Robotique FIP
Code petit robot
Dependencies: X_NUCLEO_COMMON X_NUCLEO_IHM01A1 mbed
Revision 0:1cb50d31c3b5, committed 2016-03-25
- Comitter:
- julientiron
- Date:
- Fri Mar 25 21:27:03 2016 +0000
- Commit message:
- Code petit robot
Changed in this revision
diff -r 000000000000 -r 1cb50d31c3b5 VL6180X/GenericSensor.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/VL6180X/GenericSensor.h Fri Mar 25 21:27:03 2016 +0000
@@ -0,0 +1,67 @@
+/**
+ ******************************************************************************
+ * @file GenericSensor.h
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 13-April-2015
+ * @brief This file contains the abstract class describing in general
+ * the interfaces of a generic sensor
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+/* Define to prevent from recursive inclusion --------------------------------*/
+#ifndef __GENERIC_SENSOR_CLASS_H
+#define __GENERIC_SENSOR_CLASS_H
+
+/* Includes ------------------------------------------------------------------*/
+#include <stdint.h>
+
+/* Classes ------------------------------------------------------------------*/
+/** An abstract class for Generic sensors
+ */
+class GenericSensor
+{
+ public:
+ /**
+ * @brief Initialization of sensor
+ * @param[out] ptr Pointer to device specific initalization structure
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int Init() = 0;
+
+ /**
+ * @brief Get ID of sensor
+ * @param[out] id Pointer to where to store the ID to
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int ReadID() = 0;
+};
+
+#endif /* __GENERIC_SENSOR_CLASS_H */
diff -r 000000000000 -r 1cb50d31c3b5 VL6180X/LightSensor.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/VL6180X/LightSensor.h Fri Mar 25 21:27:03 2016 +0000
@@ -0,0 +1,60 @@
+/**
+ ******************************************************************************
+ * @file LightSensor.h
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 13-April-2015
+ * @brief This file contains the abstract class describing in general
+ * the interfaces of an ambient light sensor (ALS)
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+/* Define to prevent from recursive inclusion --------------------------------*/
+#ifndef __LIGHT_SENSOR_CLASS_H
+#define __LIGHT_SENSOR_CLASS_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "GenericSensor.h"
+
+/* Classes ------------------------------------------------------------------*/
+/** An abstract class for ambient light sensors
+ */
+class LightSensor : public GenericSensor
+{
+ public:
+ /**
+ * @brief Get current light [lux]
+ * @param[out] piData Pointer to where to store light to
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int GetLight(uint32_t *piData) = 0;
+};
+
+#endif /* __LIGHT_SENSOR_CLASS_H */
diff -r 000000000000 -r 1cb50d31c3b5 VL6180X/RangeSensor.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/VL6180X/RangeSensor.h Fri Mar 25 21:27:03 2016 +0000
@@ -0,0 +1,60 @@
+/**
+ ******************************************************************************
+ * @file RangeSensor.h
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 13-April-2015
+ * @brief This file contains the abstract class describing in general
+ * the interfaces of a range sensor
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+/* Define to prevent from recursive inclusion --------------------------------*/
+#ifndef __RANGE_SENSOR_CLASS_H
+#define __RANGE_SENSOR_CLASS_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "GenericSensor.h"
+
+/* Classes ------------------------------------------------------------------*/
+/** An abstract class for range sensors
+ */
+class RangeSensor : public GenericSensor
+{
+ public:
+ /**
+ * @brief Get current range [mm]
+ * @param[out] piData Pointer to where to store range to
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int GetRange(int32_t *piData) = 0;
+};
+
+#endif /* __RANGE_SENSOR_CLASS_H */
diff -r 000000000000 -r 1cb50d31c3b5 VL6180X/vl6180x_cfg.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/VL6180X/vl6180x_cfg.h Fri Mar 25 21:27:03 2016 +0000
@@ -0,0 +1,129 @@
+/*******************************************************************************
+Copyright © 2014, STMicroelectronics International N.V.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+ * Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+ * Neither the name of STMicroelectronics nor the
+ names of its contributors may be used to endorse or promote products
+ derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
+NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
+IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+********************************************************************************/
+/*
+ * $Date: 2015-01-08 14:35:34 +0100 (Thu, 08 Jan 2015) $
+ * $Revision: 2042 $
+ */
+
+/**
+ * @file VL6180x_cfg.h
+ *
+ * Proximity and ALS configuration
+ */
+
+#ifndef VL6180x_CFG_H_
+#define VL6180x_CFG_H_
+
+/** @defgroup api_config Configuration
+ * @brief API static configuration
+ */
+
+
+
+/** @ingroup api_config
+ * @{*/
+
+
+/**
+ * @def VL6180x_UPSCALE_SUPPORT
+ * @brief Configure up-scale capabilities and default up-scale factor for ranging operations
+ *
+ * @li 1 : Fixed scaling by 1 (no up-scaling support)
+ * @li 2 : Fixed scaling by 2
+ * @li 3 : Fixed scaling by 3
+ * @li -1 -2 -3 : Run time programmable through @a VL6180x_UpscaleSetScaling(). Default scaling factore is -VL6180x_UPSCALE_SUPPORT \n
+ */
+//#define VL6180x_UPSCALE_SUPPORT -1
+
+/**
+ * @def VL6180x_ALS_SUPPORT
+ * @brief Enable ALS support
+ *
+ * Set to 0 if ALS is not used in application. This can help reducing code size if it is a concern.
+ */
+#define VL6180x_ALS_SUPPORT 1
+
+/**
+ * @def VL6180x_HAVE_DMAX_RANGING
+ * @brief Enable DMax calculation for ranging applications.
+ *
+ * When set to 1, __Dmax__ is returned by API typically when @a VL6180x_RangePollMeasurement() high level
+ * function is called (this is returned in @a VL6180x_RangeData_t structure).
+ * __Dmax__ is an estimation of the maximum distance (in mm) the product can report a valid distance of a 17% target for
+ * the current ambient light conditions (__Dmax__ decreases when ambient light increases). __Dmax__ should be used only
+ * when the product is not able to return a valid distance (no object or object is too far from the ranging sensor).
+ * Typically, this is done by checking the __errorStatus__ field of the @a VL6180x_RangeData_t structure returned by
+ * the @a VL6180x_RangePollMeasurement() function.
+ * You may refer to ::RangeError_u to get full list of supported error codes.
+ * @warning Dmax is estimated for a 17% grey target. If the real target has a reflectance lower than 17%, report Dmax could be over-estimated
+ */
+#define VL6180x_HAVE_DMAX_RANGING 1
+
+/**
+ * @def VL6180x_WRAP_AROUND_FILTER_SUPPORT
+ * @brief Enable wrap around filter (WAF) feature
+ *
+ * In specific conditions, when targeting a mirror or a very reflective metal, a __wrap around__ effect can occur internally to the
+ * ranging product which results in returning a wrong distance (under-estimated). Goal of the WAF is to detect this wrap arround effect
+ * and to filter it by returning a non-valid distance : __errorStatus__ set to 16 (see ::RangeError_u)
+ * @warning Wrap-around filter can not be used when device is running in continuous mode
+ *
+ * @li 0 : Filter is not supported, no filtering code is included in API
+ * @li 1 : Filter is supported and active by default
+ * @li -1 : Filter is supported but is not active by default @a VL6180x_FilterSetState() can turn it on and off at any time
+ */
+#define VL6180x_WRAP_AROUND_FILTER_SUPPORT 1
+
+/**
+ * @def VL6180x_EXTENDED_RANGE
+ * @brief Enable extended ranging support
+ *
+ * Device that do not formally support extended ranging should only be used with a scaling factor of 1.
+ * Correct operation with scaling factor other than 1 (>200mm ) is not granted by ST.
+ */
+//#define VL6180x_EXTENDED_RANGE 0
+
+#define EXTENDED_RANGE_50CM 0
+//#define EXTENDED_RANGE_50CM 1
+
+#if EXTENDED_RANGE_50CM
+#define VL6180x_UPSCALE_SUPPORT -3
+#define VL6180x_EXTENDED_RANGE 1
+#else
+#define VL6180x_UPSCALE_SUPPORT -1
+#define VL6180x_EXTENDED_RANGE 0
+#endif
+
+#if (VL6180x_EXTENDED_RANGE) && (VL6180x_ALS_SUPPORT)
+#warning "Als support should be OFF for extended range"
+#endif
+
+#endif
+/** @} */ // end of api_config
+
+/* VL6180x_CFG_H_ */
diff -r 000000000000 -r 1cb50d31c3b5 VL6180X/vl6180x_class.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/VL6180X/vl6180x_class.cpp Fri Mar 25 21:27:03 2016 +0000
@@ -0,0 +1,3634 @@
+/**
+ ******************************************************************************
+ * @file vl6180x_class.cpp
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 14-April-2015
+ * @brief Implementation file for the HTS221 driver class
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+*/
+
+/* Includes */
+#include "vl6180x_class.h"
+
+
+#ifndef VL6180x_RANGE_STATUS_ERRSTRING
+#warning "VL6180x_RANGE_STATUS_ERRSTRING not defined ?"
+/* TODO you may remove or comment these #warning and keep the default below to keep compatibility
+ or update your vl6180x_platform.h file */
+/**
+ * force VL6180x_RANGE_STATUS_ERRSTRING to not supported when not part of any cfg file
+ */
+#define VL6180x_RANGE_STATUS_ERRSTRING 0
+#endif
+
+#ifndef VL6180X_SAFE_POLLING_ENTER
+#warning "VL6180X_SAFE_POLLING_ENTER not defined, likely old vl6180x_cfg.h file ?"
+/* TODO you may remove or comment these #warning and keep the default below to keep compatibility
+ or update your vl6180x_platform.h file */
+/**
+ * force VL6180X_SAFE_POLLING_ENTER to off when not in cfg file
+ */
+#define VL6180X_SAFE_POLLING_ENTER 0 /* off by default as in api 2.0 */
+#endif
+
+#ifndef VL6180X_LOG_ENABLE
+/**
+ * Force VL6180X_LOG_ENABLE to none as default
+ */
+#define VL6180X_LOG_ENABLE 0
+#endif
+
+#ifdef MY_LOG
+Serial pc(USBTX, USBRX);
+#endif
+
+#if VL6180x_RANGE_STATUS_ERRSTRING
+/**@def VL6180x_HAVE_RANGE_STATUS_ERRSTRING
+ * @brief is defined when @a #VL6180x_RANGE_STATUS_ERRSTRING is enable
+ */
+#define VL6180x_HAVE_RANGE_STATUS_ERRSTRING
+#endif
+
+
+/** @brief Get API version as "hex integer" 0xMMnnss
+ */
+#define VL6180x_ApiRevInt ((VL6180x_API_REV_MAJOR<<24)+(VL6180x_API_REV_MINOR<<16)+VL6180x_API_REV_SUB)
+
+/** Get API version as string for exe "2.1.12" "
+ */
+#define VL6180x_ApiRevStr VL6180X_STR(VL6180x_API_REV_MAJOR) "." VL6180X_STR(VL6180x_API_REV_MINOR) "." VL6180X_STR(VL6180x_API_REV_SUB)
+
+/** @defgroup api_init Init functions
+ * @brief API init functions
+ * @ingroup api_hl
+ * @{
+ */
+
+
+/****************** define for i2c configuration *******************************/
+
+#define TEMP_BUF_SIZE 32
+
+#define IsValidGPIOFunction(x) ((x)==GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT || (x)==GPIOx_SELECT_OFF)
+/**
+ * @brief Clear All interrupt causes (als+range+error)
+ *
+ * @param dev The device
+ * @return 0 On success
+ */
+#define VL6180x_ClearAllInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_ERROR|INTERRUPT_CLEAR_RANGING|INTERRUPT_CLEAR_ALS)
+/**
+ * @brief Clear ALS interrupt
+ *
+ * @param dev The device
+ * @return 0 On success
+ */
+ #define VL6180x_AlsClearInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_ALS)
+/**
+ * @brief Clear range interrupt
+ *
+ * @param dev The device
+ * @return 0 On success
+ */
+#define VL6180x_RangeClearInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_RANGING)
+
+/******************************************************************************/
+/******************************* file api.c ***********************************/
+
+#define VL6180x_9to7Conv(x) (x)
+
+/* TODO when set all "cached" value with "default init" are updated after init from register read back */
+#define REFRESH_CACHED_DATA_AFTER_INIT 1
+
+
+#define IsValidGPIOFunction(x) ((x)==GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT || (x)==GPIOx_SELECT_OFF)
+
+
+/** default value ECE factor Molecular */
+#define DEF_ECE_FACTOR_M 85
+/** default value ECE factor Denominator */
+#define DEF_ECE_FACTOR_D 100
+/** default value ALS integration time */
+#define DEF_INT_PEFRIOD 100
+/** default value ALS gain */
+#define DEF_ALS_GAIN 1
+/** default value ALS scaler */
+#define DEF_ALS_SCALER 1
+/** default value for DMAX Enbale */
+#define DEF_DMAX_ENABLE 1
+/** default ambient tuning factor %x1000 */
+#define DEF_AMBIENT_TUNING 80
+
+#if VL6180x_SINGLE_DEVICE_DRIVER
+extern struct VL6180xDevData_t SingleVL6180xDevData;
+#define VL6180xDevDataGet(dev, field) (SingleVL6180xDevData.field)
+#define VL6180xDevDataSet(dev, field, data) SingleVL6180xDevData.field=(data)
+#endif
+
+#define LUXRES_FIX_PREC 8
+#define GAIN_FIX_PREC 8 /* ! if not sme as LUX_PREC then :( adjust GetLux */
+#define AN_GAIN_MULT (1<<GAIN_FIX_PREC)
+
+
+//int32_t _GetAveTotalTime(VL6180xDev_t dev);
+//int VL6180x_RangeSetEarlyConvergenceEestimateThreshold(VL6180xDev_t dev);
+
+/**
+ * ScalerLookUP scaling factor-1 to register #RANGE_SCALER lookup
+ */
+static const uint16_t ScalerLookUP[] ROMABLE_DATA ={ 253, 127, 84}; /* lookup table for scaling->scalar 1x2x 3x */
+/**
+ * scaling factor to Upper limit look up
+ */
+static const uint16_t UpperLimitLookUP[] ROMABLE_DATA ={ 185, 370, 580}; /* lookup table for scaling->limit 1x2x3x */
+/**
+ * Als Code gain to fix point gain lookup
+ */
+static const uint16_t AlsGainLookUp[8] ROMABLE_DATA = {
+ (uint16_t)(20.0f * AN_GAIN_MULT),
+ (uint16_t)(10.0f * AN_GAIN_MULT),
+ (uint16_t)(5.0f * AN_GAIN_MULT),
+ (uint16_t)(2.5f * AN_GAIN_MULT),
+ (uint16_t)(1.67f * AN_GAIN_MULT),
+ (uint16_t)(1.25f * AN_GAIN_MULT),
+ (uint16_t)(1.0f * AN_GAIN_MULT),
+ (uint16_t)(40.0f * AN_GAIN_MULT),
+};
+
+
+#if VL6180x_RANGE_STATUS_ERRSTRING
+const char * ROMABLE_DATA VL6180x_RangeStatusErrString[]={
+ "No Error",
+ "VCSEL Continuity Test",
+ "VCSEL Watchdog Test",
+ "VCSEL Watchdog",
+ "PLL1 Lock",
+ "PLL2 Lock",
+ "Early Convergence Estimate",
+ "Max Convergence",
+ "No Target Ignore",
+ "Not used 9",
+ "Not used 10",
+ "Max Signal To Noise Ratio",
+ "Raw Ranging Algo Underflow",
+ "Raw Ranging Algo Overflow",
+ "Ranging Algo Underflow",
+ "Ranging Algo Overflow",
+
+ "Filtered by post processing"
+};
+
+const char * VL6180x_RangeGetStatusErrString(uint8_t RangeErrCode){
+ if( RangeErrCode > sizeof(VL6180x_RangeStatusErrString)/sizeof(VL6180x_RangeStatusErrString[0]) )
+ return NULL;
+ return VL6180x_RangeStatusErrString[RangeErrCode];
+}
+#endif
+
+#if VL6180x_UPSCALE_SUPPORT == 1
+ #define _GetUpscale(dev, ... ) 1
+ #define _SetUpscale(...) -1
+ #define DEF_UPSCALE 1
+#elif VL6180x_UPSCALE_SUPPORT == 2
+ #define _GetUpscale(dev, ... ) 2
+ #define _SetUpscale(...)
+ #define DEF_UPSCALE 2
+#elif VL6180x_UPSCALE_SUPPORT == 3
+ #define _GetUpscale(dev, ... ) 3
+ #define _SetUpscale(...)
