BA / Mbed 2 deprecated RFD77402

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Dependencies:   mbed

RFD77402.cpp@0:6d03232fcb64, 2018-04-29 (annotated)

Committer:
baumamer
Date:
Sun Apr 29 12:13:41 2018 +0000
Revision:
0:6d03232fcb64
rfd777402

Who changed what in which revision?

UserRevisionLine numberNew contents of line
baumamer 0:6d03232fcb64 1 /*
baumamer 0:6d03232fcb64 2 This is a library written for the RFD77402 Time of Flight sensor.
baumamer 0:6d03232fcb64 3 SparkFun sells these at its website: www.sparkfun.com
baumamer 0:6d03232fcb64 4 Written by Nathan Seidle @ SparkFun Electronics, June 9th, 2017
baumamer 0:6d03232fcb64 5 The VCSEL (vertical-cavity surface-emitting laser) Time of Flight sensor
baumamer 0:6d03232fcb64 6 can accurately measure from 10cm to 200cm (2m) with milimeter precision.
baumamer 0:6d03232fcb64 7 This library handles the initialization of the RFD77402 and bringing in of
baumamer 0:6d03232fcb64 8 various readings.
baumamer 0:6d03232fcb64 9 https://github.com/sparkfun/SparkFun_RFD77402_Arduino_Library
baumamer 0:6d03232fcb64 10 Do you like this library? Help support SparkFun. Buy a board!
baumamer 0:6d03232fcb64 11 Development environment specifics:
baumamer 0:6d03232fcb64 12 Arduino IDE 1.8.1
baumamer 0:6d03232fcb64 13 This program is distributed in the hope that it will be useful,
baumamer 0:6d03232fcb64 14 but WITHOUT ANY WARRANTY; without even the implied warranty of
baumamer 0:6d03232fcb64 15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
baumamer 0:6d03232fcb64 16 GNU General Public License for more details.
baumamer 0:6d03232fcb64 17 You should have received a copy of the GNU General Public License
baumamer 0:6d03232fcb64 18 along with this program. If not, see <http://www.gnu.org/licenses/>.
baumamer 0:6d03232fcb64 19 */
baumamer 0:6d03232fcb64 20
baumamer 0:6d03232fcb64 21
baumamer 0:6d03232fcb64 22 #include "RFD77402.h"
baumamer 0:6d03232fcb64 23
baumamer 0:6d03232fcb64 24 // Constructors ////////////////////////////////////////////////////////////////
baumamer 0:6d03232fcb64 25
baumamer 0:6d03232fcb64 26 RFD77402::RFD77402(I2C* i2c)
baumamer 0:6d03232fcb64 27 {
baumamer 0:6d03232fcb64 28 this->i2c = i2c;
baumamer 0:6d03232fcb64 29 }
baumamer 0:6d03232fcb64 30
baumamer 0:6d03232fcb64 31 /**
baumamer 0:6d03232fcb64 32 * Deletes the IRSensor object.
baumamer 0:6d03232fcb64 33 */
baumamer 0:6d03232fcb64 34 RFD77402::~RFD77402() {}
baumamer 0:6d03232fcb64 35
baumamer 0:6d03232fcb64 36 // Public Methods //////////////////////////////////////////////////////////////
baumamer 0:6d03232fcb64 37
baumamer 0:6d03232fcb64 38 //Sets up the sensor for constant read
baumamer 0:6d03232fcb64 39 //Returns false if sensor does not respond
baumamer 0:6d03232fcb64 40 bool RFD77402::init()
baumamer 0:6d03232fcb64 41 {
baumamer 0:6d03232fcb64 42 i2c->frequency(I2C_SPEED_STANDARD);
baumamer 0:6d03232fcb64 43 //Bring in the user's choices
baumamer 0:6d03232fcb64 44 uint16_t chipID = getChipID();
baumamer 0:6d03232fcb64 45 if (chipID < 0xAD00) return (false); //Chip ID failed. Should be 0xAD01 or 0xAD02
baumamer 0:6d03232fcb64 46
