REG_RESULT_INTERRUPT_STATUS_GPIO, &status, dev) == 1)
        return 2;
    status &= 0x07;
    if((status & 0x04))
        return 1;
    return 0;
}

/**
 * @brief
 *
 * @return  uint8_t 1 for complete
 */
uint8_t VL6180X_WaitRangeComplete(struct VL6180X_ATY_Dev* dev)
{
    uint16_t errCount = 0;
    while(VL6180X_IsRangeComplete(dev) != 1){
        errCount++;
        if(errCount > 100) return 2;
    }
    return 1;
}

/**
 * @brief   request ranging success/error message (retreive after ranging)
 *
 * @param   value
 * @param   dev
 * @return  uint8_t one of possible VL6180X_ERROR_* values
 */
uint8_t VL6180X_ReadRangeStatus(uint8_t* status, struct VL6180X_ATY_Dev* dev)
{
    if(VL6180X_ReadByte(VL6180X_REG_RESULT_RANGE_STATUS, status, dev) == 1)
        return 1;
    return 0;
}

/**
 * @brief
 *
 * @param   dev
 * @return  uint8_t
 * @note    Return results of read reqyest also clears out the interrupt
            Be sure to check the return of {@link readRangeStatus} to before using
            the return value!
 */
uint8_t VL6180X_ReadRangeResult(uint8_t* range, struct VL6180X_ATY_Dev* dev)
{
    if(VL6180X_ReadByte(VL6180X_REG_RESULT_RANGE_VAL, range, dev) == 1)
        return 1;
    if(dev->debugEnable == 1)
        dev->LOG("%d\r\n", *range);
    return 0;
}

/**
 * @brief
 *
 * @param   dev
 * @return  uint8_t
 */
uint8_t VL6180X_StartRange(struct VL6180X_ATY_Dev* dev)
{
    if(VL6180X_WriteByte(VL6180X_REG_SYSRANGE_START, 0x01, dev) == 1)
        return 1;
    return 0;
}

/**
 * @brief   start continuous ranging
 *
 * @param   period_msOptional Period between ranges in ms.
            Values will be rounded down to 10ms units with minimum of 10ms.
            Default is 50
 * @param   dev
 * @return  uint8_t
 */
uint8_t VL6180X_StartRangeContinuous(uint16_t period_ms, struct VL6180X_ATY_Dev* dev)
{
    uint8_t period_reg = 0;
    if(period_ms > 10) {
        if(period_ms < 2550)
            period_reg = (period_ms / 10) - 1;
        else
            period_reg = 254;
    }
    // Set ranging inter-measurement
    if(VL6180X_WriteByte(SYSRANGE__INTERMEASUREMENT_PERIOD, period_reg, dev) == 1)
        return 1;
    // Start a continuous range measurement
    if(VL6180X_WriteByte(VL6180X_REG_SYSRANGE_START, 0x03, dev) == 1)
        return 1;
    return 0;
}

/**
 * @brief   stop continuous range operation
 *
 * @param   dev
 * @return  uint8_t
 * @note    stop the continuous range operation, by setting the range register
            back to 1, Page 7 of appication notes
 */
uint8_t VL6180X_StopRangeContinuous(struct VL6180X_ATY_Dev* dev)
{
    if(VL6180X_WriteByte(VL6180X_REG_SYSRANGE_START, 0x01, dev) == 1)
        return 1;
    return 0;
}


/**
 * @brief   initializes I2C interface, checks that VL6180X is found and resets chip
 *
 * @param   dev
 * @return  uint8_t
 */
uint8_t VL6180X_Init(struct VL6180X_ATY_Dev* dev)
{
    uint8_t reset;
    if(VL6180X_ReadByte(VL6180X_REG_SYSTEM_FRESH_OUT_OF_RESET, &reset, dev) == 1)
        return 1;
    // check to see has it be Initialised already
    if(reset == 1){
        if(VL6180X_Config(dev))
            return 3;
        //change fresh out of set status to 0
        if(VL6180X_WriteByte(VL6180X_REG_SYSTEM_FRESH_OUT_OF_RESET, 0x00, dev) == 1)
            return 2;
    }
    return 0;
}