+ #define DEF_UPSCALE 3
+#else
+ #define DEF_UPSCALE (-(VL6180x_UPSCALE_SUPPORT))
+ #define _GetUpscale(dev, ... ) VL6180xDevDataGet(dev, UpscaleFactor)
+ #define _SetUpscale(dev, Scaling ) VL6180xDevDataSet(dev, UpscaleFactor, Scaling)
+#endif
+
+
+#if VL6180x_SINGLE_DEVICE_DRIVER
+/**
+ * the unique driver data When single device driver is active
+ */
+struct VL6180xDevData_t VL6180x_DEV_DATA_ATTR SingleVL6180xDevData={
+ .EceFactorM = DEF_ECE_FACTOR_M,
+ .EceFactorD = DEF_ECE_FACTOR_D,
+#ifdef VL6180x_HAVE_UPSCALE_DATA
+ .UpscaleFactor = DEF_UPSCALE,
+#endif
+#ifdef VL6180x_HAVE_ALS_DATA
+ .IntegrationPeriod = DEF_INT_PEFRIOD,
+ .AlsGainCode = DEF_ALS_GAIN,
+ .AlsScaler = DEF_ALS_SCALER,
+#endif
+#ifdef VL6180x_HAVE_DMAX_RANGING
+ .DMaxEnable = DEF_DMAX_ENABLE,
+#endif
+};
+#endif /* VL6180x_SINGLE_DEVICE_DRIVER */
+
+#define Fix7_2_KCPs(x) ((((uint32_t)(x))*1000)>>7)
+
+#if VL6180x_WRAP_AROUND_FILTER_SUPPORT
+static int _filter_Init(VL6180xDev_t dev);
+ #define _IsWrapArroundActive(dev) VL6180xDevDataGet(dev,WrapAroundFilterActive)
+#else
+ #define _IsWrapArroundActive(dev) 0
+#endif
+
+
+#if VL6180x_HAVE_DMAX_RANGING
+ void _DMax_OneTimeInit(VL6180xDev_t dev);
+// static int _DMax_InitData(VL6180xDev_t dev);
+ static int _DMax_Compute(VL6180xDev_t dev, VL6180x_RangeData_t *pRange);
+ #define _IsDMaxActive(dev) VL6180xDevDataGet(dev,DMaxEnable)
+#else
+ #define _DMax_InitData(...) 0 /* success */
+ #define _DMax_OneTimeInit(...) (void)0
+ #define _IsDMaxActive(...) 0
+#endif
+
+//static int VL6180x_RangeStaticInit(VL6180xDev_t dev);
+//static int VL6180x_UpscaleStaticInit(VL6180xDev_t dev);
+
+int VL6180X::VL6180x_WaitDeviceBooted(VL6180xDev_t dev){
+ uint8_t FreshOutReset;
+ int status;
+ LOG_FUNCTION_START("");
+ do{
+ status = VL6180x_RdByte(dev,SYSTEM_FRESH_OUT_OF_RESET, &FreshOutReset);
+ }
+ while( FreshOutReset!=1 && status==0);
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+int VL6180X::VL6180x_InitData(VL6180xDev_t dev){
+ int status, dmax_status ;
+ int8_t offset;
+ uint8_t FreshOutReset;
+ uint32_t CalValue;
+ uint16_t u16;
+ uint32_t XTalkCompRate_KCps;
+
+ LOG_FUNCTION_START("");
+
+ VL6180xDevDataSet(dev, EceFactorM , DEF_ECE_FACTOR_M);
+ VL6180xDevDataSet(dev, EceFactorD , DEF_ECE_FACTOR_D);
+
+#ifdef VL6180x_HAVE_UPSCALE_DATA
+ VL6180xDevDataSet(dev, UpscaleFactor , DEF_UPSCALE);
+#endif
+
+#ifdef VL6180x_HAVE_ALS_DATA
+ VL6180xDevDataSet(dev, IntegrationPeriod, DEF_INT_PEFRIOD);
+ VL6180xDevDataSet(dev, AlsGainCode, DEF_ALS_GAIN);
+ VL6180xDevDataSet(dev, AlsScaler, DEF_ALS_SCALER);
+#endif
+
+#ifdef VL6180x_HAVE_WRAP_AROUND_DATA
+ VL6180xDevDataSet(dev, WrapAroundFilterActive, (VL6180x_WRAP_AROUND_FILTER_SUPPORT >0));
+ VL6180xDevDataSet(dev, DMaxEnable, DEF_DMAX_ENABLE);
+#endif
+
+ _DMax_OneTimeInit(dev);
+ do{
+
+ /* backup offset initial value from nvm these must be done prior any over call that use offset */
+ status = VL6180X::VL6180x_RdByte(dev,SYSRANGE_PART_TO_PART_RANGE_OFFSET, (uint8_t*)&offset);
+ if( status ){
+ VL6180x_ErrLog("SYSRANGE_PART_TO_PART_RANGE_OFFSET rd fail");
+ break;
+ }
+ VL6180xDevDataSet(dev, Part2PartOffsetNVM, offset);
+
+ status=VL6180x_RdDWord( dev, SYSRANGE_RANGE_IGNORE_THRESHOLD, &CalValue);
+ if( status ){
+ VL6180x_ErrLog("Part2PartAmbNVM rd fail");
+ break;
+ }
+ if( (CalValue&0xFFFF0000) == 0 ){
+ CalValue=0x00CE03F8;
+ }
+ VL6180xDevDataSet(dev, Part2PartAmbNVM, CalValue);
+
+ status = VL6180x_RdWord(dev, SYSRANGE_CROSSTALK_COMPENSATION_RATE ,&u16);
+ if( status){
+ VL6180x_ErrLog("SYSRANGE_CROSSTALK_COMPENSATION_RATE rd fail ");
+ break;
+ }
+ XTalkCompRate_KCps = Fix7_2_KCPs(u16);
+ VL6180xDevDataSet(dev, XTalkCompRate_KCps , XTalkCompRate_KCps );
+
+ dmax_status = _DMax_InitData(dev);
+ if( dmax_status < 0 ){
+ VL6180x_ErrLog("DMax init failure");
+ break;
+ }
+
+ /* Read or wait for fresh out of reset */
+ status = VL6180x_RdByte(dev,SYSTEM_FRESH_OUT_OF_RESET, &FreshOutReset);
+ if( status ) {
+ VL6180x_ErrLog("SYSTEM_FRESH_OUT_OF_RESET rd fail");
+ break;
+ }
+ if( FreshOutReset!= 1 || dmax_status )
+ status = CALIBRATION_WARNING;
+
+ }
+ while(0);
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+int8_t VL6180X::VL6180x_GetOffsetCalibrationData(VL6180xDev_t dev)
+{
+ int8_t offset;
+ LOG_FUNCTION_START("");
+ offset = VL6180xDevDataGet(dev, Part2PartOffsetNVM);
+ LOG_FUNCTION_END( offset );
+ return offset;
+}
+
+void VL6180X::VL6180x_SetOffsetCalibrationData(VL6180xDev_t dev, int8_t offset)
+{
+ LOG_FUNCTION_START("%d", offset);
+ VL6180xDevDataSet(dev, Part2PartOffsetNVM, offset);
+ LOG_FUNCTION_END(0);
+}
+
+int VL6180X::VL6180x_SetXTalkCompensationRate(VL6180xDev_t dev, FixPoint97_t Rate)
+{
+ int status;
+ LOG_FUNCTION_START("%d", Rate);
+ status = VL6180x_WrWord(dev, SYSRANGE_CROSSTALK_COMPENSATION_RATE, Rate);
+ if( status ==0 ){
+ uint32_t XTalkCompRate_KCps;
+ XTalkCompRate_KCps = Fix7_2_KCPs(Rate);
+ VL6180xDevDataSet(dev, XTalkCompRate_KCps , XTalkCompRate_KCps );
+ /* update dmax whenever xtalk rate changes */
+ status = _DMax_InitData(dev);
+ }
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+int VL6180X::VL6180x_SetI2CAddress(VL6180xDev_t dev, uint8_t NewAddress){
+ int status;
+ LOG_FUNCTION_START("");
+
+ status = VL6180x_WrByte(dev, I2C_SLAVE_DEVICE_ADDRESS, NewAddress);
+ if( status ){
+ VL6180x_ErrLog("new i2c addr Wr fail");
+ }
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+
+uint16_t VL6180X::VL6180x_GetUpperLimit(VL6180xDev_t dev) {
+ uint16_t limit;
+ int scaling;
+
+ LOG_FUNCTION_START("");
+
+ scaling = _GetUpscale(dev);
+ /* FIXME we do assume here _GetUpscale is valid if user call us prior to init we may overflow the LUT mem area */
+ limit = UpperLimitLookUP[scaling - 1];
+
+ LOG_FUNCTION_END((int )limit);
+ return limit;
+}
+
+
+
+int VL6180X::VL6180x_StaticInit(VL6180xDev_t dev){
+ int status=0, init_status;
+ LOG_FUNCTION_START("");
+
+ /* TODO doc When using configurable scaling but using 1x as start condition
+ * load tunning upscale or not ??? */
+ if( _GetUpscale(dev) == 1 && !(VL6180x_UPSCALE_SUPPORT<0))
+ init_status=VL6180x_RangeStaticInit(dev);
+ else
+ init_status=VL6180x_UpscaleStaticInit(dev);
+
+ if( init_status <0 ){
+ VL6180x_ErrLog("StaticInit fail");
+ goto error;
+ }
+ else if(init_status > 0){
+ VL6180x_ErrLog("StaticInit warning");
+ }
+
+#if REFRESH_CACHED_DATA_AFTER_INIT
+ /* update cached value after tuning applied */
+ do{
+#ifdef VL6180x_HAVE_ALS_DATA
+ uint8_t data;
+ status= VL6180x_RdByte(dev, FW_ALS_RESULT_SCALER, &data);
+ if( status ) break;
+ VL6180xDevDataSet(dev, AlsScaler, data);
+
+ status= VL6180x_RdByte(dev, SYSALS_ANALOGUE_GAIN, &data);
+ if( status ) break;
+ VL6180x_AlsSetAnalogueGain(dev, data);
+#endif
+ }
+ while(0);
+#endif /* REFRESH_CACHED_DATA_AFTER_INIT */
+ if( status < 0 ){
+ VL6180x_ErrLog("StaticInit fail");
+ }
+ if( !status && init_status){
+ status = init_status;
+ }
+error:
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+
+int VL6180X::VL6180x_SetGroupParamHold(VL6180xDev_t dev, int Hold)
+{
+ int status;
+ uint8_t value;
+
+ LOG_FUNCTION_START("%d", Hold);
+ if( Hold )
+ value = 1;
+ else
+ value = 0;
+ status = VL6180x_WrByte(dev, SYSTEM_GROUPED_PARAMETER_HOLD, value);
+
+ LOG_FUNCTION_END(status);
+ return status;
+
+}
+
+int VL6180X::VL6180x_Prepare(VL6180xDev_t dev)
+{
+ int status;
+ LOG_FUNCTION_START("");
+
+ do{
+ status=VL6180x_StaticInit(dev);
+ if( status<0) break;
+
+ /* set range InterruptMode to new sample */
+ status=VL6180x_RangeConfigInterrupt(dev, CONFIG_GPIO_INTERRUPT_DISABLED );
+ if( status)
+ break;
+
+ /* set default threshold */
+ status=VL6180x_RangeSetRawThresholds(dev, 10, 200);
+ if( status ){
+ VL6180x_ErrLog("VL6180x_RangeSetRawThresholds fail");
+ break;
+ }
+#if VL6180x_ALS_SUPPORT
+ status =VL6180x_AlsSetIntegrationPeriod(dev, 100);
+ if( status ) break;
+ status = VL6180x_AlsSetInterMeasurementPeriod(dev, 200);
+ if( status ) break;
+ status = VL6180x_AlsSetAnalogueGain(dev, 0);
+ if( status ) break;
+ status = VL6180x_AlsSetThresholds(dev, 0, 0xFFFF);
+ if( status ) break;
+ /* set Als InterruptMode to new sample */
+ status=VL6180x_AlsConfigInterrupt(dev, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if( status ) {
+ VL6180x_ErrLog("VL6180x_AlsConfigInterrupt fail");
+ break;
+ }
+#endif
+#if VL6180x_WRAP_AROUND_FILTER_SUPPORT
+ _filter_Init(dev);
+#endif
+ /* make sure to reset any left previous condition that can hangs first poll */
+ status=VL6180x_ClearAllInterrupt(dev);
+ }
+ while(0);
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+#if VL6180x_ALS_SUPPORT
+int VL6180X::VL6180x_AlsGetLux(VL6180xDev_t dev, lux_t *pLux)
+{
+ int status;
+ uint16_t RawAls;
+ uint32_t luxValue = 0;
+ uint32_t IntPeriod;
+ uint32_t AlsAnGain;
+ uint32_t GainFix;
+ uint32_t AlsScaler;
+
+#if LUXRES_FIX_PREC != GAIN_FIX_PREC
+#error "LUXRES_FIX_PREC != GAIN_FIX_PREC review these code to be correct"
+#endif
+ const uint32_t LuxResxIntIme =(uint32_t)(0.56f* DEF_INT_PEFRIOD *(1<<LUXRES_FIX_PREC));
+
+ LOG_FUNCTION_START("%p", pLux);
+
+ status = VL6180x_RdWord( dev, RESULT_ALS_VAL, &RawAls);
+ if( !status){
+ /* wer are yet here at no fix point */
+ IntPeriod=VL6180xDevDataGet(dev, IntegrationPeriod);
+ AlsScaler=VL6180xDevDataGet(dev, AlsScaler);
+ IntPeriod++; /* what stored is real time ms -1 and it can be 0 for or 0 or 1ms */
+ luxValue = (uint32_t)RawAls * LuxResxIntIme; /* max # 16+8bits + 6bit (0.56*100) */
+ luxValue /= IntPeriod; /* max # 16+8bits + 6bit 16+8+1 to 9 bit */
+ /* between 29 - 21 bit */
+ AlsAnGain = VL6180xDevDataGet(dev, AlsGainCode);
+ GainFix = AlsGainLookUp[AlsAnGain];
+ luxValue = luxValue / (AlsScaler * GainFix);
+ *pLux=luxValue;
+ }
+
+ LOG_FUNCTION_END_FMT(status, "%x",(int)*pLux);
+ return status;
+}
+
+int VL6180X::VL6180x_AlsGetMeasurement(VL6180xDev_t dev, VL6180x_AlsData_t *pAlsData)
+{
+ int status;
+ uint8_t ErrStatus;
+
+ LOG_FUNCTION_START("%p", pAlsData);
+
+ status = VL6180x_AlsGetLux(dev, &pAlsData->lux);
+ if( !status ){
+ status = VL6180x_RdByte(dev, RESULT_ALS_STATUS, & ErrStatus);
+ pAlsData->errorStatus = ErrStatus>>4;
+ }
+ LOG_FUNCTION_END_FMT(status,"%d %d", (int)pAlsData->lux, (int)pAlsData->errorStatus);
+
+ return status;
+}
+
+
+int VL6180X::VL6180x_AlsPollMeasurement(VL6180xDev_t dev, VL6180x_AlsData_t *pAlsData) {
+ int status;
+ int ClrStatus;
+ uint8_t IntStatus;
+
+ LOG_FUNCTION_START("%p", pAlsData);
+#if VL6180X_SAFE_POLLING_ENTER
+ /* if device get stopped with left interrupt uncleared , it is required to clear them now or poll for new condition will never occur*/
+ status=VL6180x_AlsClearInterrupt(dev);
+ if(status){
+ VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
+ goto over;
+ }
+#endif
+
+ status=VL6180x_AlsSetSystemMode(dev, MODE_START_STOP|MODE_SINGLESHOT);
+ if( status){
+ VL6180x_ErrLog("VL6180x_AlsSetSystemMode fail");
+ goto over;
+ }
+
+ /* poll for new sample ready */
+ while (1 ) {
+ status = VL6180x_AlsGetInterruptStatus(dev, &IntStatus);
+ if (status) {
+ break;
+ }
+ if (IntStatus == RES_INT_STAT_GPIO_NEW_SAMPLE_READY) {
+ break; /* break on new data (status is 0) */
+ }
+ wait_ms(10);
+ };
+
+ if (!status) {
+ status = VL6180x_AlsGetMeasurement(dev, pAlsData);
+ }
+
+ ClrStatus = VL6180x_AlsClearInterrupt(dev);
+ if (ClrStatus) {
+ VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
+ if (!status) {
+ status = ClrStatus; /* leave previous if already on error */
+ }
+ }
+over:
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+int VL6180X::VL6180x_AlsGetInterruptStatus(VL6180xDev_t dev, uint8_t *pIntStatus) {
+ int status;
+ uint8_t IntStatus;
+ LOG_FUNCTION_START("%p", pIntStatus);
+
+ status = VL6180x_RdByte(dev, RESULT_INTERRUPT_STATUS_GPIO, &IntStatus);
+ *pIntStatus= (IntStatus>>3)&0x07;
+
+ LOG_FUNCTION_END_FMT(status, "%d", (int)*pIntStatus);
+ return status;
+}
+
+int VL6180X::VL6180x_AlsWaitDeviceReady(VL6180xDev_t dev, int MaxLoop ){
+ int status;
+ int n;
+ uint8_t u8;
+ LOG_FUNCTION_START("%d", (int)MaxLoop);
+ if( MaxLoop<1){
+ status=INVALID_PARAMS;
+ }
+ else{
+ for( n=0; n < MaxLoop ; n++){
+ status=VL6180x_RdByte(dev, RESULT_ALS_STATUS, &u8);
+ if( status)
+ break;
+ u8 = u8 & ALS_DEVICE_READY_MASK;
+ if( u8 )
+ break;
+
+ }
+ if( !status && !u8 ){
+ status = TIME_OUT;
+ }
+ }
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+int VL6180X::VL6180x_AlsSetSystemMode(VL6180xDev_t dev, uint8_t mode)
+{
+ int status;
+ LOG_FUNCTION_START("%d", (int)mode);
+ /* FIXME if we are called back to back real fast we are not checking
+ * if previous mode "set" got absorbed => bit 0 must be 0 so that wr 1 work */
+ if( mode <= 3){
+ status=VL6180x_WrByte(dev, SYSALS_START, mode);
+ }
+ else{
+ status = INVALID_PARAMS;
+ }
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+int VL6180X::VL6180x_AlsConfigInterrupt(VL6180xDev_t dev, uint8_t ConfigGpioInt)
+{
+ int status;
+
+ if( ConfigGpioInt<= CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY){
+ status = VL6180x_UpdateByte(dev, SYSTEM_INTERRUPT_CONFIG_GPIO, (uint8_t)(~CONFIG_GPIO_ALS_MASK), (ConfigGpioInt<<3));
+ }
+ else{
+ VL6180x_ErrLog("Invalid config mode param %d", (int)ConfigGpioInt);
+ status = INVALID_PARAMS;
+ }
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+
+
+int VL6180X::VL6180x_AlsSetThresholds(VL6180xDev_t dev, uint16_t low, uint16_t high) {
+ int status;
+
+ LOG_FUNCTION_START("%d %d", (int )low, (int)high);
+
+ status = VL6180x_WrWord(dev, SYSALS_THRESH_LOW, low);
+ if(!status ){
+ status = VL6180x_WrWord(dev, SYSALS_THRESH_HIGH, high);
+ }
+
+ LOG_FUNCTION_END(status) ;
+ return status;
+}
+
+
+int VL6180X::VL6180x_AlsSetAnalogueGain(VL6180xDev_t dev, uint8_t gain) {
+ int status;
+ uint8_t GainTotal;
+
+ LOG_FUNCTION_START("%d", (int )gain);
+ gain&=~0x40;
+ if (gain > 7) {
+ gain = 7;
+ }
+ GainTotal = gain|0x40;
+
+ status = VL6180x_WrByte(dev, SYSALS_ANALOGUE_GAIN, GainTotal);
+ if( !status){
+ VL6180xDevDataSet(dev, AlsGainCode, gain);
+ }
+
+ LOG_FUNCTION_END_FMT(status, "%d %d", (int ) gain, (int )GainTotal);
+ return status;
+}
+
+int VL6180X::VL6180x_AlsSetInterMeasurementPeriod(VL6180xDev_t dev, uint16_t intermeasurement_period_ms)
+{
+ int status;
+
+ LOG_FUNCTION_START("%d",(int)intermeasurement_period_ms);
+ /* clipping: range is 0-2550ms */
+ if (intermeasurement_period_ms >= 255 *10)
+ intermeasurement_period_ms = 255 *10;
+ status=VL6180x_WrByte(dev, SYSALS_INTERMEASUREMENT_PERIOD, (uint8_t)(intermeasurement_period_ms/10));
+
+ LOG_FUNCTION_END_FMT(status, "%d", (int) intermeasurement_period_ms);
+ return status;
+}
+
+
+int VL6180X::VL6180x_AlsSetIntegrationPeriod(VL6180xDev_t dev, uint16_t period_ms)
+{
+ int status;
+ uint16_t SetIntegrationPeriod;
+
+ LOG_FUNCTION_START("%d", (int)period_ms);
+
+ if( period_ms>=1 )
+ SetIntegrationPeriod = period_ms - 1;
+ else
+ SetIntegrationPeriod = period_ms;
+
+ if (SetIntegrationPeriod > 464) {
+ SetIntegrationPeriod = 464;
+ }
+ else if (SetIntegrationPeriod == 255) {
+ SetIntegrationPeriod++; /* can't write 255 since this causes the device to lock out.*/
+ }
+
+ status =VL6180x_WrWord(dev, SYSALS_INTEGRATION_PERIOD, SetIntegrationPeriod);
+ if( !status ){
+ VL6180xDevDataSet(dev, IntegrationPeriod, SetIntegrationPeriod) ;
+ }
+ LOG_FUNCTION_END_FMT(status, "%d", (int)SetIntegrationPeriod);
+ return status;
+}
+
+#endif /* HAVE_ALS_SUPPORT */
+
+
+int VL6180X::VL6180x_RangePollMeasurement(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData)
+{
+ int status;
+ int ClrStatus;
+ IntrStatus_t IntStatus;
+
+ LOG_FUNCTION_START("");
+ /* start single range measurement */
+
+
+#if VL6180X_SAFE_POLLING_ENTER
+ /* if device get stopped with left interrupt uncleared , it is required to clear them now or poll for new condition will never occur*/
+ status=VL6180x_RangeClearInterrupt(dev);
+ if(status){
+ VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
+ goto done;
+ }
+#endif
+ /* //![single_shot_snipet] */
+ status=VL6180x_RangeSetSystemMode(dev, MODE_START_STOP|MODE_SINGLESHOT);
+ if( status ){
+ VL6180x_ErrLog("VL6180x_RangeSetSystemMode fail");
+ goto done;
+ }
+
+ /* poll for new sample ready */
+ while(1 ){
+ status=VL6180x_RangeGetInterruptStatus(dev, &IntStatus.val);
+ if( status ){
+ break;
+ }
+ if( IntStatus.status.Error !=0 ){
+ VL6180x_ErrLog("GPIO int Error report %d",(int)IntStatus.val);
+ status = RANGE_ERROR;
+ break;
+ }
+ else
+ if( IntStatus.status.Range == RES_INT_STAT_GPIO_NEW_SAMPLE_READY){
+ break;
+ }
+ wait_ms(10);
+ }
+ /* //![single_shot_snipet] */
+
+ if ( !status ){
+ status = VL6180x_RangeGetMeasurement(dev, pRangeData);
+ }
+
+ /* clear range interrupt source */
+ ClrStatus = VL6180x_RangeClearInterrupt(dev);
+ if( ClrStatus ){
+ VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
+ /* leave initial status if already in error */
+ if( !status ){
+ status=ClrStatus;
+ }
+ }
+done:
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+
+
+int VL6180X::VL6180x_RangeGetMeasurement(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData)
+{
+ int status;
+ uint16_t RawRate;
+ uint8_t RawStatus;
+
+ LOG_FUNCTION_START("");
+
+ status = VL6180x_RangeGetResult(dev, &pRangeData->range_mm);
+ if( !status ){
+ status = VL6180x_RdWord(dev,RESULT_RANGE_SIGNAL_RATE, &RawRate );
+ if( !status ){
+ pRangeData->signalRate_mcps = VL6180x_9to7Conv(RawRate);
+ status = VL6180x_RdByte(dev, RESULT_RANGE_STATUS, &RawStatus);
+ if( !status ){
+ pRangeData->errorStatus = RawStatus >>4;
+ }
+ else{
+ VL6180x_ErrLog("Rd RESULT_RANGE_STATUS fail");
+ }
+ #if VL6180x_WRAP_AROUND_FILTER_SUPPORT || VL6180x_HAVE_DMAX_RANGING
+ status = _GetRateResult(dev, pRangeData);
+ if( status )
+ goto error;
+ #endif
+ #if VL6180x_WRAP_AROUND_FILTER_SUPPORT
+ /* if enabled run filter */
+ if( _IsWrapArroundActive(dev) ){
+ status=_filter_GetResult(dev, pRangeData);
+ if( !status){
+ /* patch the range status and measure if it is filtered */
+ if( pRangeData->range_mm != pRangeData->FilteredData.range_mm) {
+ pRangeData->errorStatus=RangingFiltered;
+ pRangeData->range_mm = pRangeData->FilteredData.range_mm;
+ }
+ }
+ }
+ #endif
+
+#if VL6180x_HAVE_DMAX_RANGING
+ if(_IsDMaxActive(dev) ){
+ _DMax_Compute(dev, pRangeData);
+ }
+#endif
+ }
+ else{
+ VL6180x_ErrLog("Rd RESULT_RANGE_SIGNAL_RATE fail");
+ }
+ }
+ else{
+ VL6180x_ErrLog("VL6180x_GetRangeResult fail");
+ }
+error:
+ LOG_FUNCTION_END_FMT(status, "%d %d %d", (int)pRangeData->range_mm, (int)pRangeData->signalRate_mcps, (int)pRangeData->errorStatus) ;
+ return status;
+}
+
+
+int VL6180X::VL6180x_RangeGetMeasurementIfReady(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData)
+{
+ int status;
+ IntrStatus_t IntStatus;
+
+ LOG_FUNCTION_START();
+
+ status = VL6180x_RangeGetInterruptStatus(dev, &IntStatus.val);
+ if( status ==0 ){
+ if( IntStatus.status.Error !=0 ){
+ VL6180x_ErrLog("GPIO int Error report %d",(int)IntStatus.val);
+ status = RANGE_ERROR;
+ }
+ else
+ if( IntStatus.status.Range == RES_INT_STAT_GPIO_NEW_SAMPLE_READY){
+ status = VL6180x_RangeGetMeasurement(dev,pRangeData );
+ if( status == 0){
+ /* clear range interrupt source */
+ status = VL6180x_RangeClearInterrupt(dev);
+ if( status ){
+ VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
+ }
+ }
+ }
+ else{
+ status = NOT_READY;
+ }
+ }
+ else{
+ VL6180x_ErrLog("fail to get interrupt status");
+ }
+ LOG_FUNCTION_END(status) ;
+ return status;
+}
+
+int VL6180X::VL6180x_FilterSetState(VL6180xDev_t dev, int state){
+ int status;
+ LOG_FUNCTION_START("%d", state);
+#if VL6180x_WRAP_AROUND_FILTER_SUPPORT
+ VL6180xDevDataSet(dev,WrapAroundFilterActive, state);
+ status = 0;
+#else
+ status = NOT_SUPPORTED;
+#endif
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+int VL6180X::VL6180x_FilterGetState(VL6180xDev_t dev){
+ int status;
+ LOG_FUNCTION_START("");
+#if VL6180x_WRAP_AROUND_FILTER_SUPPORT
+ status = VL6180xDevDataGet(dev,WrapAroundFilterActive);
+#else
+ status = 0;
+#endif
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+int VL6180X::VL6180x_RangeGetResult(VL6180xDev_t dev, int32_t *pRange_mm) {
+ int status;
+ uint8_t RawRange;
+ int32_t Upscale;
+
+ LOG_FUNCTION_START("%p",pRange_mm);
+
+ status = VL6180x_RdByte(dev, RESULT_RANGE_VAL, &RawRange);
+ if( !status ){
+ Upscale = _GetUpscale(dev);
+ *pRange_mm= Upscale*(int32_t)RawRange;
+ }
+ LOG_FUNCTION_END_FMT(status, "%d", (int)*pRange_mm);
+ return status;
+}
+
+int VL6180X::VL6180x_RangeSetRawThresholds(VL6180xDev_t dev, uint8_t low, uint8_t high)
+{
+ int status;
+ LOG_FUNCTION_START("%d %d", (int) low, (int)high);
+ /* TODO we can optimize here grouping high/low in a word but that's cpu endianness dependent */
+ status=VL6180x_WrByte(dev, SYSRANGE_THRESH_HIGH,high);
+ if( !status){
+ status=VL6180x_WrByte(dev, SYSRANGE_THRESH_LOW, low);
+ }
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+int VL6180X::VL6180x_RangeSetThresholds(VL6180xDev_t dev, uint16_t low, uint16_t high, int UseSafeParamHold)
+{
+ int status;
+ int scale;
+ LOG_FUNCTION_START("%d %d", (int) low, (int)high);
+ scale=_GetUpscale(dev,UpscaleFactor);
+ if( low>scale*255 || high >scale*255){
+ status = INVALID_PARAMS;
+ }
+ else{
+ do{
+ if( UseSafeParamHold ){
+ status=VL6180x_SetGroupParamHold(dev, 1);
+ if( status )
+ break;
+ }
+ status=VL6180x_RangeSetRawThresholds(dev, (uint8_t)(low/scale), (uint8_t)(high/scale));
+ if( status ){
+ VL6180x_ErrLog("VL6180x_RangeSetRawThresholds fail");
+ }
+ if( UseSafeParamHold ){
+ int HoldStatus;
+ /* tryt to unset param hold vene if previous fail */
+ HoldStatus=VL6180x_SetGroupParamHold(dev, 0);
+ if( !status)
+ status=HoldStatus;
+ }
+ }
+ while(0);
+ }
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+
+int VL6180X::VL6180x_RangeGetThresholds(VL6180xDev_t dev, uint16_t *low, uint16_t *high)
+{
+ int status;
+ uint8_t RawLow, RawHigh;
+ int scale;
+
+ LOG_FUNCTION_START("%p %p", low , high);
+
+ scale=_GetUpscale(dev,UpscaleFactor);
+ do{
+ if( high != NULL ){
+ status=VL6180x_RdByte(dev, SYSRANGE_THRESH_HIGH,&RawHigh);
+ if( status ){
+ VL6180x_ErrLog("rd SYSRANGE_THRESH_HIGH fail");
+ break;
+ }
+ *high=(uint16_t)RawHigh*scale;
+ }
+ if( low != NULL ) {
+ status=VL6180x_RdByte(dev, SYSRANGE_THRESH_LOW, &RawLow);
+ if( status ){
+ VL6180x_ErrLog("rd SYSRANGE_THRESH_LOW fail");
+ break;
+ }
+ *low=(uint16_t)RawLow*scale;
+ }
+ }
+ while(0);
+ LOG_FUNCTION_END_FMT(status, "%d %d",(int)*low ,(int)*high);
+ return status;
+}
+
+
+int VL6180X::VL6180x_RangeGetInterruptStatus(VL6180xDev_t dev, uint8_t *pIntStatus) {
+ int status;
+ uint8_t IntStatus;
+ LOG_FUNCTION_START("%p", pIntStatus);
+ /* FIXME we are grouping "error" with over status the user must check implicitly for it
+ * not just new sample or over status , that will nevr show up in case of error*/
+ status = VL6180x_RdByte(dev, RESULT_INTERRUPT_STATUS_GPIO, &IntStatus);
+ *pIntStatus= IntStatus&0xC7;
+
+ LOG_FUNCTION_END_FMT(status, "%d", (int)*pIntStatus);
+ return status;
+}
+
+
+int VL6180X::VL6180x_GetInterruptStatus(VL6180xDev_t dev, uint8_t *IntStatus)
+{
+ int status;
+ LOG_FUNCTION_START("%p" , IntStatus);
+ status = VL6180x_RdByte(dev, RESULT_INTERRUPT_STATUS_GPIO, IntStatus);
+ LOG_FUNCTION_END_FMT(status, "%d", (int)*IntStatus);
+ return status;
+}
+
+int VL6180X::VL6180x_ClearInterrupt(VL6180xDev_t dev, uint8_t IntClear )
+{
+ int status;
+ LOG_FUNCTION_START("%d" ,(int)IntClear);
+ if( IntClear <= 7 ){
+ status=VL6180x_WrByte( dev, SYSTEM_INTERRUPT_CLEAR, IntClear);
+ }
+ else{
+ status = INVALID_PARAMS;
+ }
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+
+int VL6180X::VL6180x_RangeStaticInit(VL6180xDev_t dev)
+{
+ int status;
+ LOG_FUNCTION_START("");
+
+ /* REGISTER_TUNING_SR03_270514_CustomerView.txt */
+ VL6180x_WrByte( dev, 0x0207, 0x01);
+ VL6180x_WrByte( dev, 0x0208, 0x01);
+ VL6180x_WrByte( dev, 0x0096, 0x00);
+ VL6180x_WrByte( dev, 0x0097, 0xfd);
+ VL6180x_WrByte( dev, 0x00e3, 0x00);
+ VL6180x_WrByte( dev, 0x00e4, 0x04);
+ VL6180x_WrByte( dev, 0x00e5, 0x02);
+ VL6180x_WrByte( dev, 0x00e6, 0x01);
+ VL6180x_WrByte( dev, 0x00e7, 0x03);
+ VL6180x_WrByte( dev, 0x00f5, 0x02);
+ VL6180x_WrByte( dev, 0x00d9, 0x05);
+ VL6180x_WrByte( dev, 0x00db, 0xce);
+ VL6180x_WrByte( dev, 0x00dc, 0x03);
+ VL6180x_WrByte( dev, 0x00dd, 0xf8);
+ VL6180x_WrByte( dev, 0x009f, 0x00);
+ VL6180x_WrByte( dev, 0x00a3, 0x3c);
+ VL6180x_WrByte( dev, 0x00b7, 0x00);
+ VL6180x_WrByte( dev, 0x00bb, 0x3c);
+ VL6180x_WrByte( dev, 0x00b2, 0x09);
+ VL6180x_WrByte( dev, 0x00ca, 0x09);
+ VL6180x_WrByte( dev, 0x0198, 0x01);
+ VL6180x_WrByte( dev, 0x01b0, 0x17);
+ VL6180x_WrByte( dev, 0x01ad, 0x00);
+ VL6180x_WrByte( dev, 0x00ff, 0x05);
+ VL6180x_WrByte( dev, 0x0100, 0x05);
+ VL6180x_WrByte( dev, 0x0199, 0x05);
+ VL6180x_WrByte( dev, 0x01a6, 0x1b);
+ VL6180x_WrByte( dev, 0x01ac, 0x3e);
+ VL6180x_WrByte( dev, 0x01a7, 0x1f);
+ VL6180x_WrByte( dev, 0x0030, 0x00);
+
+ /* Recommended : Public registers - See data sheet for more detail */
+ VL6180x_WrByte( dev, SYSTEM_MODE_GPIO1, 0x10); /* Enables polling for New Sample ready when measurement completes */
+ VL6180x_WrByte( dev, READOUT_AVERAGING_SAMPLE_PERIOD, 0x30); /* Set the averaging sample period (compromise between lower noise and increased execution time) */
+ VL6180x_WrByte( dev, SYSALS_ANALOGUE_GAIN, 0x46); /* Sets the light and dark gain (upper nibble). Dark gain should not be changed.*/
+ VL6180x_WrByte( dev, SYSRANGE_VHV_REPEAT_RATE, 0xFF); /* sets the # of range measurements after which auto calibration of system is performed */
+ VL6180x_WrByte( dev, SYSALS_INTEGRATION_PERIOD, 0x63); /* Set ALS integration time to 100ms */
+ VL6180x_WrByte( dev, SYSRANGE_VHV_RECALIBRATE, 0x01); /* perform a single temperature calibration of the ranging sensor */
+
+ /* Optional: Public registers - See data sheet for more detail */
+ VL6180x_WrByte( dev, SYSRANGE_INTERMEASUREMENT_PERIOD, 0x09); /* Set default ranging inter-measurement period to 100ms */
+ VL6180x_WrByte( dev, SYSALS_INTERMEASUREMENT_PERIOD, 0x31); /* Set default ALS inter-measurement period to 500ms */
+ VL6180x_WrByte( dev, SYSTEM_INTERRUPT_CONFIG_GPIO, 0x24); /* Configures interrupt on New sample ready */
+
+
+ status=VL6180x_RangeSetMaxConvergenceTime(dev, 50); /* Calculate ece value on initialization (use max conv) */
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+#if VL6180x_UPSCALE_SUPPORT != 1
+
+int VL6180X::_UpscaleInitPatch0(VL6180xDev_t dev){
+ int status;
+ uint32_t CalValue=0;
+ CalValue= VL6180xDevDataGet(dev, Part2PartAmbNVM);
+ status=VL6180x_WrDWord( dev, 0xDA, CalValue);
+ return status;
+}
+
+/* only include up-scaling register setting when up-scale support is configured in */
+int VL6180X::VL6180x_UpscaleRegInit(VL6180xDev_t dev)
+{
+ /* apply REGISTER_TUNING_ER02_100614_CustomerView.txt */
+ VL6180x_WrByte( dev, 0x0207, 0x01);
+ VL6180x_WrByte( dev, 0x0208, 0x01);
+ VL6180x_WrByte( dev, 0x0096, 0x00);
+ VL6180x_WrByte( dev, 0x0097, 0x54);
+ VL6180x_WrByte( dev, 0x00e3, 0x00);
+ VL6180x_WrByte( dev, 0x00e4, 0x04);
+ VL6180x_WrByte( dev, 0x00e5, 0x02);
+ VL6180x_WrByte( dev, 0x00e6, 0x01);
+ VL6180x_WrByte( dev, 0x00e7, 0x03);
+ VL6180x_WrByte( dev, 0x00f5, 0x02);
+ VL6180x_WrByte( dev, 0x00d9, 0x05);
+
+ _UpscaleInitPatch0(dev);
+
+ VL6180x_WrByte( dev, 0x009f, 0x00);
+ VL6180x_WrByte( dev, 0x00a3, 0x28);
+ VL6180x_WrByte( dev, 0x00b7, 0x00);
+ VL6180x_WrByte( dev, 0x00bb, 0x28);
+ VL6180x_WrByte( dev, 0x00b2, 0x09);
+ VL6180x_WrByte( dev, 0x00ca, 0x09);
+ VL6180x_WrByte( dev, 0x0198, 0x01);
+ VL6180x_WrByte( dev, 0x01b0, 0x17);
+ VL6180x_WrByte( dev, 0x01ad, 0x00);
+ VL6180x_WrByte( dev, 0x00ff, 0x05);
+ VL6180x_WrByte( dev, 0x0100, 0x05);
+ VL6180x_WrByte( dev, 0x0199, 0x05);
+ VL6180x_WrByte( dev, 0x01a6, 0x1b);
+ VL6180x_WrByte( dev, 0x01ac, 0x3e);
+ VL6180x_WrByte( dev, 0x01a7, 0x1f);
+ VL6180x_WrByte( dev, 0x0030, 0x00);
+ VL6180x_WrByte( dev, SYSTEM_MODE_GPIO1, 0x10);
+ VL6180x_WrByte( dev, READOUT_AVERAGING_SAMPLE_PERIOD, 0x30);
+ VL6180x_WrByte( dev, SYSALS_ANALOGUE_GAIN, 0x46);
+ VL6180x_WrByte( dev, SYSRANGE_VHV_REPEAT_RATE, 0xFF);
+ VL6180x_WrByte( dev, SYSALS_INTEGRATION_PERIOD, 0x63);
+ VL6180x_WrByte( dev, SYSRANGE_VHV_RECALIBRATE, 0x01);
+ VL6180x_WrByte( dev, SYSRANGE_MAX_AMBIENT_LEVEL_MULT, 0xff);
+ VL6180x_WrByte( dev, SYSRANGE_INTERMEASUREMENT_PERIOD, 0x09);
+ VL6180x_WrByte( dev, SYSALS_INTERMEASUREMENT_PERIOD, 0x31);
+ VL6180x_WrByte( dev, SYSTEM_INTERRUPT_CONFIG_GPIO, 0x24);
+#if VL6180x_EXTENDED_RANGE
+ VL6180x_RangeSetMaxConvergenceTime(dev, 63);
+#else
+ VL6180x_RangeSetMaxConvergenceTime(dev, 50);
+#endif
+ return 0;
+}
+#else
+#define VL6180x_UpscaleRegInit(...) -1
+#endif
+
+int VL6180X::VL6180x_UpscaleSetScaling(VL6180xDev_t dev, uint8_t scaling)
+{
+ int status;
+ uint16_t Scaler;
+ int8_t Offset;
+
+ LOG_FUNCTION_START("%d",(int) scaling);
+
+#ifdef VL6180x_HAVE_UPSCALE_DATA
+ #define min_scaling 1
+ #define max_scaling sizeof(ScalerLookUP)/sizeof(ScalerLookUP[0])
+#else
+ /* we are in fixed config so only allow configured factor */
+ #define min_scaling VL6180x_UPSCALE_SUPPORT
+ #define max_scaling VL6180x_UPSCALE_SUPPORT
+#endif
+
+ if( scaling>=min_scaling && scaling<= max_scaling ){
+
+ Scaler = ScalerLookUP[scaling-1];
+ status = VL6180x_WrWord(dev, RANGE_SCALER, Scaler);
+ _SetUpscale(dev, scaling );
+
+ /* Apply scaling on part-2-part offset */
+ Offset = VL6180xDevDataGet(dev, Part2PartOffsetNVM)/scaling;
+ status = VL6180x_WrByte(dev, SYSRANGE_PART_TO_PART_RANGE_OFFSET, Offset);
+#if ! VL6180x_EXTENDED_RANGE
+ if( status ==0 ){
+ status = VL6180x_RangeSetEceState(dev, scaling == 1); /* enable ece only at 1x scaling */
+ }
+ if( status == 0 && !VL6180x_EXTENDED_RANGE && scaling!=1 ){
+ status = NOT_GUARANTEED ;
+ }
+#endif
+ }
+ else{
+ status = INVALID_PARAMS;
+ }
+#undef min_scaling
+#undef max_scaling
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+
+int VL6180X::VL6180x_UpscaleGetScaling(VL6180xDev_t dev)
+{
+ int status;
+ LOG_FUNCTION_START("");
+ status=_GetUpscale(dev );
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+int VL6180X::VL6180x_UpscaleStaticInit(VL6180xDev_t dev)
+{
+ /* todo make these a fail macro in case only 1x is suppoted */
+ int status;
+
+ LOG_FUNCTION_START("");
+ do{
+ status=VL6180x_UpscaleRegInit(dev);
+ if( status){
+ VL6180x_ErrLog("regInit fail");
+ break;
+ }
+#if VL6180x_EXTENDED_RANGE
+ status = VL6180x_RangeSetEceState(dev, 0);
+ if( status){
+ VL6180x_ErrLog("VL6180x_RangeSetEceState fail");
+ break;
+ }
+#endif
+ } while(0);
+ if( !status){
+ /* must write the scaler at least once to the device to ensure the scaler is in a known state. */
+ status=VL6180x_UpscaleSetScaling(dev, _GetUpscale(dev));
+ VL6180x_WrByte( dev, SYSTEM_FRESH_OUT_OF_RESET, 0x00); /* change fresh out of set status to 0 */
+ }
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+
+int VL6180X::VL6180x_SetGPIOxPolarity(VL6180xDev_t dev, int pin, int active_high)
+{
+ int status;
+ LOG_FUNCTION_START("%d %d",(int) pin, (int)active_high);
+
+ if( pin ==0 || pin ==1 ){
+ uint16_t RegIndex;
+ uint8_t DataSet;
+ if( pin==0 )
+ RegIndex= SYSTEM_MODE_GPIO0;
+ else
+ RegIndex= SYSTEM_MODE_GPIO1;
+
+ if (active_high )
+ DataSet = GPIOx_POLARITY_SELECT_MASK;
+ else
+ DataSet = 0;
+
+ status = VL6180x_UpdateByte(dev, RegIndex, (uint8_t)~GPIOx_POLARITY_SELECT_MASK, DataSet);
+ }
+ else{
+ VL6180x_ErrLog("Invalid pin param %d", (int)pin);
+ status = INVALID_PARAMS;
+ }
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+int VL6180X::VL6180x_SetGPIOxFunctionality(VL6180xDev_t dev, int pin, uint8_t functionality)
+{
+ int status;
+
+ LOG_FUNCTION_START("%d %d",(int) pin, (int)functionality);
+
+ if( ((pin ==0) || (pin ==1)) && IsValidGPIOFunction(functionality) ){
+ uint16_t RegIndex;
+
+ if( pin==0 )
+ RegIndex= SYSTEM_MODE_GPIO0;
+ else
+ RegIndex= SYSTEM_MODE_GPIO1;
+
+ status = VL6180x_UpdateByte(dev, RegIndex, (uint8_t)~GPIOx_FUNCTIONALITY_SELECT_MASK, functionality<<GPIOx_FUNCTIONALITY_SELECT_SHIFT);
+ if( status){
+ VL6180x_ErrLog("Update SYSTEM_MODE_GPIO%d fail", (int)pin);
+ }
+ }
+ else{
+ VL6180x_ErrLog("Invalid pin %d or function %d", (int)pin, (int) functionality);
+ status = INVALID_PARAMS;
+ }
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+
+int VL6180X::VL6180x_SetupGPIOx(VL6180xDev_t dev, int pin, uint8_t IntFunction, int ActiveHigh)
+{
+ int status;
+
+ LOG_FUNCTION_START("%d %d",(int) pin, (int)IntFunction);
+
+ if( ((pin ==0) || (pin ==1)) && IsValidGPIOFunction(IntFunction) ){
+ uint16_t RegIndex;
+ uint8_t value=0;
+
+ if( pin==0 )
+ RegIndex= SYSTEM_MODE_GPIO0;
+ else
+ RegIndex= SYSTEM_MODE_GPIO1;
+
+ if( ActiveHigh )
+ value|=GPIOx_POLARITY_SELECT_MASK;
+
+ value |= IntFunction<<GPIOx_FUNCTIONALITY_SELECT_SHIFT;
+ status = VL6180x_WrByte(dev, RegIndex, value);
+ if( status ){
+ VL6180x_ErrLog("SYSTEM_MODE_GPIO%d wr fail", (int)pin-SYSTEM_MODE_GPIO0);
+ }
+ }
+ else{
+ VL6180x_ErrLog("Invalid pin %d or function %d", (int)pin, (int) IntFunction);
+ status = INVALID_PARAMS;
+ }
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+
+int VL6180X::VL6180x_DisableGPIOxOut(VL6180xDev_t dev, int pin) {
+ int status;
+
+ LOG_FUNCTION_START("%d",(int)pin);
+
+ status=VL6180x_SetGPIOxFunctionality(dev, pin, GPIOx_SELECT_OFF);
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+
+int VL6180X::VL6180x_SetupGPIO1(VL6180xDev_t dev, uint8_t IntFunction, int ActiveHigh)
+{
+ int status;