baumamer 0:6d03232fcb64 47 //Put chip into standby
baumamer 0:6d03232fcb64 48 if (goToStandbyMode() == false) return (false); //Chip timed out before going to standby
baumamer 0:6d03232fcb64 49
baumamer 0:6d03232fcb64 50 //Drive INT_PAD high
baumamer 0:6d03232fcb64 51 uint8_t setting = readRegister(RFD77402_ICSR);
baumamer 0:6d03232fcb64 52 setting &= 0b11110000; //clears writable bits
baumamer 0:6d03232fcb64 53 setting |= INT_CLR_REG | INT_CLR | INT_PIN_TYPE | INT_LOHI; //change bits to enable interrupt
baumamer 0:6d03232fcb64 54 writeRegister(RFD77402_ICSR, setting);
baumamer 0:6d03232fcb64 55 setting = readRegister(RFD77402_INTERRUPTS);
baumamer 0:6d03232fcb64 56 setting &= 0b00000000; //Clears bits
baumamer 0:6d03232fcb64 57 setting |= INTSRC_DATA | INTSRC_M2H | INTSRC_H2M | INTSRC_RST; //Enables interrupt when data is ready
baumamer 0:6d03232fcb64 58 writeRegister(RFD77402_INTERRUPTS, setting);
baumamer 0:6d03232fcb64 59
baumamer 0:6d03232fcb64 60 //Configure I2C Interface
baumamer 0:6d03232fcb64 61 writeRegister(RFD77402_CONFIGURE_I2C, 0x65); //0b.0110.0101 = Address increment, auto increment, host debug, MCPU debug
baumamer 0:6d03232fcb64 62
baumamer 0:6d03232fcb64 63 //Set initialization - Magic from datasheet. Write 0x05 to 0x15 location.
baumamer 0:6d03232fcb64 64 writeRegister16(RFD77402_CONFIGURE_PMU, 0x0500); //0b.0000.0101.0000.0000 //Patch_code_id_en, Patch_mem_en
baumamer 0:6d03232fcb64 65
baumamer 0:6d03232fcb64 66 if (goToOffMode() == false) return (false); //MCPU never turned off
baumamer 0:6d03232fcb64 67
baumamer 0:6d03232fcb64 68 //Read Module ID
baumamer 0:6d03232fcb64 69 //Skipped
baumamer 0:6d03232fcb64 70
baumamer 0:6d03232fcb64 71 //Read Firmware ID
baumamer 0:6d03232fcb64 72 //Skipped
baumamer 0:6d03232fcb64 73
baumamer 0:6d03232fcb64 74 //Set initialization - Magic from datasheet. Write 0x06 to 0x15 location.
baumamer 0:6d03232fcb64 75 writeRegister16(RFD77402_CONFIGURE_PMU, 0x0600); //MCPU_Init_state, Patch_mem_en
baumamer 0:6d03232fcb64 76
baumamer 0:6d03232fcb64 77 if (goToOnMode() == false) return (false); //MCPU never turned on
baumamer 0:6d03232fcb64 78
baumamer 0:6d03232fcb64 79 //ToF Configuration
baumamer 0:6d03232fcb64 80 //writeRegister16(RFD77402_CONFIGURE_A, 0xE100); //0b.1110.0001 = Peak is 0x0E, Threshold is 1.
baumamer 0:6d03232fcb64 81 setPeak(0x0E); //Suggested values from page 20
baumamer 0:6d03232fcb64 82 setThreshold(0x01);
baumamer 0:6d03232fcb64 83
baumamer 0:6d03232fcb64 84 writeRegister16(RFD77402_CONFIGURE_B, 0x10FF); //Set valid pixel. Set MSP430 default config.
baumamer 0:6d03232fcb64 85 writeRegister16(RFD77402_CONFIGURE_HW_0, 0x07D0); //Set saturation threshold = 2,000.
baumamer 0:6d03232fcb64 86 writeRegister16(RFD77402_CONFIGURE_HW_1, 0x5008); //Frequecy = 5. Low level threshold = 8.
baumamer 0:6d03232fcb64 87 writeRegister16(RFD77402_CONFIGURE_HW_2, 0xA041); //Integration time = 10 * (6500-20)/15)+20 = 4.340ms. Plus reserved magic.
baumamer 0:6d03232fcb64 88 writeRegister16(RFD77402_CONFIGURE_HW_3, 0x45D4); //Enable harmonic cancellation. Enable auto adjust of integration time. Plus reserved magic.
