el_ir_proximity.h

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/*

embedded system library for e-puck

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code distribution:
https://github.com/jianingchen/epucklib

online documentation:
http://jianingchen.github.io/epucklib/html/

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This file is released under the terms of the MIT license (see "el.h").

*/

#ifndef EL_IR_PROXIMITY_H
#define EL_IR_PROXIMITY_H

#include "el_common.h"
#include "el_clock.h"
#include "el_trigger.h"

#define EL_IR_PROXIMITY_VALUE_MAX   4095U

#define EL_IR_PROXIMITY_SENSOR_ALL  -1
#define EL_IR_PROXIMITY_SENSOR_0    0
#define EL_IR_PROXIMITY_SENSOR_1    1
#define EL_IR_PROXIMITY_SENSOR_2    2
#define EL_IR_PROXIMITY_SENSOR_3    3
#define EL_IR_PROXIMITY_SENSOR_4    4
#define EL_IR_PROXIMITY_SENSOR_5    5
#define EL_IR_PROXIMITY_SENSOR_6    6
#define EL_IR_PROXIMITY_SENSOR_7    7

typedef enum {
    EL_IR_PROXIMITY_PASSIVE = 0,        
    EL_IR_PROXIMITY_PULSE = 1,          
    EL_IR_PROXIMITY_EMIT = 2,           
    EL_IR_PROXIMITY_COMMUNICATION = 3,  
} el_ir_proximity_mode;


typedef struct {
    el_ir_proximity_mode WorkingMode;
    el_uint16 EnvironmentalAmbient;
    el_bool SubtractEA;     
} el_ir_proximity_param;


typedef enum {
    EL_IR_AMBIENT,              
    EL_IR_REFLECTION,           
    EL_IR_DATA,                 
    EL_IR_ALL_3V,               
} el_ir_proximity_output;

typedef struct {
    el_int16 Ambient;       
    el_int16 Reflection;    
    el_int16 Message;       
} el_ir_proximity_data;

/*
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*/


void el_enable_ir_proximity(void);


void el_disable_ir_proximity(void);


el_ir_proximity_param* el_ir_proximity_options();

void el_ir_proximity_options_apply();


void el_ir_proximity_options_reset();


void el_config_ir_proximity(const el_ir_proximity_param*p);


int el_ir_proximity_get(el_index i,el_ir_proximity_output u,el_int16*out);


el_uint32 el_ir_proximity_get_counter();


/*
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*/


#ifdef EL_INCLUDE_LIB_INTERNAL_CONTEXT

extern bool el_irps_enabled;
extern uint8_t el_irps_working_mode;
extern uint8_t el_irps_working_phase;
extern void (*el_adc_callback_ir_proximity)(const unsigned int*result_8v);

extern el_bool el_irps_is_calibrated;

extern el_uint16 el_irps_samples_Ambient[8];
extern el_uint16 el_irps_samples_Mixed[8];
extern el_uint16 el_irps_samples_Temp[8];
extern el_uint16 el_irps_samples_Noise[8];
extern el_uint16 el_irps_samples_NeutralReflection[8];// need calibration
extern el_uint16 el_irps_samples_NeutralNoise[8];

void el_init_ir_proximity(void);
void el_routine_ir_proximity_2400hz(void);

#endif

#endif