+ LOG_FUNCTION_START("%d %d",(int)IntFunction, (int)ActiveHigh );
+ status=VL6180x_SetupGPIOx(dev, 1 , IntFunction, ActiveHigh);
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+int VL6180X::VL6180x_RangeConfigInterrupt(VL6180xDev_t dev, uint8_t ConfigGpioInt)
+{
+ int status;
+
+ if( ConfigGpioInt<= CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY){
+ status = VL6180x_UpdateByte(dev, SYSTEM_INTERRUPT_CONFIG_GPIO, (uint8_t)(~CONFIG_GPIO_RANGE_MASK), ConfigGpioInt);
+ }
+ else{
+ VL6180x_ErrLog("Invalid config mode param %d", (int)ConfigGpioInt);
+ status = INVALID_PARAMS;
+ }
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+
+int VL6180X::VL6180x_RangeSetEceFactor(VL6180xDev_t dev, uint16_t FactorM, uint16_t FactorD){
+ int status;
+ uint8_t u8;
+
+ LOG_FUNCTION_START("%d %d", (int)FactorM, (int)FactorD );
+ do{
+ /* D cannot be 0 M must be <=D and >= 0 */
+ if( FactorM <= FactorD && FactorD> 0){
+ VL6180xDevDataSet(dev, EceFactorM, FactorM);
+ VL6180xDevDataSet(dev, EceFactorD, FactorD);
+ /* read and re-apply max conv time to get new ece factor set */
+ status = VL6180x_RdByte(dev, SYSRANGE_MAX_CONVERGENCE_TIME, &u8);
+ if( status){
+ VL6180x_ErrLog("SYSRANGE_MAX_CONVERGENCE_TIME rd fail ");
+ break;
+ }
+ status = VL6180x_RangeSetMaxConvergenceTime(dev, u8);
+ if( status <0 ){
+ VL6180x_ErrLog("fail to apply time after ece m/d change");
+ break;
+ }
+ }
+ else{
+ VL6180x_ErrLog("invalid factor %d/%d", (int)FactorM, (int)FactorD );
+ status = INVALID_PARAMS;
+ }
+ }
+ while(0);
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+int VL6180X::VL6180x_RangeSetEceState(VL6180xDev_t dev, int enable ){
+ int status;
+ uint8_t or_mask;
+
+ LOG_FUNCTION_START("%d", (int)enable);
+ if( enable )
+ or_mask = RANGE_CHECK_ECE_ENABLE_MASK;
+ else
+ or_mask = 0;
+
+ status =VL6180x_UpdateByte(dev, SYSRANGE_RANGE_CHECK_ENABLES, ~RANGE_CHECK_ECE_ENABLE_MASK, or_mask);
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+
+int VL6180X::VL6180x_RangeSetMaxConvergenceTime(VL6180xDev_t dev, uint8_t MaxConTime_msec)
+{
+ int status = 0;
+ LOG_FUNCTION_START("%d",(int)MaxConTime_msec);
+ do{
+ status=VL6180x_WrByte(dev, SYSRANGE_MAX_CONVERGENCE_TIME, MaxConTime_msec);
+ if( status ){
+ break;
+ }
+ status=VL6180x_RangeSetEarlyConvergenceEestimateThreshold(dev);
+ if( status){
+ break;
+ }
+ status = _DMax_InitData(dev);
+ }
+ while(0);
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+int VL6180X::VL6180x_RangeSetInterMeasPeriod(VL6180xDev_t dev, uint32_t InterMeasTime_msec){
+ uint8_t SetTime;
+ int status;
+
+ LOG_FUNCTION_START("%d",(int)InterMeasTime_msec);
+ do {
+ if( InterMeasTime_msec > 2550 ){
+ status = INVALID_PARAMS;
+ break;
+ }
+ /* doc in not 100% clear and confusing about the limit practically all value are OK but 0
+ * that can hang device in continuous mode */
+ if( InterMeasTime_msec < 10 ) {
+ InterMeasTime_msec=10;
+ }
+ SetTime=(uint8_t)(InterMeasTime_msec/10);
+ status=VL6180x_WrByte(dev, SYSRANGE_INTERMEASUREMENT_PERIOD, SetTime);
+ if( status ){
+ VL6180x_ErrLog("SYSRANGE_INTERMEASUREMENT_PERIOD wr fail");
+ }
+ else
+ if( SetTime != InterMeasTime_msec /10 ) {
+ status = MIN_CLIPED; /* on success change status to clip if it did */
+ }
+ }while(0);
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+
+int VL6180X::VL6180x_RangeGetDeviceReady(VL6180xDev_t dev, int * Ready){
+ int status;
+ uint8_t u8;
+ LOG_FUNCTION_START("%p", (int)Ready);
+ status=VL6180x_RdByte(dev, RESULT_RANGE_STATUS, &u8);
+ if( !status)
+ *Ready = u8&RANGE_DEVICE_READY_MASK;
+ LOG_FUNCTION_END_FMT(status,"%d", *Ready);
+ return status;
+}
+
+
+int VL6180X::VL6180x_RangeWaitDeviceReady(VL6180xDev_t dev, int MaxLoop ){
+ int status; /* if user specify an invalid <=0 loop count we'll return error */
+ int n;
+ uint8_t u8;
+ LOG_FUNCTION_START("%d", (int)MaxLoop);
+ if( MaxLoop<1){
+ status=INVALID_PARAMS;
+ }
+ else{
+ for( n=0; n < MaxLoop ; n++){
+ status=VL6180x_RdByte(dev, RESULT_RANGE_STATUS, &u8);
+ if( status)
+ break;
+ u8 = u8 & RANGE_DEVICE_READY_MASK;
+ if( u8 )
+ break;
+
+ }
+ if( !status && !u8 ){
+ status = TIME_OUT;
+ }
+ }
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+int VL6180X::VL6180x_RangeSetSystemMode(VL6180xDev_t dev, uint8_t mode)
+{
+ int status;
+ LOG_FUNCTION_START("%d", (int)mode);
+ /* FIXME we are not checking device is ready via @a VL6180x_RangeWaitDeviceReady
+ * so if called back to back real fast we are not checking
+ * if previous mode "set" got absorbed => bit 0 must be 0 so that it work
+ */
+ if( mode <= 3){
+ status=VL6180x_WrByte(dev, SYSRANGE_START, mode);
+ if( status ){
+ VL6180x_ErrLog("SYSRANGE_START wr fail");
+ }
+ }
+ else{
+ status = INVALID_PARAMS;
+ }
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+
+int VL6180X::VL6180x_RangeStartContinuousMode(VL6180xDev_t dev)
+{
+ int status;
+ LOG_FUNCTION_START("");
+ status= VL6180x_RangeSetSystemMode(dev, MODE_START_STOP | MODE_CONTINUOUS);
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+int VL6180X::VL6180x_RangeStartSingleShot(VL6180xDev_t dev) {
+ int status;
+ LOG_FUNCTION_START("");
+ status = VL6180x_RangeSetSystemMode(dev, MODE_START_STOP|MODE_SINGLESHOT);
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+
+int VL6180X::VL6180x_RangeSetEarlyConvergenceEestimateThreshold(VL6180xDev_t dev)
+{
+ int status;
+
+ const uint32_t cMicroSecPerMilliSec = 1000;
+ const uint32_t cEceSampleTime_us = 500;
+ uint32_t ece_factor_m = VL6180xDevDataGet(dev, EceFactorM);
+ uint32_t ece_factor_d = VL6180xDevDataGet(dev, EceFactorD);
+ uint32_t convergTime_us;
+ uint32_t fineThresh;
+ uint32_t eceThresh;
+ uint8_t u8;
+ uint32_t maxConv_ms;
+ int32_t AveTime;
+
+ LOG_FUNCTION_START("");
+
+ do{
+ status = VL6180x_RdByte(dev, SYSRANGE_MAX_CONVERGENCE_TIME, &u8);
+ if( status ){
+ VL6180x_ErrLog("SYSRANGE_MAX_CONVERGENCE_TIME rd fail");
+ break;
+ }
+ maxConv_ms = u8;
+ AveTime = _GetAveTotalTime(dev);
+ if( AveTime <0 ){
+ status=-1;
+ break;
+ }
+
+ convergTime_us = maxConv_ms * cMicroSecPerMilliSec - AveTime;
+ status = VL6180x_RdDWord(dev, 0xB8, &fineThresh);
+ if( status ) {
+ VL6180x_ErrLog("reg 0xB8 rd fail");
+ break;
+ }
+ fineThresh*=256;
+ eceThresh = ece_factor_m * cEceSampleTime_us * fineThresh/(convergTime_us * ece_factor_d);
+
+ status=VL6180x_WrWord(dev, SYSRANGE_EARLY_CONVERGENCE_ESTIMATE, (uint16_t)eceThresh);
+ }
+ while(0);
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+/*
+ * Return >0 = time
+ * <0 1 if fail to get read data from device to compute time
+ */
+int32_t VL6180X::_GetAveTotalTime(VL6180xDev_t dev) {
+ uint32_t cFwOverhead_us = 24;
+ uint32_t cVcpSetupTime_us = 70;
+ uint32_t cPLL2_StartupDelay_us = 200;
+ uint8_t cMeasMask = 0x07;
+ uint32_t Samples;
+ uint32_t SamplePeriod;
+ uint32_t SingleTime_us;
+ int32_t TotalAveTime_us;
+ uint8_t u8;
+ int status;
+
+ LOG_FUNCTION_START("");
+
+ status = VL6180x_RdByte(dev, 0x109, &u8);
+ if (status) {
+ VL6180x_ErrLog("rd 0x109 fail");
+ return -1;
+ }
+ Samples = u8 & cMeasMask;
+ status = VL6180x_RdByte(dev, READOUT_AVERAGING_SAMPLE_PERIOD, &u8);
+ if (status) {
+ VL6180x_ErrLog("i2c READOUT_AVERAGING_SAMPLE_PERIOD fail");
+ return -1;
+ }
+ SamplePeriod = u8;
+ SingleTime_us = cFwOverhead_us + cVcpSetupTime_us + (SamplePeriod * 10);
+ TotalAveTime_us = (Samples + 1) * SingleTime_us + cPLL2_StartupDelay_us;
+
+ LOG_FUNCTION_END(TotalAveTime_us);
+ return TotalAveTime_us;
+}
+
+#if VL6180x_HAVE_DMAX_RANGING
+#define _GetDMaxDataRetSignalAt400mm(dev) VL6180xDevDataGet(dev, DMaxData.retSignalAt400mm)
+#else
+#define _GetDMaxDataRetSignalAt400mm(dev) 375 // Use a default high value
+#endif
+
+
+#if VL6180x_WRAP_AROUND_FILTER_SUPPORT
+
+#define FILTER_STDDEV_SAMPLES 6
+#define MIN_FILTER_STDDEV_SAMPLES 3
+#define MIN_FILTER_VALID_STDDEV_SAMPLES 3
+#define FILTER_INVALID_DISTANCE 65535
+
+#define _FilterData(field) VL6180xDevDataGet(dev, FilterData.field)
+/*
+ * One time init
+ */
+static int _filter_Init( VL6180xDev_t dev) {
+ int i;
+ _FilterData(MeasurementIndex) = 0;
+
+ _FilterData(Default_ZeroVal) = 0;
+ _FilterData(Default_VAVGVal) = 0;
+ _FilterData(NoDelay_ZeroVal) = 0;
+ _FilterData(NoDelay_VAVGVal) = 0;
+ _FilterData(Previous_VAVGDiff) = 0;
+
+ _FilterData(StdFilteredReads) = 0;
+
+ for (i = 0; i < FILTER_NBOF_SAMPLES; i++) {
+ _FilterData(LastTrueRange)[i] = FILTER_INVALID_DISTANCE;
+ _FilterData(LastReturnRates)[i] = 0;
+ }
+ return 0;
+}
+
+
+static uint32_t _filter_StdDevDamper(uint32_t AmbientRate, uint32_t SignalRate, const uint32_t StdDevLimitLowLight, const uint32_t StdDevLimitLowLightSNR, const uint32_t StdDevLimitHighLight, const uint32_t StdDevLimitHighLightSNR) {
+ uint32_t newStdDev;
+ uint16_t SNR;
+
+ if (AmbientRate > 0)
+ SNR = (uint16_t) ((100 * SignalRate) / AmbientRate);
+ else
+ SNR = 9999;
+
+ if (SNR >= StdDevLimitLowLightSNR) {
+ newStdDev = StdDevLimitLowLight;
+ } else {
+ if (SNR <= StdDevLimitHighLightSNR)
+ newStdDev = StdDevLimitHighLight;
+ else {
+ newStdDev = (uint32_t) (StdDevLimitHighLight + (SNR - StdDevLimitHighLightSNR) * (int) (StdDevLimitLowLight - StdDevLimitHighLight) / (StdDevLimitLowLightSNR - StdDevLimitHighLightSNR));
+ }
+ }
+
+ return newStdDev;
+}
+
+
+/*
+ * Return <0 on error
+ */
+int32_t VL6180X::_filter_Start(VL6180xDev_t dev, uint16_t m_trueRange_mm, uint16_t m_rawRange_mm, uint32_t m_rtnSignalRate, uint32_t m_rtnAmbientRate, uint16_t errorCode) {
+ int status;
+ uint16_t m_newTrueRange_mm = 0;
+
+ uint16_t i;
+ uint16_t bypassFilter = 0;
+
+ uint16_t registerValue;
+
+ uint32_t register32BitsValue1;
+ uint32_t register32BitsValue2;
+
+ uint16_t ValidDistance = 0;
+
+ uint16_t WrapAroundFlag = 0;
+ uint16_t NoWrapAroundFlag = 0;
+ uint16_t NoWrapAroundHighConfidenceFlag = 0;
+
+ uint16_t FlushFilter = 0;
+ uint32_t RateChange = 0;
+
+ uint16_t StdDevSamples = 0;
+ uint32_t StdDevDistanceSum = 0;
+ uint32_t StdDevDistanceMean = 0;
+ uint32_t StdDevDistance = 0;
+ uint32_t StdDevRateSum = 0;
+ uint32_t StdDevRateMean = 0;
+ uint32_t StdDevRate = 0;
+ uint32_t StdDevLimitWithTargetMove = 0;
+
+ uint32_t VAVGDiff;
+ uint32_t IdealVAVGDiff;
+ uint32_t MinVAVGDiff;
+ uint32_t MaxVAVGDiff;
+
+ /* Filter Parameters */
+ static const uint16_t ROMABLE_DATA WrapAroundLowRawRangeLimit = 60;
+ static const uint32_t ROMABLE_DATA WrapAroundLowReturnRateLimit_ROM = 800; // Shall be adapted depending on crossTalk
+ static const uint16_t ROMABLE_DATA WrapAroundLowRawRangeLimit2 = 165;
+ static const uint32_t ROMABLE_DATA WrapAroundLowReturnRateLimit2_ROM = 180; // Shall be adapted depending on crossTalk and device sensitivity
+
+ static const uint32_t ROMABLE_DATA WrapAroundLowReturnRateFilterLimit_ROM = 850; // Shall be adapted depending on crossTalk and device sensitivity
+ static const uint16_t ROMABLE_DATA WrapAroundHighRawRangeFilterLimit = 350;
+ static const uint32_t ROMABLE_DATA WrapAroundHighReturnRateFilterLimit_ROM = 1400; // Shall be adapted depending on crossTalk and device sensitivity
+
+ static const uint32_t ROMABLE_DATA WrapAroundMaximumAmbientRateFilterLimit = 7500;
+
+ /* Temporal filter data and flush values */
+ static const uint32_t ROMABLE_DATA MinReturnRateFilterFlush = 75;
+ static const uint32_t ROMABLE_DATA MaxReturnRateChangeFilterFlush = 50;
+
+ /* STDDEV values and damper values */
+
+ static const uint32_t ROMABLE_DATA StdDevLimitLowLight = 300;
+ static const uint32_t ROMABLE_DATA StdDevLimitLowLightSNR = 30; /* 0.3 */
+ static const uint32_t ROMABLE_DATA StdDevLimitHighLight = 2500;
+ static const uint32_t ROMABLE_DATA StdDevLimitHighLightSNR = 5; /* 0.05 */
+
+ static const uint32_t ROMABLE_DATA StdDevHighConfidenceSNRLimit = 8;
+
+ static const uint32_t ROMABLE_DATA StdDevMovingTargetStdDevLimit = 90000;
+
+ static const uint32_t ROMABLE_DATA StdDevMovingTargetReturnRateLimit = 3500;
+ static const uint32_t ROMABLE_DATA StdDevMovingTargetStdDevForReturnRateLimit = 5000;
+
+ static const uint32_t ROMABLE_DATA MAX_VAVGDiff = 1800;
+
+ /* WrapAroundDetection variables */
+ static const uint16_t ROMABLE_DATA WrapAroundNoDelayCheckPeriod = 2;
+ static const uint16_t ROMABLE_DATA StdFilteredReadsIncrement = 2;
+ static const uint16_t ROMABLE_DATA StdMaxFilteredReads = 4;
+
+ uint32_t SignalRateDMax;
+ uint32_t WrapAroundLowReturnRateLimit;
+ uint32_t WrapAroundLowReturnRateLimit2;
+ uint32_t WrapAroundLowReturnRateFilterLimit;
+ uint32_t WrapAroundHighReturnRateFilterLimit;
+
+ uint8_t u8, u8_2;
+ uint32_t XTalkCompRate_KCps;
+ uint32_t StdDevLimit = 300;
+ uint32_t MaxOrInvalidDistance = 255*_GetUpscale(dev);
+ /* #define MaxOrInvalidDistance (uint16_t) (255 * 3) */
+
+ /* Check if distance is Valid or not */
+ switch (errorCode) {
+ case 0x0C:
+ m_trueRange_mm = MaxOrInvalidDistance;
+ ValidDistance = 0;
+ break;
+ case 0x0D:
+ m_trueRange_mm = MaxOrInvalidDistance;
+ ValidDistance = 1;
+ break;
+ case 0x0F:
+ m_trueRange_mm = MaxOrInvalidDistance;
+ ValidDistance = 1;
+ break;
+ default:
+ if (m_rawRange_mm >= MaxOrInvalidDistance) {
+ ValidDistance = 0;
+ } else {
+ ValidDistance = 1;
+ }
+ break;
+ }
+ m_newTrueRange_mm = m_trueRange_mm;
+
+ XTalkCompRate_KCps = VL6180xDevDataGet(dev, XTalkCompRate_KCps );
+
+
+ //Update signal rate limits depending on crosstalk
+ SignalRateDMax = (uint32_t)_GetDMaxDataRetSignalAt400mm(dev) + XTalkCompRate_KCps;
+ WrapAroundLowReturnRateLimit = WrapAroundLowReturnRateLimit_ROM + XTalkCompRate_KCps;
+ WrapAroundLowReturnRateLimit2 = ((WrapAroundLowReturnRateLimit2_ROM * SignalRateDMax) / 312) + XTalkCompRate_KCps;
+ WrapAroundLowReturnRateFilterLimit = ((WrapAroundLowReturnRateFilterLimit_ROM * SignalRateDMax) / 312) + XTalkCompRate_KCps;
+ WrapAroundHighReturnRateFilterLimit = ((WrapAroundHighReturnRateFilterLimit_ROM * SignalRateDMax) / 312) + XTalkCompRate_KCps;
+
+
+ /* Checks on low range data */
+ if ((m_rawRange_mm < WrapAroundLowRawRangeLimit) && (m_rtnSignalRate < WrapAroundLowReturnRateLimit)) {
+ m_newTrueRange_mm = MaxOrInvalidDistance;
+ bypassFilter = 1;
+ }
+ if ((m_rawRange_mm < WrapAroundLowRawRangeLimit2) && (m_rtnSignalRate < WrapAroundLowReturnRateLimit2)) {
+ m_newTrueRange_mm = MaxOrInvalidDistance;
+ bypassFilter = 1;
+ }
+
+ /* Checks on Ambient rate level */
+ if (m_rtnAmbientRate > WrapAroundMaximumAmbientRateFilterLimit) {
+ /* Too high ambient rate */
+ FlushFilter = 1;
+ bypassFilter = 1;
+ }
+ /* Checks on Filter flush */
+ if (m_rtnSignalRate < MinReturnRateFilterFlush) {
+ /* Completely lost target, so flush the filter */
+ FlushFilter = 1;
+ bypassFilter = 1;
+ }
+ if (_FilterData(LastReturnRates)[0] != 0) {
+ if (m_rtnSignalRate > _FilterData(LastReturnRates)[0])
+ RateChange = (100 * (m_rtnSignalRate - _FilterData(LastReturnRates)[0])) / _FilterData(LastReturnRates)[0];
+ else
+ RateChange = (100 * (_FilterData(LastReturnRates)[0] - m_rtnSignalRate)) / _FilterData(LastReturnRates)[0];
+ } else
+ RateChange = 0;
+ if (RateChange > MaxReturnRateChangeFilterFlush) {
+ FlushFilter = 1;
+ }
+/* TODO optimize filter using circular buffer */
+ if (FlushFilter == 1) {
+ _FilterData(MeasurementIndex) = 0;
+ for (i = 0; i < FILTER_NBOF_SAMPLES; i++) {
+ _FilterData(LastTrueRange)[i] = FILTER_INVALID_DISTANCE;
+ _FilterData(LastReturnRates)[i] = 0;
+ }
+ } else {
+ for (i = (uint16_t) (FILTER_NBOF_SAMPLES - 1); i > 0; i--) {
+ _FilterData(LastTrueRange)[i] = _FilterData(LastTrueRange)[i - 1];
+ _FilterData(LastReturnRates)[i] = _FilterData(LastReturnRates)[i - 1];
+ }
+ }
+ if (ValidDistance == 1)
+ _FilterData(LastTrueRange)[0] = m_trueRange_mm;
+ else
+ _FilterData(LastTrueRange)[0] = FILTER_INVALID_DISTANCE;
+ _FilterData(LastReturnRates)[0] = m_rtnSignalRate;
+
+ /* Check if we need to go through the filter or not */
+ if (!(((m_rawRange_mm < WrapAroundHighRawRangeFilterLimit) && (m_rtnSignalRate < WrapAroundLowReturnRateFilterLimit)) || ((m_rawRange_mm >= WrapAroundHighRawRangeFilterLimit) && (m_rtnSignalRate < WrapAroundHighReturnRateFilterLimit))))
+ bypassFilter = 1;
+
+ /* Check which kind of measurement has been made */
+ status = VL6180x_RdByte(dev, 0x01AC, &u8 );
+ if( status ){
+ VL6180x_ErrLog("0x01AC rd fail");
+ goto done_err;
+ }
+ registerValue =u8;
+
+ /* Read data for filtering */
+ status = VL6180x_RdByte(dev, 0x10C, &u8 ); /* read only 8 lsb bits */
+ if( status ){
+ VL6180x_ErrLog("0x010C rd fail");
+ goto done_err;
+ }
+ register32BitsValue1=u8;
+ status = VL6180x_RdByte(dev, 0x0110, &u8); /* read only 8 lsb bits */
+ if( status ){
+ VL6180x_ErrLog("0x0110 rd fail");
+ goto done_err;
+ }
+ register32BitsValue2 = u8;
+
+ if (registerValue == 0x3E) {
+ _FilterData(Default_ZeroVal) = register32BitsValue1;
+ _FilterData(Default_VAVGVal) = register32BitsValue2;
+ } else {
