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RIOT/tests/drivers/vl6180x/main.c

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/*
* Copyright (C) 2021 Gunar Schorcht
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @ingroup tests
* @brief Test application for ST VL6180X Ranging and Ambient Light Sensing (ALS) module
* @author Gunar Schorcht <gunar@schorcht.net>
* @file
*
* ## About
*
* The test application demonstrates the use of different functions of
* the ST VL6180X sensor driver depending on used pseudomodules:
*
* Module Name | Functionality used
* :------------------|:-------------------------------------------
* `vl6180x_rng` | Periodic range measurements enabled
* `vl6180x_als` | Periodic ambient light sensing (ALS) enabled
* `vl6180x_irq` | Data ready interrupt enabled for range and ALS measurements
* `vl6180x_config` | Event interrupt enabled and configured for range measurements
* `vl6180x_shutdown` | Power-down and power-up functions used
*
* ## Usage
*
* To compile and execute the test application, use command:
* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
* make BOARD=... -C tests/drivers/vl6180x flash term
* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
*
* By default, the `vl6180x_rng` and `vl6180x_als` modules are enabled.
* This is, the standard variant of the test application performs periodic
* range and ALS measurements.
*
* To use data ready interrupts for range and ALS measurements instead of
* polling for new data, the `vl6180x_irq` module has to be used:
*
* The MCU GPIO pin connected with the interrupt signal GPIO1 of the sensor
* has to be defined by the configuration parameter `VL6180X_PARAM_PIN_INT`,
* for example:
* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
* CFLAGS="-DVL6180X_PARAM_INT_PIN=\(GPIO_PIN\(0,5\)\)" \
* USEMODULE=vl6180x_irq \
* make BOARD=... -C tests/drivers/vl6180x flash term
* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
*
* If the module `vl6180x_config` is used additionally, the event interrupt
* is configured and used for range measurements:
* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
* CFLAGS="-DVL6180X_PARAM_INT_PIN=\(GPIO_PIN\(0,5\)\)" \
* USEMODULE='vl6180x_irq vl6180x_config'\
* make BOARD=... -C tests/drivers/vl6180x flash term
* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
*
* To test the power-down and power-up functionality, the `vl6180x_shutdown`
* module has to be used. The MCU GPIO pin connected with the signal GPIO0/CE
* of the sensor has to be defined by configuration parameter
* `VL6180X_PARAM_PIN_SHUTDOWN`, for example:
* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
* CFLAGS="-VL6180X_PARAM_SHUTDOWN_PIN=\(GPIO_PIN\(0,6\)\)" \
* USEMODULE=vl6180x_shutdown \
* make BOARD=... -C tests/drivers/vl6180x flash term
* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
*/
#include <stdio.h>
#include "thread.h"
#include "ztimer.h"
#include "vl6180x.h"
#include "vl6180x_params.h"
#if IS_USED(MODULE_VL6180X_IRQ)
#if IS_USED(MODULE_VL6180X_RNG)
static const char *rng_errors[] = {
"No error", /**< VL6180X_RNG_OK */
"VCSEL continuity Test", /**< VL6180X_RNG_VCSEL_CONT_TEST */
"VCSEL watchdog test", /**< VL6180X_RNG_VCSEL_WD_TEST */
"VCSEL watchdog", /**< VL6180X_RNG_VCSEL_WD */
"PLL1 lock", /**< VL6180X_RNG_PLL1_LOCK */
"PLL2 lock", /**< VL6180X_RNG_PLL2_LOCK */
"Early convergence estimate", /**< VL6180X_RNG_EARLY_CONV_EST */
"Maximum convergence time reached", /**< VL6180X_RNG_MAX_CONV */
"No target, ignore", /**< VL6180X_RNG_NO_TARGET */
"Unknown",
"Unknown",
"Maximum SNR reached", /**< VL6180X_RNG_MAX_SNR */
"Raw ranging algorithm underflow", /**< VL6180X_RNG_RAW_ALGO_UNDERFLOW */
"Raw ranging algorithn overflow", /**< VL6180X_RNG_RAW_ALGO_OVERFLOW */
"Ranging algorithm underflow", /**< VL6180X_RNG_ALGO_UNDERFLOW */
"Ranging algorithm overflow", /**< VL6180X_RNG_ALGO_OVERFLOW */