baumamer 0:6d03232fcb64 89
baumamer 0:6d03232fcb64 90 if (goToStandbyMode() == false) return (false); //Error - MCPU never went to standby
baumamer 0:6d03232fcb64 91
baumamer 0:6d03232fcb64 92 //Whew! We made it through power on configuration
baumamer 0:6d03232fcb64 93
baumamer 0:6d03232fcb64 94 //Get the calibration data via the 0x0006 mailbox command
baumamer 0:6d03232fcb64 95 //getCalibrationData(); //Skipped
baumamer 0:6d03232fcb64 96
baumamer 0:6d03232fcb64 97 //Put device into Standby mode
baumamer 0:6d03232fcb64 98 if (goToStandbyMode() == false) return (false); //Error - MCPU never went to standby
baumamer 0:6d03232fcb64 99
baumamer 0:6d03232fcb64 100 //Now assume user will want sensor in measurement mode
baumamer 0:6d03232fcb64 101
baumamer 0:6d03232fcb64 102 //Set initialization - Magic from datasheet. Write 0x05 to 0x15 location.
baumamer 0:6d03232fcb64 103 writeRegister16(RFD77402_CONFIGURE_PMU, 0x0500); //Patch_code_id_en, Patch_mem_en
baumamer 0:6d03232fcb64 104
baumamer 0:6d03232fcb64 105 if (goToOffMode() == false) return (false); //Error - MCPU never turned off
baumamer 0:6d03232fcb64 106
baumamer 0:6d03232fcb64 107 //Write calibration data
baumamer 0:6d03232fcb64 108 //Skipped
baumamer 0:6d03232fcb64 109
baumamer 0:6d03232fcb64 110 //Set initialization - Magic from datasheet. Write 0x06 to 0x15 location.
baumamer 0:6d03232fcb64 111 writeRegister16(RFD77402_CONFIGURE_PMU, 0x0600); //MCPU_Init_state, Patch_mem_en
baumamer 0:6d03232fcb64 112
baumamer 0:6d03232fcb64 113 if (goToOnMode() == false) return (false); //Error - MCPU never turned on
baumamer 0:6d03232fcb64 114
baumamer 0:6d03232fcb64 115 return (true); //Success! Sensor is ready for measurements
baumamer 0:6d03232fcb64 116 }
baumamer 0:6d03232fcb64 117
baumamer 0:6d03232fcb64 118 //Takes a single measurement and sets the global variables with new data
baumamer 0:6d03232fcb64 119 //Returns zero if reading is good, otherwise return the errorCode from the result register.
baumamer 0:6d03232fcb64 120 uint8_t RFD77402::takeMeasurement(void)
baumamer 0:6d03232fcb64 121 {
baumamer 0:6d03232fcb64 122 if (goToMeasurementMode() == false) return (CODE_FAILED_TIMEOUT); //Error - Timeout
baumamer 0:6d03232fcb64 123 //New data is now available!
baumamer 0:6d03232fcb64 124
baumamer 0:6d03232fcb64 125 //Read result
baumamer 0:6d03232fcb64 126 uint16_t resultRegister = readRegister16(RFD77402_RESULT);
baumamer 0:6d03232fcb64 127
baumamer 0:6d03232fcb64 128 if (resultRegister & 0x7FFF) { //Reading is valid
baumamer 0:6d03232fcb64 129 uint8_t errorCode = (resultRegister >> 13) & 0x03;
baumamer 0:6d03232fcb64 130
baumamer 0:6d03232fcb64 131 if (errorCode == 0) {
baumamer 0:6d03232fcb64 132 distance = (resultRegister >> 2) & 0x07FF; //Distance is good. Read it.