+ _FilterData(NoDelay_ZeroVal) = register32BitsValue1;
+ _FilterData(NoDelay_VAVGVal) = register32BitsValue2;
+ }
+
+ if (bypassFilter == 1) {
+ /* Do not go through the filter */
+ if (registerValue != 0x3E) {
+ status = VL6180x_WrByte(dev, 0x1AC, 0x3E);
+ if( status ){
+ VL6180x_ErrLog("0x01AC bypass wr fail");
+ goto done_err;
+ }
+ status = VL6180x_WrByte(dev, 0x0F2, 0x01);
+ if( status ){
+ VL6180x_ErrLog("0x0F2 bypass wr fail");
+ goto done_err;
+ }
+ }
+ /* Set both Default and NoDelay To same value */
+ _FilterData(Default_ZeroVal) = register32BitsValue1;
+ _FilterData(Default_VAVGVal) = register32BitsValue2;
+ _FilterData(NoDelay_ZeroVal) = register32BitsValue1;
+ _FilterData(NoDelay_VAVGVal) = register32BitsValue2;
+ _FilterData(MeasurementIndex) = 0;
+
+ return m_newTrueRange_mm;
+ }
+
+ if (_FilterData(MeasurementIndex) % WrapAroundNoDelayCheckPeriod == 0) {
+ u8=0x3C;
+ u8_2 = 0x05;
+ } else {
+ u8=0x3E;
+ u8_2 = 0x01;
+ }
+ status = VL6180x_WrByte(dev, 0x01AC, u8);
+ if( status ){
+ VL6180x_ErrLog("0x01AC wr fail");
+ goto done_err;
+ }
+ status = VL6180x_WrByte(dev, 0x0F2, u8_2);
+ if( status ){
+ VL6180x_ErrLog("0x0F2 wr fail");
+ goto done_err;
+ }
+
+
+ _FilterData(MeasurementIndex)++;
+
+ /* Computes current VAVGDiff */
+ if (_FilterData(Default_VAVGVal) > _FilterData(NoDelay_VAVGVal))
+ VAVGDiff = _FilterData(Default_VAVGVal) - _FilterData(NoDelay_VAVGVal);
+ else
+ VAVGDiff = 0;
+ _FilterData(Previous_VAVGDiff) = VAVGDiff;
+
+ /* Check the VAVGDiff */
+ if (_FilterData(Default_ZeroVal) > _FilterData(NoDelay_ZeroVal))
+ IdealVAVGDiff = _FilterData(Default_ZeroVal) - _FilterData(NoDelay_ZeroVal);
+ else
+ IdealVAVGDiff = _FilterData(NoDelay_ZeroVal) - _FilterData(Default_ZeroVal);
+ if (IdealVAVGDiff > MAX_VAVGDiff)
+ MinVAVGDiff = IdealVAVGDiff - MAX_VAVGDiff;
+ else
+ MinVAVGDiff = 0;
+ MaxVAVGDiff = IdealVAVGDiff + MAX_VAVGDiff;
+ if (VAVGDiff < MinVAVGDiff || VAVGDiff > MaxVAVGDiff) {
+ WrapAroundFlag = 1;
+ } else {
+ /* Go through filtering check */
+
+ /* StdDevLimit Damper on SNR */
+ StdDevLimit = _filter_StdDevDamper(m_rtnAmbientRate, m_rtnSignalRate, StdDevLimitLowLight, StdDevLimitLowLightSNR, StdDevLimitHighLight, StdDevLimitHighLightSNR);
+
+ /* Standard deviations computations */
+ StdDevSamples = 0;
+ StdDevDistanceSum = 0;
+ StdDevDistanceMean = 0;
+ StdDevDistance = 0;
+ StdDevRateSum = 0;
+ StdDevRateMean = 0;
+ StdDevRate = 0;
+ for (i = 0; (i < FILTER_NBOF_SAMPLES) && (StdDevSamples < FILTER_STDDEV_SAMPLES); i++) {
+ if (_FilterData(LastTrueRange)[i] != FILTER_INVALID_DISTANCE) {
+ StdDevSamples = (uint16_t) (StdDevSamples + 1);
+ StdDevDistanceSum = (uint32_t) (StdDevDistanceSum + _FilterData(LastTrueRange)[i]);
+ StdDevRateSum = (uint32_t) (StdDevRateSum + _FilterData(LastReturnRates)[i]);
+ }
+ }
+ if (StdDevSamples > 0) {
+ StdDevDistanceMean = (uint32_t) (StdDevDistanceSum / StdDevSamples);
+ StdDevRateMean = (uint32_t) (StdDevRateSum / StdDevSamples);
+ }
+ /* TODO optimize shorten Std dev in aisngle loop computation using sum of x2 - (sum of x)2 */
+ StdDevSamples = 0;
+ StdDevDistanceSum = 0;
+ StdDevRateSum = 0;
+ for (i = 0; (i < FILTER_NBOF_SAMPLES) && (StdDevSamples < FILTER_STDDEV_SAMPLES); i++) {
+ if (_FilterData(LastTrueRange)[i] != FILTER_INVALID_DISTANCE) {
+ StdDevSamples = (uint16_t) (StdDevSamples + 1);
+ StdDevDistanceSum = (uint32_t) (StdDevDistanceSum + (int) (_FilterData(LastTrueRange)[i] - StdDevDistanceMean) * (int) (_FilterData(LastTrueRange)[i] - StdDevDistanceMean));
+ StdDevRateSum = (uint32_t) (StdDevRateSum + (int) (_FilterData(LastReturnRates)[i] - StdDevRateMean) * (int) (_FilterData(LastReturnRates)[i] - StdDevRateMean));
+ }
+ }
+ if (StdDevSamples >= MIN_FILTER_STDDEV_SAMPLES) {
+ StdDevDistance = (uint16_t) (StdDevDistanceSum / StdDevSamples);
+ StdDevRate = (uint16_t) (StdDevRateSum / StdDevSamples);
+ } else {
+ StdDevDistance = 0;
+ StdDevRate = 0;
+ }
+
+ /* Check Return rate standard deviation */
+ if (StdDevRate < StdDevMovingTargetStdDevLimit) {
+ if (StdDevSamples < MIN_FILTER_VALID_STDDEV_SAMPLES) {
+ m_newTrueRange_mm = MaxOrInvalidDistance;
+ } else {
+ /* Check distance standard deviation */
+ if (StdDevRate < StdDevMovingTargetReturnRateLimit)
+ StdDevLimitWithTargetMove = StdDevLimit + (((StdDevMovingTargetStdDevForReturnRateLimit - StdDevLimit) * StdDevRate) / StdDevMovingTargetReturnRateLimit);
+ else
+ StdDevLimitWithTargetMove = StdDevMovingTargetStdDevForReturnRateLimit;
+
+ if ((StdDevDistance * StdDevHighConfidenceSNRLimit) < StdDevLimitWithTargetMove) {
+ NoWrapAroundHighConfidenceFlag = 1;
+ } else {
+ if (StdDevDistance < StdDevLimitWithTargetMove) {
+ if (StdDevSamples >= MIN_FILTER_VALID_STDDEV_SAMPLES) {
+ NoWrapAroundFlag = 1;
+ } else {
+ m_newTrueRange_mm = MaxOrInvalidDistance;
+ }
+ } else {
+ WrapAroundFlag = 1;
+ }
+ }
+ }
+ } else {
+ WrapAroundFlag = 1;
+ }
+ }
+
+ if (m_newTrueRange_mm == MaxOrInvalidDistance) {
+ if (_FilterData(StdFilteredReads) > 0)
+ _FilterData(StdFilteredReads) = (uint16_t) (_FilterData(StdFilteredReads) - 1);
+ } else {
+ if (WrapAroundFlag == 1) {
+ m_newTrueRange_mm = MaxOrInvalidDistance;
+ _FilterData(StdFilteredReads) = (uint16_t) (_FilterData(StdFilteredReads) + StdFilteredReadsIncrement);
+ if (_FilterData(StdFilteredReads) > StdMaxFilteredReads)
+ _FilterData(StdFilteredReads) = StdMaxFilteredReads;
+ } else {
+ if (NoWrapAroundFlag == 1) {
+ if (_FilterData(StdFilteredReads) > 0) {
+ m_newTrueRange_mm = MaxOrInvalidDistance;
+ if (_FilterData(StdFilteredReads) > StdFilteredReadsIncrement)
+ _FilterData(StdFilteredReads) = (uint16_t) (_FilterData(StdFilteredReads) - StdFilteredReadsIncrement);
+ else
+ _FilterData(StdFilteredReads) = 0;
+ }
+ } else {
+ if (NoWrapAroundHighConfidenceFlag == 1) {
+ _FilterData(StdFilteredReads) = 0;
+ }
+ }
+ }
+ }
+
+ return m_newTrueRange_mm;
+ done_err:
+ return -1;
+
+ #undef MaxOrInvalidDistance
+}
+
+
+int VL6180X::_filter_GetResult(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData) {
+ uint32_t m_rawRange_mm = 0;
+ int32_t FilteredRange;
+ const uint8_t scaler = _GetUpscale(dev);
+ uint8_t u8;
+ int status;
+
+ do {
+ status = VL6180x_RdByte(dev, RESULT_RANGE_RAW, &u8);
+ if (status) {
+ VL6180x_ErrLog("RESULT_RANGE_RAW rd fail");
+ break;
+ }
+ m_rawRange_mm = u8;
+
+ FilteredRange = _filter_Start(dev, pRangeData->range_mm, (m_rawRange_mm * scaler), pRangeData->rtnRate, pRangeData->rtnAmbRate, pRangeData->errorStatus);
+ if( FilteredRange<0 ){
+ status = -1;
+ break;
+ }
+ pRangeData->FilteredData.range_mm= FilteredRange;
+ pRangeData->FilteredData.rawRange_mm = m_rawRange_mm * scaler;
+ } while (0);
+ return status;
+}
+
+#undef _FilterData
+#undef FILTER_STDDEV_SAMPLES
+#undef MIN_FILTER_STDDEV_SAMPLES
+#undef MIN_FILTER_VALID_STDDEV_SAMPLES
+#undef FILTER_INVALID_DISTANCE
+
+#endif /* VL6180x_WRAP_AROUND_FILTER_SUPPORT */
+
+#ifdef VL6180x_HAVE_RATE_DATA
+
+int VL6180X::_GetRateResult(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData) {
+ uint32_t m_rtnConvTime = 0;
+ uint32_t m_rtnSignalRate = 0;
+ uint32_t m_rtnAmbientRate = 0;
+ uint32_t m_rtnSignalCount = 0;
+ uint32_t m_rtnAmbientCount = 0;
+ uint32_t m_refConvTime = 0;
+ uint32_t cRtnSignalCountMax = 0x7FFFFFFF;
+ uint32_t cDllPeriods = 6;
+ uint32_t calcConvTime = 0;
+
+ int status;
+
+ do {
+
+ status = VL6180x_RdDWord(dev, RESULT_RANGE_RETURN_SIGNAL_COUNT, &m_rtnSignalCount);
+ if (status) {
+ VL6180x_ErrLog("RESULT_RANGE_RETURN_SIGNAL_COUNT rd fail");
+ break;
+ }
+ if (m_rtnSignalCount > cRtnSignalCountMax) {
+ m_rtnSignalCount = 0;
+ }
+
+ status = VL6180x_RdDWord(dev, RESULT_RANGE_RETURN_AMB_COUNT, &m_rtnAmbientCount);
+ if (status) {
+ VL6180x_ErrLog("RESULT_RANGE_RETURN_AMB_COUNTrd fail");
+ break;
+ }
+
+
+ status = VL6180x_RdDWord(dev, RESULT_RANGE_RETURN_CONV_TIME, &m_rtnConvTime);
+ if (status) {
+ VL6180x_ErrLog("RESULT_RANGE_RETURN_CONV_TIME rd fail");
+ break;
+ }
+
+ status = VL6180x_RdDWord(dev, RESULT_RANGE_REFERENCE_CONV_TIME, &m_refConvTime);
+ if (status) {
+ VL6180x_ErrLog("RESULT_RANGE_REFERENCE_CONV_TIME rd fail");
+ break;
+ }
+
+ pRangeData->rtnConvTime = m_rtnConvTime;
+ pRangeData->refConvTime = m_refConvTime;
+
+ calcConvTime = m_refConvTime;
+ if (m_rtnConvTime > m_refConvTime) {
+ calcConvTime = m_rtnConvTime;
+ }
+ if (calcConvTime == 0)
+ calcConvTime = 63000;
+
+ m_rtnSignalRate = (m_rtnSignalCount * 1000) / calcConvTime;
+ m_rtnAmbientRate = (m_rtnAmbientCount * cDllPeriods * 1000) / calcConvTime;
+
+ pRangeData->rtnRate = m_rtnSignalRate;
+ pRangeData->rtnAmbRate = m_rtnAmbientRate;
+
+
+ } while (0);
+ return status;
+}
+#endif /* VL6180x_HAVE_RATE_DATA */
+
+
+int VL6180X::VL6180x_DMaxSetState(VL6180xDev_t dev, int state){
+ int status;
+ LOG_FUNCTION_START("%d", state);
+#if VL6180x_HAVE_DMAX_RANGING
+ VL6180xDevDataSet(dev,DMaxEnable, state);
+ if( state ){
+ status = _DMax_InitData(dev);
+ }
+ else {
+ status = 0;
+ }
+#else
+ status = NOT_SUPPORTED;
+#endif
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+int VL6180X::VL6180x_DMaxGetState(VL6180xDev_t dev){
+ int status;
+ LOG_FUNCTION_START("");
+#if VL6180x_HAVE_DMAX_RANGING
+ status = VL6180xDevDataGet(dev,DMaxEnable);
+#else
+ status = 0;
+#endif
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+
+#if VL6180x_HAVE_DMAX_RANGING
+
+#define _DMaxData(field) VL6180xDevDataGet(dev, DMaxData.field)
+/*
+ * Convert fix point x.7 to KCpount per sec
+ */
+
+#ifndef VL6180x_PLATFORM_PROVIDE_SQRT
+
+/*
+ * 32 bit integer square root with not so bad precision (integer result) and is quite fast
+ * see http://en.wikipedia.org/wiki/Methods_of_computing_square_roots
+ */
+uint32_t VL6180x_SqrtUint32(uint32_t num) {
+ uint32_t res = 0;
+ uint32_t bit = 1 << 30; /* The second-to-top bit is set: 1 << 30 for 32 bits */
+
+ /* "bit" starts at the highest power of four <= the argument. */
+ while (bit > num)
+ bit >>= 2;
+
+ while (bit != 0) {
+ if (num >= res + bit) {
+ num -= res + bit;
+ res = (res >> 1) + bit;
+ }
+ else
+ res >>= 1;
+ bit >>= 2;
+ }
+ return res;
+}
+#endif
+
+
+/* DMax one time init */
+void _DMax_OneTimeInit(VL6180xDev_t dev){
+ _DMaxData(ambTuningWindowFactor_K)=DEF_AMBIENT_TUNING;
+}
+
+
+static uint32_t _DMax_RawValueAtRateKCps(VL6180xDev_t dev, int32_t rate){
+ uint32_t snrLimit_K;
+ int32_t DMaxSq;
+ uint32_t RawDMax;
+ DMaxFix_t retSignalAt400mm;
+ uint32_t ambTuningWindowFactor_K;
+
+
+ ambTuningWindowFactor_K = _DMaxData(ambTuningWindowFactor_K);
+ snrLimit_K = _DMaxData(snrLimit_K);
+ retSignalAt400mm = _DMaxData(retSignalAt400mm); /* 12 to 18 bits Kcps */
+ if( rate > 0 ){
+ DMaxSq = 400*400*1000 / rate -(400*400/330); /* K of (1/RtnAmb -1/330 )=> 30bit- (12-18)bit => 12-18 bits*/
+ if( DMaxSq<= 0){
+ RawDMax = 0;
+ }
+ else{
+ /* value can be more 32 bit so base on raneg apply *retSignalAt400mm before or after division to presevr accuracy */
+ if( DMaxSq< (2<<12) ){
+ DMaxSq = DMaxSq*retSignalAt400mm/(snrLimit_K+ambTuningWindowFactor_K); /* max 12 + 12 to 18 -10 => 12-26 bit */
+ }else{
+ DMaxSq = DMaxSq/(snrLimit_K+ambTuningWindowFactor_K)*retSignalAt400mm; /* 12 to 18 -10 + 12 to 18 *=> 12-26 bit */
+ }
+ RawDMax=VL6180x_SqrtUint32(DMaxSq);
+ }
+ }
+ else{
+ RawDMax = 0x7FFFFFFF; /* bigest possibmle 32bit signed value */
+ }
+ return RawDMax;
+}
+
+/*
+ * fetch static data from register to avoid re-read
+ * precompute all intermediate constant and cliipings
+ *
+ * to be re-used/call on changes of :
+ * 0x2A
+ * SYSRANGE_MAX_AMBIENT_LEVEL_MULT
+ * Dev Data XtalkComRate_KCPs
+ * SYSRANGE_MAX_CONVERGENCE_TIME
+ * SYSRANGE_RANGE_CHECK_ENABLES mask RANGE_CHECK_RANGE_ENABLE_MASK
+ * range 0xb8-0xbb (0xbb)
+ */
+int VL6180X::_DMax_InitData(VL6180xDev_t dev){
+ int status, warning;
+ uint8_t u8;
+ uint16_t u16;
+ uint32_t u32;
+ uint32_t Reg2A_KCps;
+ uint32_t RegB8;
+ uint8_t MaxConvTime;
+ uint32_t XTalkCompRate_KCps;
+ uint32_t RangeIgnoreThreshold;
+ int32_t minSignalNeeded;
+ uint8_t SysRangeCheckEn;
+ uint8_t snrLimit;
+ warning=0;
+
+ static const int ROMABLE_DATA MaxConvTimeAdjust=-4;
+
+ LOG_FUNCTION_START("");
+ do{
+ status = VL6180x_RdByte(dev, 0x02A ,&u8);
+ if( status ){
+ VL6180x_ErrLog("Reg 0x02A rd fail");
+ break;
+ }
+
+ if( u8 == 0 ) {
+ warning = CALIBRATION_WARNING;
+ u8 = 40; /* use a default average value */
+ }
+ Reg2A_KCps = Fix7_2_KCPs(u8); /* convert to KCPs */
+
+ status = VL6180x_RdByte(dev, SYSRANGE_RANGE_CHECK_ENABLES, &SysRangeCheckEn);
+ if (status) {
+ VL6180x_ErrLog("SYSRANGE_RANGE_CHECK_ENABLES rd fail ");
+ break;
+ }
+
+ status = VL6180x_RdByte(dev, SYSRANGE_MAX_CONVERGENCE_TIME, &MaxConvTime);
+ if( status){
+ VL6180x_ErrLog("SYSRANGE_MAX_CONVERGENCE_TIME rd fail ");
+ break;
+ }
+
+ status = VL6180x_RdDWord(dev, 0x0B8, &RegB8);
+ if( status ){
+ VL6180x_ErrLog("reg 0x0B8 rd fail ");
+ break;
+ }
+
+ status = VL6180x_RdByte(dev, SYSRANGE_MAX_AMBIENT_LEVEL_MULT, &snrLimit);
+ if( status){
+ VL6180x_ErrLog("SYSRANGE_MAX_AMBIENT_LEVEL_MULT rd fail ");
+ break;
+ }
+ _DMaxData(snrLimit_K) = (int32_t)16*1000/snrLimit;
+ XTalkCompRate_KCps = VL6180xDevDataGet(dev, XTalkCompRate_KCps );
+
+ if( Reg2A_KCps >= XTalkCompRate_KCps){
+ _DMaxData(retSignalAt400mm)=( Reg2A_KCps - XTalkCompRate_KCps);
+ }
+ else{
+ _DMaxData(retSignalAt400mm)=0; /* Reg2A_K - XTalkCompRate_KCp <0 is invalid */
+ }
+
+ /* if xtalk range check is off omit it in snr clipping */
+ if( SysRangeCheckEn&RANGE_CHECK_RANGE_ENABLE_MASK ){
+ status = VL6180x_RdWord(dev, SYSRANGE_RANGE_IGNORE_THRESHOLD, &u16);
+ if( status){
+ VL6180x_ErrLog("SYSRANGE_RANGE_IGNORE_THRESHOLD rd fail ");
+ break;
+ }
+ RangeIgnoreThreshold = Fix7_2_KCPs(u16);
+ }
+ else{
+ RangeIgnoreThreshold = 0;
+ }
+
+ minSignalNeeded = (RegB8*256)/((int32_t)MaxConvTime+(int32_t)MaxConvTimeAdjust); /* KCps 8+8 bit -(1 to 6 bit) => 15-10 bit */
+ /* minSignalNeeded = max ( minSignalNeeded, RangeIgnoreThreshold - XTalkCompRate_KCps) */
+ if( minSignalNeeded <= RangeIgnoreThreshold - XTalkCompRate_KCps )
+ minSignalNeeded = RangeIgnoreThreshold - XTalkCompRate_KCps;
+
+ u32 = (minSignalNeeded*(uint32_t)snrLimit)/16;
+ _DMaxData(ClipSnrLimit ) = _DMax_RawValueAtRateKCps(dev, u32 ); /* clip to dmax to min signal snr limit rate*/
+ }
+ while(0);
+ if( !status )
+ status = warning;
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+static int _DMax_Compute(VL6180xDev_t dev, VL6180x_RangeData_t *pRange){
+ uint32_t rtnAmbRate;
+ int32_t DMax;
+ int scaling;
+ uint16_t HwLimitAtScale;
+ static const int ROMABLE_DATA rtnAmbLowLimit_KCps=330*1000;
+
+ rtnAmbRate = pRange->rtnAmbRate;
+ if( rtnAmbRate < rtnAmbLowLimit_KCps ){
+ DMax = _DMax_RawValueAtRateKCps( dev, rtnAmbRate);
+ scaling = _GetUpscale(dev);
+ HwLimitAtScale=UpperLimitLookUP[scaling - 1];
+
+ if( DMax > _DMaxData(ClipSnrLimit) ){
+ DMax=_DMaxData(ClipSnrLimit);
+ }
+ if( DMax > HwLimitAtScale ){
+ DMax=HwLimitAtScale;
+ }
+ pRange->DMax=DMax;
+ }
+ else{
+ pRange->DMax = 0;
+ }
+ return 0;
+}
+
+#undef _DMaxData
+#undef Fix7_2_KCPs
+
+#endif /* VL6180x_HAVE_DMAX_RANGING */
+
+
+/******************************************************************************/
+/******************************************************************************/
+
+
+
+/****************** Write and read functions from I2C *************************/
+
+int VL6180X::VL6180x_WrByte(VL6180xDev_t dev, uint16_t index, uint8_t data)
+{
+ int status;
+
+ status=VL6180x_I2CWrite(Device->I2cAddr, index, &data,(uint8_t)1);
+ return status;
+}
+
+int VL6180X::VL6180x_WrWord(VL6180xDev_t dev, uint16_t index, uint16_t data)
+{
+ int status;
+
+ status=VL6180x_I2CWrite(Device->I2cAddr, index, (uint8_t *)&data,(uint8_t)2);
+ return status;
+}
+
+int VL6180X::VL6180x_WrDWord(VL6180xDev_t dev, uint16_t index, uint32_t data)
+{
+ int status;
+
+ status=VL6180x_I2CWrite(Device->I2cAddr, index, (uint8_t *)&data,(uint8_t)4);
+ return status;
+}
+
+int VL6180X::VL6180x_RdByte(VL6180xDev_t dev, uint16_t index, uint8_t *data)
+{
+ int status;
+
+ uint8_t buffer;
+ status=VL6180x_I2CRead(Device->I2cAddr, index, &buffer,1);
+ if(!status)
+ {
+ *data=buffer;
+ }
+ return status;
+}
+
+int VL6180X::VL6180x_RdWord(VL6180xDev_t dev, uint16_t index, uint16_t *data)
+{
+ int status;
+
+ uint8_t buffer[2];
+ status=VL6180x_I2CRead(Device->I2cAddr, index, buffer, 2);
+ if(!status)
+ {
+ memcpy(data, buffer, 2);
+ }
+ return status;
+}
+
+int VL6180X::VL6180x_RdDWord(VL6180xDev_t dev, uint16_t index, uint32_t *data)
+{
+ int status;
+ uint8_t buffer[4];
+ status=VL6180x_I2CRead(Device->I2cAddr, index, buffer,4);
+ if(!status)
+ {
+ memcpy(data, buffer, 4);
+ }
+ return status;
+}
+
+int VL6180X::VL6180x_UpdateByte(VL6180xDev_t dev, uint16_t index, uint8_t AndData, uint8_t OrData)
+{