};
#endif
#if IS_USED(MODULE_VL6180X_ALS)
static const char *als_errors[] = {
"No error", /**< VL6180X_ALS_OK */
"ALS measurement overflow", /**< VL6180X_ALS_OVERFLOW */
"ALS measurement underflow", /**< VL6180X_ALS_UNDERFLOW */
};
#endif
#endif /* IS_USED(MODULE_VL6180X_IRQ) */
int main(void)
{
/* Initialize the sensor */
vl6180x_t dev;
#if IS_USED(MODULE_VL6180X_RNG)
uint8_t rng;
#endif
#if IS_USED(MODULE_VL6180X_ALS)
uint16_t als;
uint16_t lux;
#endif
/* initialize the sensor */
puts("VL6180X Time-of-Flight distance sensor\n");
puts("Initializing VL6180X sensor");
if (vl6180x_init(&dev, &vl6180x_params[0]) == VL6180X_OK) {
puts("[OK]");
}
else {
puts("[Failed]");
return 1;
}
#if IS_USED(MODULE_VL6180X_SHUTDOWN)
unsigned count = 0;
#endif
#if IS_USED(MODULE_VL6180X_IRQ) && IS_USED(MODULE_VL6180X_CONFIG)
vl6180x_int_config_t mode;
vl6180x_int_thresh_t thresh;
#if IS_USED(MODULE_VL6180X_RNG)
/* interrupt when distance is less than 30 mm or greater than 100 mm */
mode.rng_int = VL6180X_INT_OUT;
thresh.rng_low = 30;
thresh.rng_high = 100;
#endif /* IS_USED(MODULE_VL6180X_RNG) */
#if IS_USED(MODULE_VL6180X_ALS)
/* interrupts when ALS data are ready */
mode.als_int = VL6180X_INT_DRDY;
#endif /* IS_USED(MODULE_VL6180X_RNG) */
vl6180x_int_config(&dev, thresh);
vl6180x_int_enable(&dev, mode);
#endif /* IS_USED(MODULE_VL6180X_CONFIG) && IS_USED(MODULE_VL6180X_IRQ) */
while (1) {
#if IS_USED(MODULE_VL6180X_IRQ)
vl6180x_int_config_t src;
vl6180x_int_wait(&dev, &src);
#if IS_USED(MODULE_VL6180X_RNG)
if (src.rng_int == VL6180X_INT_DRDY) {
int status = vl6180x_rng_read(&dev, &rng);
switch (status) {
case VL6180X_RNG_OK:
printf("RNG: %u [mm]\n", rng);
break;
case -VL6180X_ERROR_RNG:
printf("RNG: %s\n", rng_errors[vl6180x_rng_status(&dev)]);
break;
default:
printf("RNG: error %d\n", status);
}
puts("+-----------------------------------------+");
}
else if (src.rng_int == VL6180X_INT_OUT) {
puts("RNG: out of window");
}
else if (src.rng_int == VL6180X_INT_RNG_LOW) {
puts("RNG: low level");
}
else if (src.rng_int == VL6180X_INT_RNG_HIGH) {
puts("RNG: high level");
}
#endif /* IS_USED(MODULE_VL6180X_RNG) */
#if IS_USED(MODULE_VL6180X_ALS)
if (src.als_int == VL6180X_INT_DRDY) {
int status = vl6180x_als_read(&dev, &als, &lux);
switch (status) {
case VL6180X_OK:
printf("ALS: %u [cnts], %u [lux]\n", als, lux);
break;
case -VL6180X_ERROR_ALS:
printf("ALS: %s\n", als_errors[vl6180x_als_status(&dev)]);
break;
default:
printf("ALS: error %d\n", status);
}
}
else if (src.als_int == VL6180X_INT_OUT) {
puts("ALS: out of window");
}
else if (src.als_int == VL6180X_INT_LOW) {
puts("ALS: low level");
}
else if (src.als_int == VL6180X_INT_HIGH) {
puts("ALS: high level");
}
#endif /* IS_USED(MODULE_VL6180X_ALS) */
#else /* IS_USED(MODULE_VL6180X_IRQ) */
/* just wait 250 ms if module vl6180x_basic is used */
ztimer_sleep(ZTIMER_MSEC, 250);
#if IS_USED(MODULE_VL6180X_ALS)
if (vl6180x_als_data_ready(&dev) == VL6180X_OK &&
vl6180x_als_read(&dev, &als, &lux) == VL6180X_OK) {
printf("ALS: %u [cnts], %u [lux]\n", als, lux);
}
#endif /* IS_USED(MODULE_VL6180X_ALS) */
#if IS_USED(MODULE_VL6180X_RNG)
if (vl6180x_rng_data_ready(&dev) == VL6180X_OK) {
if (vl6180x_rng_read(&dev, &rng) == VL6180X_OK) {
printf("RNG: %u [mm]\n", rng);
}
else {
puts("RNG: inf");
}
puts("+-----------------------------------------+");
}
#endif /* IS_USED(MODULE_VL6180X_RNG) */
#endif /* IS_USED(MODULE_VL6180X_IRQ) */
#if IS_USED(MODULE_VL6180X_SHUTDOWN)
/*
* if shutdown pin is defined, the sensor is powered down and up
* again after 5 seconds every 50 cycles
*/
count++;
if ((count % 50) == 0) {
vl6180x_power_down(&dev);
puts("Sensor powered down");
ztimer_sleep(ZTIMER_SEC, 5);
vl6180x_power_up(&dev);
puts("Sensor powered up");
}
#endif /* IS_USED(MODULE_VL6180X_SHUTDOWN) */
}
return 0;
}
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