baumamer 0:6d03232fcb64 133
baumamer 0:6d03232fcb64 134 //Read confidence register
baumamer 0:6d03232fcb64 135 uint16_t confidenceRegister = readRegister16(RFD77402_RESULT_CONFIDENCE);
baumamer 0:6d03232fcb64 136 validPixels = confidenceRegister & 0x0F;
baumamer 0:6d03232fcb64 137 confidenceValue = (confidenceRegister >> 4) & 0x07FF;
baumamer 0:6d03232fcb64 138 }
baumamer 0:6d03232fcb64 139
baumamer 0:6d03232fcb64 140 return (errorCode);
baumamer 0:6d03232fcb64 141
baumamer 0:6d03232fcb64 142 } else {
baumamer 0:6d03232fcb64 143 //Reading is not vald
baumamer 0:6d03232fcb64 144 return (CODE_FAILED_NOT_NEW); //Error code for reading is not new
baumamer 0:6d03232fcb64 145 }
baumamer 0:6d03232fcb64 146
baumamer 0:6d03232fcb64 147 }
baumamer 0:6d03232fcb64 148
baumamer 0:6d03232fcb64 149 //Returns the local variable to the caller
baumamer 0:6d03232fcb64 150 uint16_t RFD77402::getDistance()
baumamer 0:6d03232fcb64 151 {
baumamer 0:6d03232fcb64 152 return (distance);
baumamer 0:6d03232fcb64 153 }
baumamer 0:6d03232fcb64 154
baumamer 0:6d03232fcb64 155 //Returns the number of valid pixels found when taking measurement
baumamer 0:6d03232fcb64 156 uint8_t RFD77402::getValidPixels()
baumamer 0:6d03232fcb64 157 {
baumamer 0:6d03232fcb64 158 return (validPixels);
baumamer 0:6d03232fcb64 159 }
baumamer 0:6d03232fcb64 160
baumamer 0:6d03232fcb64 161 //Returns the qualitative value representing how confident the sensor is about its reported distance
baumamer 0:6d03232fcb64 162 uint16_t RFD77402::getConfidenceValue()
baumamer 0:6d03232fcb64 163 {
baumamer 0:6d03232fcb64 164 return (confidenceValue);
baumamer 0:6d03232fcb64 165 }
baumamer 0:6d03232fcb64 166
baumamer 0:6d03232fcb64 167 //Read the command opcode and covert to mode
baumamer 0:6d03232fcb64 168 uint8_t RFD77402::getMode()
baumamer 0:6d03232fcb64 169 {
baumamer 0:6d03232fcb64 170 return (readRegister(RFD77402_COMMAND) & 0x3F);
baumamer 0:6d03232fcb64 171 }
baumamer 0:6d03232fcb64 172
baumamer 0:6d03232fcb64 173 //Tell MCPU to go to standby mode
baumamer 0:6d03232fcb64 174 //Return true if successful
baumamer 0:6d03232fcb64 175 bool RFD77402::goToStandbyMode()
baumamer 0:6d03232fcb64 176 {
baumamer 0:6d03232fcb64 177 //Set Low Power Standby
baumamer 0:6d03232fcb64 178 writeRegister(RFD77402_COMMAND, 0x90); //0b.1001.0000 = Go to standby mode. Set valid command.
baumamer 0:6d03232fcb64 179
baumamer 0:6d03232fcb64 180 uint8_t commandReg = readRegister(RFD77402_COMMAND);
baumamer 0:6d03232fcb64 181
baumamer 0:6d03232fcb64 182
baumamer 0:6d03232fcb64 183 //Check MCPU_ON Status
baumamer 0:6d03232fcb64 184 for (uint8_t x = 0 ; x < 10 ; x++) {
baumamer 0:6d03232fcb64 185 uint16_t status = readRegister16(RFD77402_DEVICE_STATUS);
baumamer 0:6d03232fcb64 186 if ( (status & 0x001F) == 0x0000) {
baumamer 0:6d03232fcb64 187 return (true); //MCPU is now in standby
baumamer 0:6d03232fcb64 188 }
baumamer 0:6d03232fcb64 189 printf("readRegister16 device status fail %d \n\r", status);
baumamer 0:6d03232fcb64 190 wait(0.01); //Suggested timeout for status checks from datasheet
baumamer 0:6d03232fcb64 191 }
baumamer 0:6d03232fcb64 192
baumamer 0:6d03232fcb64 193 return (false); //Error - MCPU never went to standby
baumamer 0:6d03232fcb64 194 }
baumamer 0:6d03232fcb64 195
baumamer 0:6d03232fcb64 196 //Tell MCPU to go to off state
baumamer 0:6d03232fcb64 197 //Return true if successful
baumamer 0:6d03232fcb64 198 bool RFD77402::goToOffMode()
baumamer 0:6d03232fcb64 199 {
baumamer 0:6d03232fcb64 200 //Set MCPU_OFF
baumamer 0:6d03232fcb64 201 writeRegister(RFD77402_COMMAND, 0x91); //0b.1001.0001 = Go MCPU off state. Set valid command.