/**
 * @brief
 *
 * @param   range
 * @param   dev
 * @return  uint8_t distance in millimeters if valid
 */
uint8_t VL6180X_MeasureRangeOnce(uint8_t* range, struct VL6180X_ATY_Dev* dev)
{
    uint8_t errCode = 0;
    errCode = 0x00 & VL6180X_WaitDeviceReady(dev);  // slower
    errCode = 0x10 & VL6180X_StartRange(dev);
    errCode = 0x20 & VL6180X_WaitRangeComplete(dev);
    errCode = 0x30 & VL6180X_ReadRangeResult(range, dev);
    errCode = 0x40 & VL6180X_ClearInterrupts(dev);
    return errCode;
}

/**
 * @brief
 *
 * @param   range
 * @param   dev
 * @return  uint8_t distance in millimeters if valid(100ms cycle tested)
 */
uint8_t VL6180X_MeasureRangeOnceFast(uint8_t* range, struct VL6180X_ATY_Dev* dev)
{
    uint8_t errCode = 0;
    // errCode = 0x00 & VL6180X_WaitDeviceReady(dev);
    errCode = 0x10 & VL6180X_StartRange(dev);
    // errCode = 0x10 & VL6180X_StartRangeContinuous(10, dev);
    errCode = 0x20 & VL6180X_WaitRangeComplete(dev);
    errCode = 0x30 & VL6180X_ReadRangeResult(range, dev);
    errCode = 0x40 & VL6180X_ClearInterrupts(dev);
    return errCode;
}


/**
 * @brief   single shot lux measurement
 *
 * @param   gain gain setting, one of VL6180X_ALS_GAIN_*
 * @param   lux
 * @param   dev
 * @return  uint8_t
 * @note    only for VL6180X
 */
uint8_t VL6180X_ReadLux(uint8_t gain, float* lux, struct VL6180X_ATY_Dev* dev)
{
    uint16_t errCount = 0;
    uint8_t byte = 0;

    if(VL6180X_ReadByte(VL6180X_REG_SYSTEM_INTERRUPT_CONFIG, &byte, dev) == 1)
        return 1;
    byte &= ~0x38;
    byte |= (0x4 << 3); // IRQ on ALS ready
    if(VL6180X_WriteByte(VL6180X_REG_SYSTEM_INTERRUPT_CONFIG, byte, dev) == 1)
        return 2;

    // 100 ms integration period
    if(VL6180X_WriteByte(VL6180X_REG_SYSALS_INTEGRATION_PERIOD_HI, 0, dev) == 1)
        return 3;
    if(VL6180X_WriteByte(VL6180X_REG_SYSALS_INTEGRATION_PERIOD_LO, 100, dev) == 1)
        return 4;

    // analog gain
    if(gain > VL6180X_ALS_GAIN_40) {
        gain = VL6180X_ALS_GAIN_40;
    }
    if(VL6180X_WriteByte(VL6180X_REG_SYSALS_ANALOGUE_GAIN, 0x40 | gain, dev) == 1)
        return 5;

    // start ALS
    if(VL6180X_WriteByte(VL6180X_REG_SYSALS_START, 0x01, dev) == 1)
        return 6;
    if(VL6180X_ReadByte(VL6180X_REG_RESULT_INTERRUPT_STATUS_GPIO, &byte, dev) == 1)
        return 7;
    // Poll until "New Sample Ready threshold event" is set
    while(4 != ((byte >> 3) & 0x7)){
        if(VL6180X_ReadByte(VL6180X_REG_RESULT_INTERRUPT_STATUS_GPIO, &byte, dev) == 1)
            return 8;
        errCount++;
        if(errCount > 1000) return 9;
    }

    // read lux!
    uint8_t luxBytes[2] = {0};
    if(VL6180X_ReadBytes(VL6180X_REG_RESULT_ALS_VAL, luxBytes, 2, dev) == 1)
        return 10;
    *lux = ((luxBytes[0] << 8) | luxBytes[1]);