+ int status;
+ uint8_t buffer;
+
+ status=VL6180x_I2CWrite(Device->I2cAddr, index, (uint8_t *)buffer,(uint8_t)0);
+ if(!status)
+ {
+ /* read data direct onto buffer */
+ status=VL6180x_I2CRead(Device->I2cAddr, index, &buffer,1);
+ if(!status)
+ {
+ buffer=(buffer & AndData)|OrData;
+ status=VL6180x_I2CWrite(Device->I2cAddr, index, &buffer, (uint8_t)1);
+ }
+ }
+ return status;
+}
+
+int VL6180X::VL6180x_I2CWrite(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t* pBuffer, uint16_t NumByteToWrite)
+{
+ int ret;
+ int i;
+ uint8_t tmp[TEMP_BUF_SIZE];
+ uint16_t myRegisterAddr = RegisterAddr;
+ uint16_t WriteDeviceAddr=0;
+
+ /* First, prepare 8 bits device address in 7bits i2ci format */
+ WriteDeviceAddr=DeviceAddr*2;
+ if(NumByteToWrite >= TEMP_BUF_SIZE) return -2;
+
+ /* then prepare 16 bits register address in BE format. Then, send data and STOP condition */
+ tmp[0] = *(((uint8_t*)&myRegisterAddr)+1);
+ tmp[1] = (uint8_t)RegisterAddr;
+
+ if(NumByteToWrite>1) /* swap data endianess */
+ {
+ for(i=0;i<NumByteToWrite;i++)
+ {
+ tmp[NumByteToWrite+sizeof(RegisterAddr)-1-i]=pBuffer[i];
+ }
+ }
+ else
+ {
+ memcpy(tmp+sizeof(RegisterAddr), pBuffer, NumByteToWrite);
+ }
+ ret = dev_i2c.write(WriteDeviceAddr, (const char*)tmp, NumByteToWrite+sizeof(RegisterAddr), false);
+
+ if(ret)
+ return -1;
+ return 0;
+}
+
+int VL6180X::VL6180x_I2CRead(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t* pBuffer, uint16_t NumByteToRead)
+{
+ int ret,i;
+ uint8_t tmp[TEMP_BUF_SIZE];
+ uint16_t myRegisterAddr = RegisterAddr;
+ uint16_t myRegisterAddrBE;
+ uint16_t ReadDeviceAddr=DeviceAddr;
+
+ ReadDeviceAddr=DeviceAddr*2;
+ myRegisterAddrBE = *(((uint8_t*)&myRegisterAddr)+1);
+ *(((uint8_t*)&myRegisterAddrBE)+1) = (uint8_t)myRegisterAddr;
+
+ /* Send 8 bits device address and 16 bits register address in BE format, with no STOP condition */
+ ret = dev_i2c.write(ReadDeviceAddr, (const char*)&myRegisterAddrBE, sizeof(RegisterAddr), true);
+ if(!ret)
+ {
+ ReadDeviceAddr|=0x001;
+ /* Read data, with STOP condition */
+ ret = dev_i2c.read(ReadDeviceAddr, (char*)tmp, NumByteToRead, false);
+ }
+ if(ret)
+ return -1;
+
+ if(NumByteToRead>1) /* swap data endianess */
+ {
+ for(i=0;i<NumByteToRead;i++)
+ {
+ pBuffer[i] = tmp[NumByteToRead-1-i];
+ }
+ }
+ else
+ {
+ memcpy(pBuffer, tmp, NumByteToRead);
+ }
+ return 0;
+}
+
+/******************************************************************************/
+
+int VL6180X::AlsSetThresholds(uint16_t lux_threshold_low, uint16_t lux_threshold_high)
+{
+ uint32_t AlsAnGain, IntPeriod, AlsScaler, GainFix, RawAlsHigh, RawAlsLow;
+ uint16_t RawThreshLow, RawThreshHigh;
+ const uint32_t LuxResxIntIme =(uint32_t)(0.56f* DEF_INT_PEFRIOD *(1<<LUXRES_FIX_PREC));
+ void *p_low;
+ void *p_high;
+
+ AlsAnGain=VL6180xDevDataGet(Device, AlsGainCode);
+ IntPeriod=VL6180xDevDataGet(Device, IntegrationPeriod);
+ AlsScaler=VL6180xDevDataGet(Device, AlsScaler);
+ GainFix=AlsGainLookUp[AlsAnGain];
+ IntPeriod++;
+ RawAlsLow=lux_threshold_low*AlsScaler*GainFix;
+ RawAlsLow=RawAlsLow*IntPeriod;
+ RawAlsLow=RawAlsLow/LuxResxIntIme;
+ RawAlsHigh=lux_threshold_high*(AlsScaler*GainFix);
+ RawAlsHigh=RawAlsHigh*IntPeriod;
+ RawAlsHigh=RawAlsHigh/LuxResxIntIme;
+ p_low=&RawAlsLow;
+ RawThreshLow=*(uint16_t*)p_low;
+ p_high=&RawAlsHigh;
+ RawThreshHigh=*(uint16_t*)p_high;
+ return VL6180x_AlsSetThresholds(Device, RawThreshLow, RawThreshHigh);
+}
+
+
+int VL6180X::ReadID()
+{
+ int status;
+ uint8_t rl_id=0;
+
+ status=VL6180x_RdByte(Device, IDENTIFICATION_MODEL_ID, &rl_id);
+ if((status==0)&&(rl_id==0xB4))
+ return status;
+ else
+ return INVALID_PARAMS;
+}
+
+
+int VL6180X::InitSensor(uint8_t NewAddr)
+{
+ int status;
+
+ VL6180x_Off();
+ VL6180x_On();
+ status=VL6180x_WaitDeviceBooted(Device);
+ if(status)
+ VL6180x_ErrLog("WaitDeviceBooted fail\n\r");
+ status=IsPresent();
+ if(!status)
+ {
+ Device->Present=1;
+ status=Init();
+ if(status)
+ {
+ printf("Failed to init VL6180X sensor!\n\r");
+ return status;
+ }
+ status=Prepare();
+ if(status)
+ {
+ printf("Failed to prepare VL6180X!\n\r");
+ return status;
+ }
+ if(NewAddr!=DEFAULT_DEVICE_ADDRESS)
+ {
+ status=SetI2CAddress(NewAddr);
+ if(status)
+ {
+ printf("Failed to change I2C address!\n\r");
+ return status;
+ }
+ }
+ else
+ {
+ printf("Invalid new address!\n\r");
+ return INVALID_PARAMS;
+ }
+ Device->Ready=1;
+ }
+ return status;
+}
+
+
+int VL6180X::StartMeasurement(OperatingMode operating_mode, void (*fptr)(void), uint16_t low, uint16_t high)
+{
+ int status, r_status, l_status;
+
+ switch(operating_mode)
+ {
+ case(range_single_shot_polling):
+ r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
+ l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ return RangeMeasPollSingleShot();
+ else
+ return (r_status|l_status);
+
+ case(als_single_shot_polling):
+ r_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
+ l_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ return AlsMeasPollSingleShot();
+ else
+ return (r_status|l_status);
+
+ case(range_continuous_polling):
+ r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
+ l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ return RangeMeasPollContinuousMode();
+ else
+ return (r_status|l_status);
+
+ case(als_continuous_polling):
+ r_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
+ l_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ return AlsMeasPollContinuousMode();
+ else
+ return (r_status|l_status);
+
+ case(range_continuous_interrupt):
+ r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
+ l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ return RangeMeasIntContinuousMode(fptr);
+ else
+ return (r_status|l_status);
+
+ case(als_continuous_interrupt):
+ l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
+ r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ return AlsMeasIntContinuousMode(fptr);
+ else
+ return (r_status|l_status);
+
+ case(interleaved_mode_interrupt):
+ l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
+ r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ return InterleavedMode(fptr);
+ else
+ return (r_status|l_status);
+
+ case(range_continuous_polling_low_threshold):
+ r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_LOW);
+ l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ {
+ status=RangeSetLowThreshold(low);
+ if(!status)
+ return RangeMeasPollContinuousMode();
+ else
+ return status;
+ }
+ else
+ return (r_status|l_status);
+
+ case(range_continuous_polling_high_threshold):
+ status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_HIGH);
+ status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ {
+ status=RangeSetHighThreshold(high);
+ if(!status)
+ return RangeMeasPollContinuousMode();
+ else
+ return status;
+ }
+ else
+ return (r_status|l_status);
+
+ case(range_continuous_polling_out_of_window):
+ status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW);
+ status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ {
+ status=VL6180x_RangeSetThresholds(Device,low,high,1);
+ if(!status)
+ return RangeMeasPollContinuousMode();
+ else
+ return status;
+ }
+ else
+ return (r_status|l_status);
+
+ case(als_continuous_polling_low_threshold):
+ status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_LOW);
+ status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ {
+ status=AlsSetLowThreshold(low);
+ if(!status)
+ return AlsMeasPollContinuousMode();
+ else
+ return status;
+ }
+ else
+ return (r_status|l_status);
+
+ case(als_continuous_polling_high_threshold):
+ status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_HIGH);
+ status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ {
+ status=AlsSetHighThreshold(high);
+ if(!status)
+ return AlsMeasPollContinuousMode();
+ else
+ return status;
+ }
+ else
+ return (r_status|l_status);
+
+ case(als_continuous_polling_out_of_window):
+ status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW);
+ status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ {
+ status=VL6180x_AlsSetThresholds(Device,low,high);
+ if(!status)
+ return AlsMeasPollContinuousMode();
+ else
+ return status;
+ }
+ else
+ return (r_status|l_status);
+
+ case(range_continuous_interrupt_low_threshold):
+ status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_LOW);
+ status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ {
+ status=RangeSetLowThreshold(low);
+ if(!status)
+ return RangeMeasIntContinuousMode(fptr);
+ else
+ return status;
+ }
+ else
+ return (r_status|l_status);
+
+ case(range_continuous_interrupt_high_threshold):
+ status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_HIGH);
+ status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ {
+ status=RangeSetHighThreshold(high);
+ if(!status)
+ return RangeMeasIntContinuousMode(fptr);
+ else
+ return status;
+ }
+ else
+ return (r_status|l_status);
+
+ case(range_continuous_interrupt_out_of_window):
+ status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW);
+ status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ {
+ status=VL6180x_RangeSetThresholds(Device,low,high,1);
+ if(!status)
+ return RangeMeasIntContinuousMode(fptr);
+ else
+ return status;
+ }
+ else
+ return (r_status|l_status);
+
+ case(als_continuous_interrupt_low_threshold):
+ status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_LOW);
+ status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ {
+ status=AlsSetLowThreshold(low);
+ if(!status)
+ return AlsMeasIntContinuousMode(fptr);
+ else
+ return status;
+ }
+ else
+ return (r_status|l_status);
+
+ case(als_continuous_interrupt_high_threshold):
+ status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_HIGH);
+ status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ {
+ status=AlsSetHighThreshold(high);
+ if(!status)
+ return AlsMeasIntContinuousMode(fptr);
+ else
+ return status;
+ }
+ else
+ return (r_status|l_status);
+
+ case(als_continuous_interrupt_out_of_window):
+ status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW);
+ status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ {
+ status=VL6180x_AlsSetThresholds(Device,low,high);
+ if(!status)
+ return AlsMeasIntContinuousMode(fptr);
+ else
+ return status;
+ }
+ else
+ return (r_status|l_status);
+
+ default:
+ return INVALID_PARAMS;
+ }
+}
+
+
+int VL6180X::GetRangeError(MeasureData_t *Data, VL6180x_RangeData_t RangeData)
+{
+ Data->range_error=RangeData.errorStatus;
+ if(Data->range_error!=0)
+ {
+ VL6180x_ErrLog("Range error %d",Data->range_error);
+ return RANGE_ERROR;
+ }
+ return NoError_;
+}
+
+
+int VL6180X::GetAlsError(MeasureData_t *Data, VL6180x_AlsData_t AlsData)
+{
+ Data->als_error=AlsData.errorStatus;
+ if(Data->als_error!=0)
+ {
+ VL6180x_ErrLog("Light error %d",Data->light_error);
+ return API_ERROR;
+ }
+ return NoError_;
+}
+
+
+int VL6180X::RangeMeasPollSingleShot()
+{
+ int status;
+
+ status=VL6180x_RangeClearInterrupt(Device);
+ if(status)
+ {
+ VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
+ return status;
+ }
+ status=VL6180x_ClearErrorInterrupt(Device);
+ if(status)
+ {
+ VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
+ return status;
+ }
+ return RangeStartSingleShot();
+}
+
+
+int VL6180X::AlsMeasPollSingleShot()
+{
+ int status;
+
+ status=VL6180x_AlsClearInterrupt(Device);
+ if(status)
+ {
+ VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
+ return status;
+ }
+ status=VL6180x_ClearErrorInterrupt(Device);
+ if(status)
+ {
+ VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
+ return status;
+ }
+ return AlsStartSingleShot();
+}
+
+
+int VL6180X::RangeMeasPollContinuousMode()
+{
+ int status;
+
+ status=VL6180x_RangeClearInterrupt(Device);
+ if(status)
+ {
+ VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
+ return status;
+ }
+ status=VL6180x_ClearErrorInterrupt(Device);
+ if(status)
+ {
+ VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
+ return status;
+ }
+ return RangeStartContinuousMode();
+}
+
+
+int VL6180X::AlsMeasPollContinuousMode()
+{
+ int status;
+
+ status=VL6180x_AlsClearInterrupt(Device);
+ if(status)
+ {
+ VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
+ return status;
+ }
+ status=VL6180x_ClearErrorInterrupt(Device);
+ if(status)
+ {
+ VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
+ return status;
+ }
+ return AlsStartContinuousMode();
+}
+
+
+int VL6180X::AlsGetMeasurementIfReady(VL6180xDev_t dev, VL6180x_AlsData_t *pAlsData)
+{
+ int status;
+ uint8_t IntStatus;
+
+ status=VL6180x_AlsGetInterruptStatus(dev, &IntStatus);
+ if(!status)
+ {
+ if(IntStatus==RES_INT_STAT_GPIO_NEW_SAMPLE_READY)
+ {
+ status = VL6180x_AlsGetMeasurement(dev, pAlsData);
+ if(!status)
+ {
+ status=VL6180x_AlsClearInterrupt(Device);
+ if(status)
+ VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
+ }
+ }
+ else
+ status=NOT_READY;
+ }
+ else
+ VL6180x_ErrLog("Failed to get interrupt status");
+ return status;
+}
+
+
+int VL6180X::RangeMeasIntContinuousMode(void (*fptr)(void))
+{
+ int status, ClrStatus;
+
+ EnableInterruptMeasureDetectionIRQ();
+ AttachInterruptMeasureDetectionIRQ(fptr);
+ status=SetupGPIO1(GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT, 1);
+ ClrStatus=VL6180x_ClearAllInterrupt(Device);
+ if(ClrStatus)
+ VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
+ if(!status)
+ status=RangeStartContinuousMode();
+ return status;
+}
+
+
+int VL6180X::AlsMeasIntContinuousMode(void (*fptr)(void))
+{
+ int status, ClrStatus;
+
+ EnableInterruptMeasureDetectionIRQ();
+ AttachInterruptMeasureDetectionIRQ(fptr);
+ status=SetupGPIO1(GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT, 1);
+ ClrStatus=VL6180x_ClearAllInterrupt(Device);
+ if(ClrStatus)
+ VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
+ if(!status)
+ status=AlsStartContinuousMode();
+ return status;
+}
+
+
+int VL6180X::StartInterleavedMode()
+{
+ int status;
+ uint16_t integration_period, intermeasurement_period_ms;
+ uint8_t max_convergence_time;
+ uint8_t buf;
+
+ status=VL6180x_WrByte(Device, 0x2A3, 1);
+ if(status)
+ {
+ VL6180x_ErrLog("Failed to write INTERLEAVED_MODE_ENABLE!\n\r");
+ return status;
+ }
+ status=VL6180x_RdByte(Device, SYSRANGE_MAX_CONVERGENCE_TIME, &max_convergence_time);
+ if(status)
+ {
+ VL6180x_ErrLog("Failed to read SYSRANGE_MAX_CONVERGENCE_TIME!\n\r");
+ return status;
+ }
+ status=VL6180x_RdWord(Device, SYSALS_INTEGRATION_PERIOD, &integration_period);
+ if(status)
+ {
+ VL6180x_ErrLog("Failed to read SYSALS_INTEGRATION_PERIOD!\n\r");
+ return status;
+ }
+ max_convergence_time&=0x3F;
+ integration_period&=0x01FF;
+ intermeasurement_period_ms=((max_convergence_time+5)+(integration_period*1.1));
+ intermeasurement_period_ms=(intermeasurement_period_ms/0.9)+10;
+ intermeasurement_period_ms=200;
+ status=VL6180x_AlsSetInterMeasurementPeriod(Device, intermeasurement_period_ms);
+ VL6180x_RdByte(Device, 0x03E, &buf);
+ if(status)
+ {
+ VL6180x_ErrLog("Failed to write SYSALS_INTERMEASUREMENT_PERIOD!\n\r");
+ return status;
+ }
+ return AlsStartContinuousMode();
+}
+
+
+int VL6180X::InterleavedMode(void (*fptr)(void))
+{
+ int status, ClrStatus;
+
+ EnableInterruptMeasureDetectionIRQ();
+ AttachInterruptMeasureDetectionIRQ(fptr);
+ status=SetupGPIO1(GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT, 1);
+ ClrStatus=VL6180x_ClearAllInterrupt(Device);
+ if(ClrStatus)
+ VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
+ if(!status)
+ status=StartInterleavedMode();
+ return status;
+}
+
+
+int VL6180X::HandleIRQ(OperatingMode operating_mode, MeasureData_t *Data)
+{
+ int status;
+
+ EnableInterruptMeasureDetectionIRQ();
+ status=GetMeasurement(operating_mode, Data);
+ return status;
+}
+
+
+int VL6180X::RangeSetLowThreshold(uint16_t threshold)
+{
+ int status;
+ uint16_t low, high;
+
+ status=VL6180x_RangeGetThresholds(Device, &low, &high);
+ if(!status)
+ status=VL6180x_RangeSetThresholds(Device, threshold, high, 1);
+ return status;
+}
+
+
+int VL6180X::RangeSetHighThreshold(uint16_t threshold)
+{
+ int status;
+ uint16_t low, high;
+
+ status=VL6180x_RangeGetThresholds(Device, &low, &high);
+ if(!status)
+ status=VL6180x_RangeSetThresholds(Device, low, threshold, 1);
+ return status;
+}
+
+
+int VL6180X::AlsSetLowThreshold(uint16_t threshold)
+{
+ int status;
+ lux_t low, high;
+
+ status=AlsGetThresholds(Device, &low, &high);
+ if(!status)
+ status=VL6180x_AlsSetThresholds(Device, threshold, high);
+ return status;
+}
+
+
+int VL6180X::AlsSetHighThreshold(uint16_t threshold)
+{
+ int status;
+ lux_t low, high;
+
+ status=AlsGetThresholds(Device, &low, &high);
+ if(!status)
+ status=VL6180x_AlsSetThresholds(Device, low, threshold);
+ return status;
+}
+
+