baumamer 0:6d03232fcb64 202
baumamer 0:6d03232fcb64 203 //Check MCPU_OFF Status
baumamer 0:6d03232fcb64 204 for (uint8_t x = 0 ; x < 10 ; x++) {
baumamer 0:6d03232fcb64 205 if ( (readRegister16(RFD77402_DEVICE_STATUS) & 0x001F) == 0x0010) return (true); //MCPU is now off
baumamer 0:6d03232fcb64 206 wait(0.01); //Suggested timeout for status checks from datasheet
baumamer 0:6d03232fcb64 207 }
baumamer 0:6d03232fcb64 208
baumamer 0:6d03232fcb64 209 return (false); //Error - MCPU never turned off
baumamer 0:6d03232fcb64 210 }
baumamer 0:6d03232fcb64 211
baumamer 0:6d03232fcb64 212 //Tell MCPU to go to on state
baumamer 0:6d03232fcb64 213 //Return true if successful
baumamer 0:6d03232fcb64 214 bool RFD77402::goToOnMode()
baumamer 0:6d03232fcb64 215 {
baumamer 0:6d03232fcb64 216 //Set MCPU_ON
baumamer 0:6d03232fcb64 217 writeRegister(RFD77402_COMMAND, 0x92); //0b.1001.0010 = Wake up MCPU to ON mode. Set valid command.
baumamer 0:6d03232fcb64 218
baumamer 0:6d03232fcb64 219 //Check MCPU_ON Status
baumamer 0:6d03232fcb64 220 for (uint8_t x = 0 ; x < 10 ; x++) {
baumamer 0:6d03232fcb64 221 if ( (readRegister16(RFD77402_DEVICE_STATUS) & 0x001F) == 0x0018) return (true); //MCPU is now on
baumamer 0:6d03232fcb64 222 wait(0.01); //Suggested timeout for status checks from datasheet
baumamer 0:6d03232fcb64 223 }
baumamer 0:6d03232fcb64 224
baumamer 0:6d03232fcb64 225 return (false); //Error - MCPU never turned on
baumamer 0:6d03232fcb64 226 }
baumamer 0:6d03232fcb64 227
baumamer 0:6d03232fcb64 228 //Tell MCPU to go to measurement mode
baumamer 0:6d03232fcb64 229 //Takes a measurement. If measurement data is ready, return true
baumamer 0:6d03232fcb64 230 bool RFD77402::goToMeasurementMode()
baumamer 0:6d03232fcb64 231 {
baumamer 0:6d03232fcb64 232 //Single measure command
baumamer 0:6d03232fcb64 233 writeRegister(RFD77402_COMMAND, 0x81); //0b.1000.0001 = Single measurement. Set valid command.
baumamer 0:6d03232fcb64 234
baumamer 0:6d03232fcb64 235 //Read ICSR Register - Check to see if measurement data is ready
baumamer 0:6d03232fcb64 236 for (uint8_t x = 0 ; x < 10 ; x++) {
baumamer 0:6d03232fcb64 237 if ( (readRegister(RFD77402_ICSR) & (1 << 4)) != 0) return (true); //Data is ready!
baumamer 0:6d03232fcb64 238 wait(0.01); //Suggested timeout for status checks from datasheet
baumamer 0:6d03232fcb64 239 }
baumamer 0:6d03232fcb64 240
baumamer 0:6d03232fcb64 241 return (false); //Error - Timeout
baumamer 0:6d03232fcb64 242 }
baumamer 0:6d03232fcb64 243
baumamer 0:6d03232fcb64 244 //Returns the VCSEL peak 4-bit value
baumamer 0:6d03232fcb64 245 uint8_t RFD77402::getPeak(void)
baumamer 0:6d03232fcb64 246 {
baumamer 0:6d03232fcb64 247 uint16_t configValue = readRegister16(RFD77402_CONFIGURE_A);
baumamer 0:6d03232fcb64 248 return ((configValue >> 12) & 0x0F);
baumamer 0:6d03232fcb64 249 }
baumamer 0:6d03232fcb64 250
baumamer 0:6d03232fcb64 251 //Sets the VCSEL peak 4-bit value
baumamer 0:6d03232fcb64 252 void RFD77402::setPeak(uint8_t peakValue)
baumamer 0:6d03232fcb64 253 {
baumamer 0:6d03232fcb64 254 uint16_t configValue = readRegister16(RFD77402_CONFIGURE_A); //Read