    // clear interrupt
    if(VL6180X_WriteByte(VL6180X_REG_SYSTEM_INTERRUPT_CLEAR, 0x07, dev) == 1)
        return 11;

    *lux *= 0.32; // calibrated count/lux
    switch(gain) {
        case VL6180X_ALS_GAIN_1:
            break;
        case VL6180X_ALS_GAIN_1_25:
            *lux /= 1.25;
            break;
        case VL6180X_ALS_GAIN_1_67:
            *lux /= 1.67;
            break;
        case VL6180X_ALS_GAIN_2_5:
            *lux /= 2.5;
            break;
        case VL6180X_ALS_GAIN_5:
            *lux /= 5;
            break;
        case VL6180X_ALS_GAIN_10:
            *lux /= 10;
            break;
        case VL6180X_ALS_GAIN_20:
            *lux /= 20;
            break;
        case VL6180X_ALS_GAIN_40:
            *lux /= 40;
            break;
    }
    *lux *= 100;
    *lux /= 100; // integration time in ms

    return 0;
}


/**
 * @brief
 *
 * @param   dev
 * @return  uint8_t
 */
uint8_t VL6180X_Config(struct VL6180X_ATY_Dev* dev)
{
    uint8_t errCode = 0;
    // Mandatory : private registers
    errCode = 0x10 & VL6180X_WriteByte(0x0207, 0x01, dev);
    errCode = 0x10 & VL6180X_WriteByte(0x0208, 0x01, dev);
    errCode = 0x10 & VL6180X_WriteByte(0x0096, 0x00, dev);
    errCode = 0x10 & VL6180X_WriteByte(0x0097, 0xfd, dev);
    errCode = 0x10 & VL6180X_WriteByte(0x00e3, 0x01, dev);
    errCode = 0x10 & VL6180X_WriteByte(0x00e4, 0x03, dev);
    errCode = 0x10 & VL6180X_WriteByte(0x00e5, 0x02, dev);
    errCode = 0x10 & VL6180X_WriteByte(0x00e6, 0x01, dev);
    errCode = 0x10 & VL6180X_WriteByte(0x00e7, 0x03, dev);
    errCode = 0x10 & VL6180X_WriteByte(0x00f5, 0x02, dev);
    errCode = 0x10 & VL6180X_WriteByte(0x00d9, 0x05, dev);
    errCode = 0x10 & VL6180X_WriteByte(0x00db, 0xce, dev);
    errCode = 0x10 & VL6180X_WriteByte(0x00dc, 0x03, dev);
    errCode = 0x10 & VL6180X_WriteByte(0x00dd, 0xf8, dev);
    errCode = 0x10 & VL6180X_WriteByte(0x009f, 0x00, dev);
    errCode = 0x10 & VL6180X_WriteByte(0x00a3, 0x3c, dev);
    errCode = 0x10 & VL6180X_WriteByte(0x00b7, 0x00, dev);
    errCode = 0x10 & VL6180X_WriteByte(0x00bb, 0x3c, dev);
    errCode = 0x10 & VL6180X_WriteByte(0x00b2, 0x09, dev);
    errCode = 0x10 & VL6180X_WriteByte(0x00ca, 0x09, dev);
    errCode = 0x10 & VL6180X_WriteByte(0x0198, 0x01, dev);
    errCode = 0x10 & VL6180X_WriteByte(0x01b0, 0x17, dev);
    errCode = 0x10 & VL6180X_WriteByte(0x01ad, 0x00, dev);
    errCode = 0x10 & VL6180X_WriteByte(0x00ff, 0x05, dev);
    errCode = 0x10 & VL6180X_WriteByte(0x0100, 0x05, dev);
    errCode = 0x10 & VL6180X_WriteByte(0x0199, 0x05, dev);
    errCode = 0x10 & VL6180X_WriteByte(0x01a6, 0x1b, dev);
    errCode = 0x10 & VL6180X_WriteByte(0x01ac, 0x3e, dev);
    errCode = 0x10 & VL6180X_WriteByte(0x01a7, 0x1f, dev);
    errCode = 0x10 & VL6180X_WriteByte(0x0030, 0x00, dev);