+int VL6180X::AlsGetThresholds(VL6180xDev_t dev, lux_t *low, lux_t *high)
+{
+ int status;
+ uint16_t RawAlsLow, RawAlsHigh;
+ uint32_t luxLowValue, luxHighValue, IntPeriod, AlsAnGain, GainFix, AlsScaler;
+ const uint32_t LuxResxIntIme =(uint32_t)(0.56f* DEF_INT_PEFRIOD *(1<<LUXRES_FIX_PREC));
+
+ status=VL6180x_RdWord(dev, SYSALS_THRESH_LOW, &RawAlsLow);
+ if(status)
+ {
+ VL6180x_ErrLog("rd SYSALS_THRESH_LOW fail");
+ return status;
+ }
+ status=VL6180x_RdWord(dev, SYSALS_THRESH_HIGH, &RawAlsHigh);
+ if(status)
+ {
+ VL6180x_ErrLog("rd SYSALS_THRESH_HIGH fail");
+ return status;
+ }
+ AlsAnGain=VL6180xDevDataGet(dev, AlsGainCode);
+ IntPeriod=VL6180xDevDataGet(dev, IntegrationPeriod);
+ AlsScaler=VL6180xDevDataGet(dev, AlsScaler);
+ GainFix=AlsGainLookUp[AlsAnGain];
+ IntPeriod++;
+ luxLowValue=(uint32_t)RawAlsLow*LuxResxIntIme;
+ luxLowValue=luxLowValue/IntPeriod;
+ luxLowValue=luxLowValue/(AlsScaler*GainFix);
+ luxHighValue=(uint32_t)RawAlsHigh*LuxResxIntIme;
+ luxHighValue=luxHighValue/IntPeriod;
+ luxHighValue=luxHighValue/(AlsScaler*GainFix);
+ *low=luxLowValue;
+ *high=luxHighValue;
+ return status;
+}
+
+
+int VL6180X::GetMeasurement(OperatingMode operating_mode, MeasureData_t *Data)
+{
+ switch(operating_mode)
+ {
+ case(range_single_shot_polling):
+ case(range_continuous_polling):
+ case(range_continuous_interrupt):
+ case(range_continuous_polling_low_threshold):
+ case(range_continuous_polling_high_threshold):
+ case(range_continuous_polling_out_of_window):
+ case(range_continuous_interrupt_low_threshold):
+ case(range_continuous_interrupt_high_threshold):
+ case(range_continuous_interrupt_out_of_window):
+ return GetRangeMeas(operating_mode, Data);
+
+ case(als_single_shot_polling):
+ case(als_continuous_polling):
+ case(als_continuous_interrupt):
+ case(als_continuous_polling_low_threshold):
+ case(als_continuous_polling_high_threshold):
+ case(als_continuous_polling_out_of_window):
+ case(als_continuous_interrupt_low_threshold):
+ case(als_continuous_interrupt_high_threshold):
+ case(als_continuous_interrupt_out_of_window):
+ return GetAlsMeas(operating_mode, Data);
+
+ case(interleaved_mode_interrupt):
+ return GetRangeAlsMeas(Data);
+
+ default:
+ return INVALID_PARAMS;
+ }
+}
+
+
+int VL6180X::GetRangeMeas(OperatingMode operating_mode, MeasureData_t *Data)
+{
+ VL6180x_RangeData_t RangeData;
+ int status, ClrStatus;
+ IntrStatus_t IntStatus;
+
+ status=VL6180x_RangeGetInterruptStatus(Device, &IntStatus.val);
+ if(!status)
+ {
+ Data->int_error=IntStatus.status.Error;
+ if(IntStatus.status.Error!=0)
+ {
+ VL6180x_ErrLog("GPIO int Error report %d",(int)IntStatus.val);
+ status=RANGE_ERROR;
+ }
+ }
+ else
+ {
+ VL6180x_ErrLog("Failed to read RESULT_INTERRUPT_STATUS_GPIO");
+ }
+ ClrStatus=VL6180x_RangeClearInterrupt(Device);
+ if(ClrStatus)
+ {
+ VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
+ }
+ ClrStatus=VL6180x_ClearErrorInterrupt(Device);
+ if(ClrStatus)
+ {
+ VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
+ }
+ if(status)
+ return status;
+ if((operating_mode==range_single_shot_polling)||(operating_mode==range_continuous_polling)||(operating_mode==range_continuous_interrupt))
+ {
+ if(IntStatus.status.Range==RES_INT_STAT_GPIO_NEW_SAMPLE_READY)
+ status=VL6180x_RangeGetMeasurement(Device, &RangeData);
+ else
+ return NOT_READY;
+ }
+ else if((operating_mode==range_continuous_polling_low_threshold)||(operating_mode==range_continuous_interrupt_low_threshold))
+ {
+ if(IntStatus.status.Range==RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD)
+ status=VL6180x_RangeGetMeasurement(Device, &RangeData);
+ else
+ return NOT_READY;
+ }
+ else if((operating_mode==range_continuous_polling_high_threshold)||(operating_mode==range_continuous_interrupt_high_threshold))
+ {
+ if(IntStatus.status.Range==RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD)
+ status=VL6180x_RangeGetMeasurement(Device, &RangeData);
+ else
+ return NOT_READY;
+ }
+ else if((operating_mode==range_continuous_polling_out_of_window)||(operating_mode==range_continuous_interrupt_out_of_window))
+ {
+ if(IntStatus.status.Range==RES_INT_STAT_GPIO_OUT_OF_WINDOW)
+ status=VL6180x_RangeGetMeasurement(Device, &RangeData);
+ else
+ return NOT_READY;
+ }
+ if(!status)
+ {
+ status=GetRangeError(Data, RangeData);
+ if(!status)
+ Data->range_mm=RangeData.range_mm;
+ else
+ Data->range_mm=0xFFFFFFFF;
+ }
+ return status;
+}
+
+
+int VL6180X::GetAlsMeas(OperatingMode operating_mode, MeasureData_t *Data)
+{
+ VL6180x_AlsData_t AlsData;
+ int status, ClrStatus;
+ uint8_t IntStatus;
+
+ status=VL6180x_AlsGetInterruptStatus(Device, &IntStatus);
+ if(status)
+ {
+ VL6180x_ErrLog("Failed to read RESULT_INTERRUPT_STATUS_GPIO");
+ }
+ ClrStatus=VL6180x_AlsClearInterrupt(Device);
+ if(ClrStatus)
+ {
+ VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
+ }
+ ClrStatus=VL6180x_ClearErrorInterrupt(Device);
+ if(ClrStatus)
+ {
+ VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
+ }
+ if(status)
+ return status;
+ if((operating_mode==als_single_shot_polling)||(operating_mode==als_continuous_polling)||(operating_mode==als_continuous_interrupt))
+ {
+ if(IntStatus==RES_INT_STAT_GPIO_NEW_SAMPLE_READY)
+ status=VL6180x_AlsGetMeasurement(Device, &AlsData);
+ else
+ return NOT_READY;
+ }
+ else if((operating_mode==als_continuous_polling_low_threshold)||(operating_mode==als_continuous_interrupt_low_threshold))
+ {
+ if(IntStatus==RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD)
+ status=VL6180x_AlsGetMeasurement(Device, &AlsData);
+ else
+ return NOT_READY;
+ }
+ else if((operating_mode==als_continuous_polling_high_threshold)||(operating_mode==als_continuous_interrupt_high_threshold))
+ {
+ if(IntStatus==RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD)
+ status=VL6180x_AlsGetMeasurement(Device, &AlsData);
+ else
+ return NOT_READY;
+ }
+ else if((operating_mode==als_continuous_polling_out_of_window)||(operating_mode==als_continuous_interrupt_out_of_window))
+ {
+ if(IntStatus==RES_INT_STAT_GPIO_OUT_OF_WINDOW)
+ status=VL6180x_AlsGetMeasurement(Device, &AlsData);
+ else
+ return NOT_READY;
+ }
+ if(!status)
+ {
+ status=GetAlsError(Data, AlsData);
+ if(!status)
+ Data->lux=AlsData.lux;
+ else
+ Data->lux=0xFFFFFFFF;
+ }
+ return status;
+}
+
+
+int VL6180X::GetRangeAlsMeas(MeasureData_t *Data)
+{
+ int status, ClrStatus, r_status, l_status;
+ IntrStatus_t IntStatus;
+ VL6180x_RangeData_t RangeData;
+ VL6180x_AlsData_t AlsData;
+
+ status=VL6180x_RdByte(Device, RESULT_INTERRUPT_STATUS_GPIO, &IntStatus.val);
+ if(!status)
+ {
+ Data->int_error=IntStatus.status.Error;
+ if(IntStatus.status.Error!=0)
+ {
+ VL6180x_ErrLog("GPIO int Error report %d",(int)IntStatus.val);
+ status=RANGE_ERROR;
+ }
+ }
+ else
+ {
+ VL6180x_ErrLog("Failed to read RESULT_INTERRUPT_STATUS_GPIO");
+ }
+ ClrStatus=VL6180x_ClearAllInterrupt(Device);
+ if(ClrStatus)
+ VL6180x_ErrLog("VL6180x_ClearAllInterrupt fail");
+ if(status)
+ return status;
+
+ if(IntStatus.status.Als==RES_INT_STAT_GPIO_NEW_SAMPLE_READY)
+ {
+ r_status=VL6180x_RangeGetMeasurement(Device, &RangeData);
+ l_status=VL6180x_AlsGetMeasurement(Device, &AlsData);
+ if((!r_status)&&(!l_status))
+ {
+ r_status=GetRangeError(Data, RangeData);
+ l_status=GetAlsError(Data, AlsData);
+ if(!r_status)
+ Data->range_mm=RangeData.range_mm;
+ else
+ Data->range_mm=0xFFFFFFFF;
+ if(!l_status)
+ Data->lux=AlsData.lux;
+ else
+ Data->lux=0xFFFFFFFF;
+ status=r_status|l_status;
+ }
+ else
+ {
+ status=r_status|l_status;
+ }
+ }
+ else
+ return NOT_READY;
+ return status;
+}
+
+
+int VL6180X::StopMeasurement(OperatingMode operating_mode)
+{
+ int status;
+
+ switch(operating_mode)
+ {
+ case(range_single_shot_polling):
+ case(range_continuous_polling):
+ case(range_continuous_interrupt):
+ case(range_continuous_polling_low_threshold):
+ case(range_continuous_polling_high_threshold):
+ case(range_continuous_polling_out_of_window):
+ case(range_continuous_interrupt_low_threshold):
+ case(range_continuous_interrupt_high_threshold):
+ case(range_continuous_interrupt_out_of_window):
+ return StopRangeMeasurement(operating_mode);
+
+ case(als_single_shot_polling):
+ case(als_continuous_polling):
+ case(als_continuous_interrupt):
+ case(als_continuous_polling_low_threshold):
+ case(als_continuous_polling_high_threshold):
+ case(als_continuous_polling_out_of_window):
+ case(als_continuous_interrupt_low_threshold):
+ case(als_continuous_interrupt_high_threshold):
+ case(als_continuous_interrupt_out_of_window):
+ return StopAlsMeasurement(operating_mode);
+
+ case(interleaved_mode_interrupt):
+ status=StopRangeMeasurement(range_continuous_interrupt);
+ if(!status)
+ return StopAlsMeasurement(als_continuous_interrupt);
+ else return status;
+
+ default:
+ return INVALID_PARAMS;
+ }
+}
+
+
+int VL6180X::StopRangeMeasurement(OperatingMode operating_mode)
+{
+ int status;
+
+ if(operating_mode==range_single_shot_polling)
+ status=VL6180x_RangeSetSystemMode(Device, MODE_SINGLESHOT);
+ else
+ status=VL6180x_RangeSetSystemMode(Device, MODE_START_STOP|MODE_SINGLESHOT);
+ if(status)
+ return status;
+ status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if(status)
+ {
+ VL6180x_ErrLog("VL6180x_RangeConfigInterrupt fail"\n\r);
+ return status;
+ }
+ status=VL6180x_RangeClearInterrupt(Device);
+ if(status)
+ {
+ VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
+ return status;
+ }
+ status=VL6180x_ClearErrorInterrupt(Device);
+ if(status)
+ {
+ VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
+ return status;
+ }
+ status=VL6180x_RangeSetRawThresholds(Device, 10, 200);
+ if(status)
+ VL6180x_ErrLog("VL6180x_RangeSetThresholds fail");
+ return status;
+}
+
+
+int VL6180X::StopAlsMeasurement(OperatingMode operating_mode)
+{
+ int status;
+
+ if(operating_mode==als_single_shot_polling)
+ status=VL6180x_AlsSetSystemMode(Device, MODE_SINGLESHOT);
+ else
+ status=VL6180x_AlsSetSystemMode(Device, MODE_START_STOP|MODE_SINGLESHOT);
+ if(status)
+ return status;
+ status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if(status)
+ {
+ VL6180x_ErrLog("VL6180x_AlsConfigInterrupt fail"\n\r);
+ return status;
+ }
+ status=VL6180x_AlsClearInterrupt(Device);
+ if(status)
+ {
+ VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
+ return status;
+ }
+ status=VL6180x_ClearErrorInterrupt(Device);
+ if(status)
+ {
+ VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
+ return status;
+ }
+ status=VL6180x_AlsSetThresholds(Device, 0x0, 1800);
+ if(status)
+ VL6180x_ErrLog("VL6180x_AlsSetThresholds fail");
+ return status;
+}
+
+
+
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
\ No newline at end of file
diff -r 000000000000 -r 1cb50d31c3b5 VL6180X/vl6180x_class.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/VL6180X/vl6180x_class.h Fri Mar 25 21:27:03 2016 +0000
@@ -0,0 +1,1162 @@
+/**
+ ******************************************************************************
+ * @file vl6180x_class.h
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 9-November-2015
+ * @brief Header file for component VL6180X
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+*/
+
+#ifndef __VL6180X_CLASS_H
+#define __VL6180X_CLASS_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "RangeSensor.h"
+#include "LightSensor.h"
+#include "DevI2C.h"
+//#include "vl6180x_api.h"
+#include "vl6180x_cfg.h"
+#include "vl6180x_def.h"
+#include "vl6180x_types.h"
+#include "vl6180x_platform.h"
+
+
+
+/* data struct containing range measure, light measure and type of error provided to the user
+ in case of invalid data range_mm=0xFFFFFFFF and lux=0xFFFFFFFF */
+typedef struct MeasureData
+{
+ uint32_t range_mm;
+ uint32_t lux;
+ uint32_t range_error;
+ uint32_t als_error;
+ uint32_t int_error;
+}MeasureData_t;
+
+/* sensor operating modes */
+typedef enum
+{
+ range_single_shot_polling=1,
+ als_single_shot_polling,
+ range_continuous_polling,
+ als_continuous_polling,
+ range_continuous_interrupt,
+ als_continuous_interrupt,
+ interleaved_mode_interrupt,
+ range_continuous_polling_low_threshold,
+ range_continuous_polling_high_threshold,
+ range_continuous_polling_out_of_window,
+ als_continuous_polling_low_threshold,
+ als_continuous_polling_high_threshold,
+ als_continuous_polling_out_of_window,
+ range_continuous_interrupt_low_threshold,
+ range_continuous_interrupt_high_threshold,
+ range_continuous_interrupt_out_of_window,
+ als_continuous_interrupt_low_threshold,
+ als_continuous_interrupt_high_threshold,
+ als_continuous_interrupt_out_of_window,
+ range_continuous_als_single_shot,
+ range_single_shot_als_continuous,
+}OperatingMode;
+
+/** default device address */
+#define DEFAULT_DEVICE_ADDRESS 0x29
+
+/* Classes -------------------------------------------------------------------*/
+/** Class representing a VL6180X sensor component
+ */
+class VL6180X : public RangeSensor, public LightSensor
+{
+ public:
+ /** Constructor 1
+ * @param[in] &i2c device I2C to be used for communication
+ * @param[in] &pin Mbed DigitalOut pin to be used as component GPIO_0 CE
+ * @param[in] pin_gpio1 pin Mbed InterruptIn PinName to be used as component GPIO_1 INT
+ * @param[in] DevAddr device address, 0x29 by default
+ */
+ VL6180X(DevI2C &i2c, uint8_t DevAddr=DEFAULT_DEVICE_ADDRESS) : RangeSensor(), LightSensor(), dev_i2c(i2c)
+ {
+ MyDevice.I2cAddr=DevAddr;
+ MyDevice.Present=0;
+ MyDevice.Ready=0;
+ Device=&MyDevice;;
+ }
+
+ /** Destructor
+ */
+ virtual ~VL6180X(){}
+ /* warning: VL6180X class inherits from GenericSensor, RangeSensor and LightSensor, that haven`t a destructor.
+ The warning should request to introduce a virtual destructor to make sure to delete the object */
+
+ /*** Interface Methods ***/
+ /*** High level API ***/
+ /**
+ * @brief PowerOn the sensor
+ * @return void
+ */
+ /* turns on the sensor */
+ void VL6180x_On(void)
+ {
+ }
+
+ /**
+ * @brief PowerOff the sensor
+ * @return void
+ */
+ /* turns off the sensor */
+ void VL6180x_Off(void)
+ {
+ }
+
+ /**
+ * @brief Initialize the sensor with default values
+ * @return 0 on Success
+ */
+ int InitSensor(uint8_t NewAddr);
+
+ /**
+ * @brief Start the measure indicated by operating mode
+ * @param[in] operating_mode specifies requested measure
+ * @param[in] fptr specifies call back function must be !NULL in case of interrupt measure
+ * @param[in] low specifies measure low threashold in Lux or in mm according to measure
+ * @param[in] high specifies measure high threashold in Lux or in mm according to measure
+ * @return 0 on Success
+ */
+ int StartMeasurement(OperatingMode operating_mode, void (*fptr)(void), uint16_t low, uint16_t high);
+
+ /**
+ * @brief Get results for the measure indicated by operating mode
+ * @param[in] operating_mode specifies requested measure results
+ * @param[out] Data pointer to the MeasureData_t structure to read data in to
+ * @return 0 on Success
+ */
+ int GetMeasurement(OperatingMode operating_mode, MeasureData_t *Data);
+
+ /**
+ * @brief Stop the currently running measure indicate by operating_mode
+ * @param[in] operating_mode specifies requested measure to stop
+ * @return 0 on Success
+ */
+ int StopMeasurement(OperatingMode operating_mode);
+
+ /**
+ * @brief Interrupt handling func to be called by user after an INT is occourred
+ * @param[in] opeating_mode indicating the in progress measure
+ * @param[out] Data pointer to the MeasureData_t structure to read data in to
+ * @return 0 on Success
+ */
+ int HandleIRQ(OperatingMode operating_mode, MeasureData_t *Data);
+
+ /**
+ * @brief Enable interrupt measure IRQ
+ * @return 0 on Success
+ */
+ void EnableInterruptMeasureDetectionIRQ(void)
+ {
+ }
+
+ /**
+ * @brief Disable interrupt measure IRQ
+ * @return 0 on Success
+ */
+ void DisableInterruptMeasureDetectionIRQ(void)
+ {
+ }
+ /*** End High level API ***/
+
+ /**
+ * @brief Attach a function to call when an interrupt is detected, i.e. measurement is ready
+ * @param[in] fptr pointer to call back function to be called whenever an interrupt occours
+ * @return 0 on Success
+ */
+ void AttachInterruptMeasureDetectionIRQ(void (*fptr)(void))
+ {
+ }
+
+ /**
+ * @brief Check the sensor presence
+ * @return 1 when device is present
+ */
+ unsigned Present()
+ {
+ return Device->Present;
+ }
+
+ /** Wrapper functions */
+/** @defgroup api_init Init functions
+ * @brief API init functions
+ * @ingroup api_hl
+ * @{
+ */
+/**
+ * @brief Wait for device booted after chip enable (hardware standby)
+ * @par Function Description
+ * After Chip enable Application you can also simply wait at least 1ms to ensure device is ready
+ * @warning After device chip enable (gpio0) de-asserted user must wait gpio1 to get asserted (hardware standby).