baumamer 0:6d03232fcb64 255 configValue &= ~0xF000;// Zero out the peak configuration bits
baumamer 0:6d03232fcb64 256 configValue |= (uint16_t)peakValue << 12; //Mask in user's settings
baumamer 0:6d03232fcb64 257 writeRegister16(RFD77402_CONFIGURE_A, configValue); //Write in this new value
baumamer 0:6d03232fcb64 258 }
baumamer 0:6d03232fcb64 259
baumamer 0:6d03232fcb64 260 //Returns the VCSEL Threshold 4-bit value
baumamer 0:6d03232fcb64 261 uint8_t RFD77402::getThreshold(void)
baumamer 0:6d03232fcb64 262 {
baumamer 0:6d03232fcb64 263 uint16_t configValue = readRegister16(RFD77402_CONFIGURE_A);
baumamer 0:6d03232fcb64 264 return ((configValue >> 8) & 0x0F);
baumamer 0:6d03232fcb64 265 }
baumamer 0:6d03232fcb64 266
baumamer 0:6d03232fcb64 267 //Sets the VCSEL Threshold 4-bit value
baumamer 0:6d03232fcb64 268 void RFD77402::setThreshold(uint8_t thresholdValue)
baumamer 0:6d03232fcb64 269 {
baumamer 0:6d03232fcb64 270 uint16_t configValue = readRegister16(RFD77402_CONFIGURE_A); //Read
baumamer 0:6d03232fcb64 271 configValue &= ~0x0F00;// Zero out the threshold configuration bits
baumamer 0:6d03232fcb64 272 configValue |= thresholdValue << 8; //Mask in user's settings
baumamer 0:6d03232fcb64 273 writeRegister16(RFD77402_CONFIGURE_A, configValue); //Write in this new value
baumamer 0:6d03232fcb64 274 }
baumamer 0:6d03232fcb64 275
baumamer 0:6d03232fcb64 276 //Returns the VCSEL Frequency 4-bit value
baumamer 0:6d03232fcb64 277 uint8_t RFD77402::getFrequency(void)
baumamer 0:6d03232fcb64 278 {
baumamer 0:6d03232fcb64 279 uint16_t configValue = readRegister16(RFD77402_CONFIGURE_HW_1);
baumamer 0:6d03232fcb64 280 return ((configValue >> 12) & 0x0F);
baumamer 0:6d03232fcb64 281 }
baumamer 0:6d03232fcb64 282
baumamer 0:6d03232fcb64 283 //Sets the VCSEL Frequency 4-bit value
baumamer 0:6d03232fcb64 284 void RFD77402::setFrequency(uint8_t thresholdValue)
baumamer 0:6d03232fcb64 285 {
baumamer 0:6d03232fcb64 286 uint16_t configValue = readRegister16(RFD77402_CONFIGURE_HW_1); //Read
baumamer 0:6d03232fcb64 287 configValue &= ~0xF000;// Zero out the threshold configuration bits
baumamer 0:6d03232fcb64 288 configValue |= thresholdValue << 12; //Mask in user's settings
baumamer 0:6d03232fcb64 289 writeRegister16(RFD77402_CONFIGURE_HW_1, configValue); //Write in this new value
baumamer 0:6d03232fcb64 290 }
baumamer 0:6d03232fcb64 291
baumamer 0:6d03232fcb64 292 //Gets whatever is in the 'MCPU to Host' mailbox
baumamer 0:6d03232fcb64 293 //Check ICSR bit 5 before reading
baumamer 0:6d03232fcb64 294 uint16_t RFD77402::getMailbox(void)
baumamer 0:6d03232fcb64 295 {
baumamer 0:6d03232fcb64 296 return (readRegister16(RFD77402_MCPU_TO_HOST_MAILBOX));
baumamer 0:6d03232fcb64 297 }
baumamer 0:6d03232fcb64 298
baumamer 0:6d03232fcb64 299 //Software reset the device
baumamer 0:6d03232fcb64 300 void RFD77402::reset(void)
baumamer 0:6d03232fcb64 301 {
baumamer 0:6d03232fcb64 302 writeRegister(RFD77402_COMMAND, 1<<6);
baumamer 0:6d03232fcb64 303 wait(100);
baumamer 0:6d03232fcb64 304 }
baumamer 0:6d03232fcb64 305