    // Recommended : Public registers - See data sheet for more detail
    errCode = 0x20 & VL6180X_WriteByte(0x0011, 0x10, dev); // Enables polling for "New Sample ready" when measurement completes
    errCode = 0x20 & VL6180X_WriteByte(0x010a, 0x30, dev); // Set the averaging sample period (compromise between lower noise and increased execution time)
    errCode = 0x20 & VL6180X_WriteByte(0x003f, 0x46, dev); // Sets the light and dark gain (upper nibble). Dark gain should not be changed.
    errCode = 0x20 & VL6180X_WriteByte(0x0031, 0xFF, dev); // sets the # of range measurements after which auto calibration of system is performed
    errCode = 0x20 & VL6180X_WriteByte(0x0041, 0x63, dev); // Set ALS integration time to 100ms
    errCode = 0x20 & VL6180X_WriteByte(0x002e, 0x01, dev); // perform a single temperature calibration of the ranging sensor

    // Optional: Public registers - See data sheet for more detail
    errCode = 0x30 & VL6180X_WriteByte(0x001b, 0x09, dev); // Set default ranging inter-measurement period to 100ms
    errCode = 0x30 & VL6180X_WriteByte(0x003e, 0x31, dev); // Set default ALS inter-measurement period to 500ms
    errCode = 0x30 & VL6180X_WriteByte(0x0014, 0x24, dev); // Configures interrupt on "New Sample Ready threshold event"
    return errCode;
}

#endif /* __VL6180X_ATY_C */

/************************************ etc *************************************/
/* init */
// uint8_t VL6180X_1_I2C(uint8_t addr, uint8_t* data_t, uint8_t len, uint8_t rw){
//     if(rw == _ATY_RW_W)
//         return I2C_Write(addr, data_t, len, &HW_I2C_ATY_Dev_1);
//     else if(rw == _ATY_RW_R)
//         return I2C_Read(addr, data_t, len, &HW_I2C_ATY_Dev_1);
// }

// uint8_t VL6180X_1_I2C(uint8_t addr, uint8_t* data_t, uint8_t len, uint8_t rw){
//     if(rw == _ATY_RW_W)
//         return (uint8_t)HAL_I2C_Master_Transmit(&hi2c1, (addr << 1 | 0), data_t, len, 1000);
//     else if(rw == _ATY_RW_R)
//         return (uint8_t)HAL_I2C_Master_Receive(&hi2c1, (addr << 1 | 1), data_t, len, 1000);
// }

// struct VL6180X_ATY_Dev VL6180X_ATY_t_1 = {
//     .addr = VL6180X_ADDRESS,
//     .i2cProcess = VL6180X_1_I2C,
//     .lock = _ATY_UNLOCKED,
//     .debugEnable = 0,
//     .LOG = printf
// };

// VL6180X_Init(&VL6180X_ATY_t_1);

/* use */
// VL6180X_ATY_t_1.debugEnable = 1;

// uint8_t idGroup[9] = {0};
// VL6180X_GetId(idGroup, &VL6180X_ATY_t_1);

// VL6180X_SetOffset(10, &VL6180X_ATY_t_1);

// VL6180X_SetAddress(0x10, &VL6180X_ATY_t_1);

// VL6180X_MeasureRangeOnce(&range, &VL6180X_ATY_t_1);
// VL6180X_MeasureRangeOnceFast(&range, &VL6180X_ATY_t_1);
// only for VL6180X
// VL6180X_ReadLux(VL6180X_ALS_GAIN_40, &lux, &VL6180X_ATY_t_1);

// rcPara_t rcParam_VL6180 = {0.028, 0};
// rcLpFilter(&rcParam_VL6180, value);

/******************************************************************************/

/******************************** End Of File *********************************/