baumamer 0:6d03232fcb64 306 //Returns the chip ID
baumamer 0:6d03232fcb64 307 //Should be 0xAD01 or higher
baumamer 0:6d03232fcb64 308 uint16_t RFD77402::getChipID()
baumamer 0:6d03232fcb64 309 {
baumamer 0:6d03232fcb64 310 return(readRegister16(RFD77402_MOD_CHIP_ID));
baumamer 0:6d03232fcb64 311 }
baumamer 0:6d03232fcb64 312
baumamer 0:6d03232fcb64 313 //Retreive 2*27 bytes from MCPU for computation of calibration parameters
baumamer 0:6d03232fcb64 314 //This is 9.2.2 from datasheet
baumamer 0:6d03232fcb64 315 //Reads 54 bytes into the calibration[] array
baumamer 0:6d03232fcb64 316 //Returns true if new cal data is loaded
baumamer 0:6d03232fcb64 317 bool RFD77402::getCalibrationData(void)
baumamer 0:6d03232fcb64 318 {
baumamer 0:6d03232fcb64 319 if (goToOnMode() == false) return (false); //Error - sensor timed out before getting to On Mode
baumamer 0:6d03232fcb64 320
baumamer 0:6d03232fcb64 321 //Check ICSR Register and read Mailbox until it is empty
baumamer 0:6d03232fcb64 322 uint8_t messages = 0;
baumamer 0:6d03232fcb64 323 while (1) {
baumamer 0:6d03232fcb64 324 if ( (readRegister(RFD77402_ICSR) & (1 << 5)) == 0) break; //Mailbox interrupt is cleared
baumamer 0:6d03232fcb64 325
baumamer 0:6d03232fcb64 326 //Mailbox interrupt (Bit 5) is set so read the M2H mailbox register
baumamer 0:6d03232fcb64 327 getMailbox(); //Throw it out. Just read to clear the register.
baumamer 0:6d03232fcb64 328
baumamer 0:6d03232fcb64 329 if (messages++ > 27) return (false); //Error - Too many messages
baumamer 0:6d03232fcb64 330
baumamer 0:6d03232fcb64 331 wait(10); //Suggested timeout for status checks from datasheet
baumamer 0:6d03232fcb64 332 }
baumamer 0:6d03232fcb64 333
baumamer 0:6d03232fcb64 334 //Issue mailbox command
baumamer 0:6d03232fcb64 335 writeRegister16(RFD77402_HOST_TO_MCPU_MAILBOX, 0x0006); //Send 0x0006 mailbox command
baumamer 0:6d03232fcb64 336
baumamer 0:6d03232fcb64 337 //Check to see if Mailbox can be read
baumamer 0:6d03232fcb64 338 //Read 54 bytes of payload into the calibration[54] array
baumamer 0:6d03232fcb64 339 for (uint8_t message = 0 ; message < 27 ; message++) {
baumamer 0:6d03232fcb64 340 //Wait for bit to be set
baumamer 0:6d03232fcb64 341 uint8_t x = 0;
baumamer 0:6d03232fcb64 342 while (1) {
baumamer 0:6d03232fcb64 343 uint8_t icsr = readRegister(RFD77402_ICSR);
baumamer 0:6d03232fcb64 344 if ( (icsr & (1 << 5)) != 0) break; //New message in available
baumamer 0:6d03232fcb64 345
baumamer 0:6d03232fcb64 346 if (x++ > 10) return (false); //Error - Timeout
baumamer 0:6d03232fcb64 347
baumamer 0:6d03232fcb64 348 wait(10); //Suggested timeout for status checks from datasheet
baumamer 0:6d03232fcb64 349 }
baumamer 0:6d03232fcb64 350
baumamer 0:6d03232fcb64 351 uint16_t incoming = getMailbox(); //Get 16-bit message
baumamer 0:6d03232fcb64 352
baumamer 0:6d03232fcb64 353 //Put message into larger calibrationData array
baumamer 0:6d03232fcb64 354 calibrationData[message * 2] = incoming >> 8;
baumamer 0:6d03232fcb64 355 calibrationData[message * 2 + 1] = incoming & 0xFF;
baumamer 0:6d03232fcb64 356 }
baumamer 0:6d03232fcb64 357
baumamer 0:6d03232fcb64 358 return(false);
baumamer 0:6d03232fcb64 359 }
baumamer 0:6d03232fcb64 360
baumamer 0:6d03232fcb64 361 //Reads two bytes from a given location from the RFD77402
baumamer 0:6d03232fcb64 362 uint16_t RFD77402::readRegister16(uint8_t reg)
baumamer 0:6d03232fcb64 363 {
baumamer 0:6d03232fcb64 364 uint8_t value[2];
baumamer 0:6d03232fcb64 365 uint16_t val;
baumamer 0:6d03232fcb64 366
baumamer 0:6d03232fcb64 367 if (i2c->write(RFD77402_ADDR, (char*)&reg, 1)) {
baumamer 0:6d03232fcb64 368 printf("readReg: write fail \n\r");
baumamer 0:6d03232fcb64 369 return 0x0000; //Error
baumamer 0:6d03232fcb64 370 }
baumamer 0:6d03232fcb64 371
baumamer 0:6d03232fcb64 372 if (i2c->read(RFD77402_ADDR, (char*)value, 2)) {
baumamer 0:6d03232fcb64 373 printf("readReg: read fail \n\r");
baumamer 0:6d03232fcb64 374 return 0x0000; //Error
baumamer 0:6d03232fcb64 375 }
baumamer 0:6d03232fcb64 376
baumamer 0:6d03232fcb64 377 val = (value[1] << 8) | value[0];
baumamer 0:6d03232fcb64 378 return (val);
baumamer 0:6d03232fcb64 379 }
baumamer 0:6d03232fcb64 380
baumamer 0:6d03232fcb64 381 //Reads from a given location from the RFD77402
baumamer 0:6d03232fcb64 382 uint8_t RFD77402::readRegister(uint8_t reg)
baumamer 0:6d03232fcb64 383 {
baumamer 0:6d03232fcb64 384 uint8_t value;
baumamer 0:6d03232fcb64 385
baumamer 0:6d03232fcb64 386 if (i2c->write(RFD77402_ADDR, (char*)&reg, 1)) {
baumamer 0:6d03232fcb64 387 printf("readReg: write fail \n\r");
baumamer 0:6d03232fcb64 388 return 0xFF; //Error
baumamer 0:6d03232fcb64 389 }
baumamer 0:6d03232fcb64 390
baumamer 0:6d03232fcb64 391 if (i2c->read(RFD77402_ADDR, (char*)value, 1)) {
baumamer 0:6d03232fcb64 392 printf("readReg: read fail \n\r");
baumamer 0:6d03232fcb64 393 return 0xFF; //Error
baumamer 0:6d03232fcb64 394 }
baumamer 0:6d03232fcb64 395
baumamer 0:6d03232fcb64 396 return (value);
baumamer 0:6d03232fcb64 397 }
baumamer 0:6d03232fcb64 398
baumamer 0:6d03232fcb64 399 //Write a 16 bit value to a spot in the RFD77402
baumamer 0:6d03232fcb64 400 void RFD77402::writeRegister16(uint8_t reg, uint16_t value)
baumamer 0:6d03232fcb64 401 {
baumamer 0:6d03232fcb64 402 char data[] = {
baumamer 0:6d03232fcb64 403 reg,
baumamer 0:6d03232fcb64 404 (char)(value & 0xFF), // value low byte
baumamer 0:6d03232fcb64 405 (char)((value >> 8) & 0xFF) // value high byte
baumamer 0:6d03232fcb64 406 };
baumamer 0:6d03232fcb64 407
baumamer 0:6d03232fcb64 408 if (i2c->write(RFD77402_ADDR, data, 3)) {
baumamer 0:6d03232fcb64 409 printf("writeReg16: write fail \n\r");
baumamer 0:6d03232fcb64 410 }
baumamer 0:6d03232fcb64 411 }
baumamer 0:6d03232fcb64 412
baumamer 0:6d03232fcb64 413 //Write a value to a spot in the RFD77402
baumamer 0:6d03232fcb64 414 void RFD77402::writeRegister(uint8_t reg, uint8_t value)
baumamer 0:6d03232fcb64 415 {
baumamer 0:6d03232fcb64 416 char data[] = {
baumamer 0:6d03232fcb64 417 reg,
baumamer 0:6d03232fcb64 418 value
baumamer 0:6d03232fcb64 419 };
baumamer 0:6d03232fcb64 420
baumamer 0:6d03232fcb64 421 if (i2c->write(RFD77402_ADDR, data, 2)){printf("write error \n\r");}
baumamer 0:6d03232fcb64 422 }