+ * or wait at least 400usec prior to do any low level access or api call .
+ *
+ * This function implements polling for standby but you must ensure 400usec from chip enable passed\n
+ * @warning if device get prepared @a VL6180x_Prepare() re-using these function can hold indefinitely\n
+ *
+ * @param void
+ * @return 0 on success
+ */
+ int WaitDeviceBooted()
+ {
+ return VL6180x_WaitDeviceBooted(Device);
+ }
+
+/**
+ *
+ * @brief One time device initialization
+ *
+ * To be called once and only once after device is brought out of reset (Chip enable) and booted see @a VL6180x_WaitDeviceBooted()
+ *
+ * @par Function Description
+ * When not used after a fresh device "power up" or reset, it may return @a #CALIBRATION_WARNING
+ * meaning wrong calibration data may have been fetched from device that can result in ranging offset error\n
+ * If application cannot execute device reset or need to run VL6180x_InitData multiple time
+ * then it must ensure proper offset calibration saving and restore on its own
+ * by using @a VL6180x_GetOffsetCalibrationData() on first power up and then @a VL6180x_SetOffsetCalibrationData() all all subsequent init
+ *
+ * @param void
+ * @return 0 on success, @a #CALIBRATION_WARNING if failed
+ */
+ virtual int Init()
+ {
+ return VL6180x_InitData(Device);
+ }
+
+/**
+ * @brief Configure GPIO1 function and set polarity.
+ * @par Function Description
+ * To be used prior to arm single shot measure or start continuous mode.
+ *
+ * The function uses @a VL6180x_SetupGPIOx() for setting gpio 1.
+ * @warning changing polarity can generate a spurious interrupt on pins.
+ * It sets an interrupt flags condition that must be cleared to avoid polling hangs. \n
+ * It is safe to run VL6180x_ClearAllInterrupt() just after.
+ *
+ * @param IntFunction The interrupt functionality to use one of :\n
+ * @a #GPIOx_SELECT_OFF \n
+ * @a #GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT
+ * @param ActiveHigh The interrupt line polarity see ::IntrPol_e
+ * use @a #INTR_POL_LOW (falling edge) or @a #INTR_POL_HIGH (rising edge)
+ * @return 0 on success
+ */
+ int SetupGPIO1(uint8_t InitFunction, int ActiveHigh)
+ {
+ return VL6180x_SetupGPIO1(Device, InitFunction, ActiveHigh);
+ }
+
+/**
+ * @brief Prepare device for operation
+ * @par Function Description
+ * Does static initialization and reprogram common default settings \n
+ * Device is prepared for new measure, ready single shot ranging or ALS typical polling operation\n
+ * After prepare user can : \n
+ * @li Call other API function to set other settings\n
+ * @li Configure the interrupt pins, etc... \n
+ * @li Then start ranging or ALS operations in single shot or continuous mode
+ *
+ * @param void
+ * @return 0 on success
+ */
+ int Prepare()
+ {
+ return VL6180x_Prepare(Device);
+ }
+
+ /**
+ * @brief Start continuous ranging mode
+ *
+ * @details End user should ensure device is in idle state and not already running
+ * @return 0 on success
+ */
+ int RangeStartContinuousMode()
+ {
+ return VL6180x_RangeStartContinuousMode(Device);
+ }
+
+/**
+ * @brief Start single shot ranging measure
+ *
+ * @details End user should ensure device is in idle state and not already running
+ * @return 0 on success
+ */
+ int RangeStartSingleShot()
+ {
+ return VL6180x_RangeStartSingleShot(Device);
+ }
+
+/**
+ * @brief Set maximum convergence time
+ *
+ * @par Function Description
+ * Setting a low convergence time can impact maximal detectable distance.
+ * Refer to VL6180x Datasheet Table 7 : Typical range convergence time.
+ * A typical value for up to x3 scaling is 50 ms
+ *
+ * @param MaxConTime_msec
+ * @return 0 on success. <0 on error. >0 for calibration warning status
+ */
+ int RangeSetMaxConvergenceTime(uint8_t MaxConTime_msec)
+ {
+ return VL6180x_RangeSetMaxConvergenceTime(Device, MaxConTime_msec);
+ }
+
+/**
+ * @brief Single shot Range measurement in polling mode.
+ *
+ * @par Function Description
+ * Kick off a new single shot range then wait for ready to retrieve it by polling interrupt status \n
+ * Ranging must be prepared by a first call to @a VL6180x_Prepare() and it is safer to clear very first poll call \n
+ * This function reference VL6180x_PollDelay(dev) porting macro/call on each polling loop,
+ * but PollDelay(dev) may never be called if measure in ready on first poll loop \n
+ * Should not be use in continuous mode operation as it will stop it and cause stop/start misbehaviour \n
+ * \n This function clears Range Interrupt status , but not error one. For that uses @a VL6180x_ClearErrorInterrupt() \n
+ * This range error is not related VL6180x_RangeData_t::errorStatus that refer measure status \n
+ *
+ * @param pRangeData Will be populated with the result ranging data @a VL6180x_RangeData_t
+ * @return 0 on success , @a #RANGE_ERROR if device reports an error case in it status (not cleared) use
+ *
+ * \sa ::VL6180x_RangeData_t
+ */
+ int RangePollMeasurement(VL6180x_RangeData_t *pRangeData)
+ {
+ return VL6180x_RangePollMeasurement(Device, pRangeData);
+ }
+
+/**
+ * @brief Check for measure readiness and get it if ready
+ *
+ * @par Function Description
+ * Using this function is an alternative to @a VL6180x_RangePollMeasurement() to avoid polling operation. This is suitable for applications
+ * where host CPU is triggered on a interrupt (not from VL6180X) to perform ranging operation. In this scenario, we assume that the very first ranging
+ * operation is triggered by a call to @a VL6180x_RangeStartSingleShot(). Then, host CPU regularly calls @a VL6180x_RangeGetMeasurementIfReady() to
+ * get a distance measure if ready. In case the distance is not ready, host may get it at the next call.\n
+ *
+ * @warning
+ * This function does not re-start a new measurement : this is up to the host CPU to do it.\n
+ * This function clears Range Interrupt for measure ready , but not error interrupts. For that, uses @a VL6180x_ClearErrorInterrupt() \n
+ *
+ * @param pRangeData Will be populated with the result ranging data if available
+ * @return 0 when measure is ready pRange data is updated (untouched when not ready), >0 for warning and @a #NOT_READY if measurement not yet ready, <0 for error @a #RANGE_ERROR if device report an error,
+ */
+ int RangeGetMeasurementIfReady(VL6180x_RangeData_t *pRangeData)
+ {
+ return VL6180x_RangeGetMeasurementIfReady(Device, pRangeData);
+ }
+
+/**
+ * @brief Retrieve range measurements set from device
+ *
+ * @par Function Description
+ * The measurement is made of range_mm status and error code @a VL6180x_RangeData_t \n
+ * Based on configuration selected extra measures are included.
+ *
+ * @warning should not be used in continuous if wrap around filter is active \n
+ * Does not perform any wait nor check for result availability or validity.
+ *\sa VL6180x_RangeGetResult for "range only" measurement
+ *
+ * @param pRangeData Pointer to the data structure to fill up
+ * @return 0 on success
+ */
+ int RangeGetMeasurement(VL6180x_RangeData_t *pRangeData)
+ {
+ return VL6180x_RangeGetMeasurement(Device, pRangeData);
+ }
+
+/**
+ * @brief Get ranging result and only that
+ *
+ * @par Function Description
+ * Unlike @a VL6180x_RangeGetMeasurement() this function only retrieves the range in millimeter \n
+ * It does any required up-scale translation\n
+ * It can be called after success status polling or in interrupt mode \n
+ * @warning these function is not doing wrap around filtering \n
+ * This function doesn't perform any data ready check!
+ *
+ * @param pRange_mm Pointer to range distance
+ * @return 0 on success
+ */
+ virtual int GetRange(int32_t *piData)
+ {
+ return VL6180x_RangeGetResult(Device, piData);
+ }
+
+/**
+ * @brief Configure ranging interrupt reported to application
+ *
+ * @param ConfigGpioInt Select ranging report\n select one (and only one) of:\n
+ * @a #CONFIG_GPIO_INTERRUPT_DISABLED \n
+ * @a #CONFIG_GPIO_INTERRUPT_LEVEL_LOW \n
+ * @a #CONFIG_GPIO_INTERRUPT_LEVEL_HIGH \n
+ * @a #CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW \n
+ * @a #CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY
+ * @return 0 on success
+ */
+ int RangeConfigInterrupt(uint8_t ConfigGpioInt)
+ {
+ return VL6180x_RangeConfigInterrupt(Device, ConfigGpioInt);
+ }
+
+/**
+ * @brief Return ranging error interrupt status
+ *
+ * @par Function Description
+ * Appropriate Interrupt report must have been selected first by @a VL6180x_RangeConfigInterrupt() or @a VL6180x_Prepare() \n
+ *
+ * Can be used in polling loop to wait for a given ranging event or in interrupt to read the trigger \n
+ * Events triggers are : \n
+ * @a #RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD \n
+ * @a #RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD \n
+ * @a #RES_INT_STAT_GPIO_OUT_OF_WINDOW \n (RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD|RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD)
+ * @a #RES_INT_STAT_GPIO_NEW_SAMPLE_READY \n
+ *
+ * @sa IntrStatus_t
+ * @param pIntStatus Pointer to status variable to update
+ * @return 0 on success
+ */
+ int RangeGetInterruptStatus(uint8_t *pIntStatus)
+ {
+ return VL6180x_RangeGetInterruptStatus(Device, pIntStatus);
+ }
+
+/**
+ * @brief Run a single ALS measurement in single shot polling mode
+ *
+ * @par Function Description
+ * Kick off a new single shot ALS then wait new measurement ready to retrieve it ( polling system interrupt status register for als) \n
+ * ALS must be prepared by a first call to @a VL6180x_Prepare() \n
+ * \n Should not be used in continuous or interrupt mode it will break it and create hazard in start/stop \n
+ *
+ * @param dev The device
+ * @param pAlsData Als data structure to fill up @a VL6180x_AlsData_t
+ * @return 0 on success
+ */
+ int AlsPollMeasurement(VL6180x_AlsData_t *pAlsData)
+ {
+ return VL6180x_AlsPollMeasurement(Device, pAlsData);
+ }
+
+/**
+ * @brief Get actual ALS measurement
+ *
+ * @par Function Description
+ * Can be called after success status polling or in interrupt mode to retrieve ALS measurement from device \n
+ * This function doesn't perform any data ready check !
+ *
+ * @param pAlsData Pointer to measurement struct @a VL6180x_AlsData_t
+ * @return 0 on success
+ */
+ int AlsGetMeasurement(VL6180x_AlsData_t *pAlsData)
+ {
+ return VL6180x_AlsGetMeasurement(Device, pAlsData);
+ }
+
+/**
+ * @brief Configure ALS interrupts provide to application
+ *
+ * @param ConfigGpioInt Select one (and only one) of : \n
+ * @a #CONFIG_GPIO_INTERRUPT_DISABLED \n
+ * @a #CONFIG_GPIO_INTERRUPT_LEVEL_LOW \n
+ * @a #CONFIG_GPIO_INTERRUPT_LEVEL_HIGH \n
+ * @a #CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW \n
+ * @a #CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY
+ * @return 0 on success may return #INVALID_PARAMS for invalid mode
+ */
+ int AlsConfigInterrupt(uint8_t ConfigGpioInt)
+ {
+ return VL6180x_AlsConfigInterrupt(Device, ConfigGpioInt);
+ }
+
+/**
+ * @brief Set ALS integration period
+ *
+ * @param period_ms Integration period in msec. Value in between 50 to 100 msec is recommended\n
+ * @return 0 on success
+ */
+ int AlsSetIntegrationPeriod(uint16_t period_ms)
+ {
+ return VL6180x_AlsSetIntegrationPeriod(Device, period_ms);
+ }
+
+/**
+ * @brief Set ALS "inter-measurement period"
+ *
+ * @par Function Description
+ * The so call data-sheet "inter measurement period" is actually an extra inter-measurement delay
+ *
+ * @param intermeasurement_period_ms Inter measurement time in milli second\n
+ * @warning applied value is clipped to 2550 ms\n
+ * @return 0 on success if value is
+ */
+ int AlsSetInterMeasurementPeriod(uint16_t intermeasurement_period_ms)
+ {
+ return VL6180x_AlsSetInterMeasurementPeriod(Device, intermeasurement_period_ms);
+ }
+
+/**
+ * @brief Set ALS analog gain code
+ *
+ * @par Function Description
+ * ALS gain code value programmed in @a SYSALS_ANALOGUE_GAIN .
+ * @param gain Gain code see datasheet or AlsGainLookUp for real value. Value is clipped to 7.
+ * @return 0 on success
+ */
+ int AlsSetAnalogueGain(uint8_t gain)
+ {
+ return VL6180x_AlsSetAnalogueGain(Device, gain);
+ }
+
+/**
+ * @brief Set thresholds for ALS continuous mode
+ * @warning Threshold are raw device value not lux!
+ *
+ * @par Function Description
+ * Basically value programmed in @a SYSALS_THRESH_LOW and @a SYSALS_THRESH_HIGH registers
+ * @param low ALS low raw threshold for @a SYSALS_THRESH_LOW
+ * @param high ALS high raw threshold for @a SYSALS_THRESH_HIGH
+ * @return 0 on success
+ */
+ int AlsSetThresholds(uint16_t lux_threshold_low, uint16_t lux_threshold_high);
+
+/**
+ * Read ALS interrupt status
+ * @param pIntStatus Pointer to status
+ * @return 0 on success
+ */
+ int AlsGetInterruptStatus(uint8_t *pIntStatus)
+ {
+ return VL6180x_AlsGetInterruptStatus(Device, pIntStatus);
+ }
+
+/**
+ * @brief Low level ranging and ALS register static settings (you should call @a VL6180x_Prepare() function instead)
+ *
+ * @return 0 on success
+ */
+ int StaticInit()
+ {
+ return VL6180x_StaticInit(Device);
+ }
+
+/**
+ * @brief Wait for device to be ready (before a new ranging command can be issued by application)
+ * @param MaxLoop Max Number of i2c polling loop see @a #msec_2_i2cloop
+ * @return 0 on success. <0 when fail \n
+ * @ref VL6180x_ErrCode_t::TIME_OUT for time out \n
+ * @ref VL6180x_ErrCode_t::INVALID_PARAMS if MaxLop<1
+ */
+ int RangeWaitDeviceReady(int MaxLoop )
+ {
+ return VL6180x_RangeWaitDeviceReady(Device, MaxLoop);
+ }
+
+/**
+ * @brief Program Inter measurement period (used only in continuous mode)
+ *
+ * @par Function Description
+ * When trying to set too long time, it returns #INVALID_PARAMS
+ *
+ * @param InterMeasTime_msec Requires inter-measurement time in msec
+ * @return 0 on success
+ */
+ int RangeSetInterMeasPeriod(uint32_t InterMeasTime_msec)
+ {
+ return VL6180x_RangeSetInterMeasPeriod(Device, InterMeasTime_msec);
+ }
+
+/**
+ * @brief Set device ranging scaling factor
+ *
+ * @par Function Description
+ * The ranging scaling factor is applied on the raw distance measured by the device to increase operating ranging at the price of the precision.
+ * Changing the scaling factor when device is not in f/w standby state (free running) is not safe.
+ * It can be source of spurious interrupt, wrongly scaled range etc ...
+ * @warning __This function doesns't update high/low threshold and other programmed settings linked to scaling factor__.
+ * To ensure proper operation, threshold and scaling changes should be done following this procedure: \n
+ * @li Set Group hold : @a VL6180x_SetGroupParamHold() \n
+ * @li Get Threshold @a VL6180x_RangeGetThresholds() \n
+ * @li Change scaling : @a VL6180x_UpscaleSetScaling() \n
+ * @li Set Threshold : @a VL6180x_RangeSetThresholds() \n
+ * @li Unset Group Hold : @a VL6180x_SetGroupParamHold()
+ *
+ * @param scaling Scaling factor to apply (1,2 or 3)
+ * @return 0 on success when up-scale support is not configured it fail for any
+ * scaling than the one statically configured.
+ */
+ int UpscaleSetScaling(uint8_t scaling)
+ {
+ return VL6180x_UpscaleSetScaling(Device, scaling);
+ }
+
+/**
+ * @brief Get current ranging scaling factor
+ *
+ * @return The current scaling factor
+ */
+ int UpscaleGetScaling()
+ {
+ return VL6180x_UpscaleGetScaling(Device);
+ }
+
+/**
+ * @brief Get the maximal distance for actual scaling
+ * @par Function Description
+ * Do not use prior to @a VL6180x_Prepare() or at least @a VL6180x_InitData()
+ *
+ * Any range value more than the value returned by this function is to be considered as "no target detected"
+ * or "no target in detectable range" \n
+ * @warning The maximal distance depends on the scaling
+ *
+ * @return The maximal range limit for actual mode and scaling
+ */
+ uint16_t GetUpperLimit()
+ {
+ return VL6180x_GetUpperLimit(Device);
+ }
+
+/**
+ * @brief Apply low and high ranging thresholds that are considered only in continuous mode
+ *
+ * @par Function Description
+ * This function programs low and high ranging thresholds that are considered in continuous mode :
+ * interrupt will be raised only when an object is detected at a distance inside this [low:high] range.
+ * The function takes care of applying current scaling factor if any.\n
+ * To be safe, in continuous operation, thresholds must be changed under "group parameter hold" cover.
+ * Group hold can be activated/deactivated directly in the function or externally (then set 0)
+ * using /a VL6180x_SetGroupParamHold() function.
+ *
+ * @param low Low threshold in mm
+ * @param high High threshold in mm
+ * @param SafeHold Use of group parameters hold to surround threshold programming.
+ * @return 0 On success
+ */
+ int RangeSetThresholds(uint16_t low, uint16_t high, int SafeHold)
+ {
+ return VL6180x_RangeSetThresholds(Device, low, high, SafeHold);
+ }
+
+/**
+ * @brief Get scaled high and low threshold from device
+ *
+ * @par Function Description
+ * Due to scaling factor, the returned value may be different from what has been programmed first (precision lost).
+ * For instance VL6180x_RangeSetThresholds(dev,11,22) with scale 3
+ * will read back 9 ((11/3)x3) and 21 ((22/3)x3).
+ *
+ * @param low scaled low Threshold ptr can be NULL if not needed
+ * @param high scaled High Threshold ptr can be NULL if not needed
+ * @return 0 on success, return value is undefined if both low and high are NULL
+ * @warning return value is undefined if both low and high are NULL
+ */
+ int RangeGetThresholds(uint16_t *low, uint16_t *high)
+ {
+ return VL6180x_RangeGetThresholds(Device, low, high);
+ }
+
+/**
+ * @brief Set ranging raw thresholds (scaling not considered so not recommended to use it)
+ *
+ * @param low raw low threshold set to raw register
+ * @param high raw high threshold set to raw register
+ * @return 0 on success
+ */
+ int RangeSetRawThresholds(uint8_t low, uint8_t high)
+ {
+ return VL6180x_RangeSetRawThresholds(Device, low, high);
+ }
+
+/**
+ * @brief Set Early Convergence Estimate ratio
+ * @par Function Description
+ * For more information on ECE check datasheet
+ * @warning May return a calibration warning in some use cases
+ *
+ * @param FactorM ECE factor M in M/D
+ * @param FactorD ECE factor D in M/D
+ * @return 0 on success. <0 on error. >0 on warning
+ */
+ int RangeSetEceFactor(uint16_t FactorM, uint16_t FactorD)
+ {
+ return VL6180x_RangeSetEceFactor(Device, FactorM, FactorD);
+ }
+
+/**
+ * @brief Set Early Convergence Estimate state (See #SYSRANGE_RANGE_CHECK_ENABLES register)
+ * @param enable State to be set 0=disabled, otherwise enabled
+ * @return 0 on success
+ */
+ int RangeSetEceState(int enable)
+ {
+ return VL6180x_RangeSetEceState(Device, enable);
+ }
+
+/**
+ * @brief Set activation state of the wrap around filter
+ * @param state New activation state (0=off, otherwise on)
+ * @return 0 on success
+ */
+ int FilterSetState(int state)
+ {
+ return VL6180x_FilterSetState(Device, state);
+ }
+
+/**
+ * Get activation state of the wrap around filter
+ * @return Filter enabled or not, when filter is not supported it always returns 0S
+ */
+ int FilterGetState()
+ {
+ return VL6180x_FilterGetState(Device);
+ }
+
+/**
+ * @brief Set activation state of DMax computation
+ * @param state New activation state (0=off, otherwise on)
+ * @return 0 on success
+ */
+ int DMaxSetState(int state)
+ {
+ return VL6180x_DMaxSetState(Device, state);
+ }
+
+/**
+ * Get activation state of DMax computation
+ * @return Filter enabled or not, when filter is not supported it always returns 0S
+ */
+ int DMaxGetState()
+ {
+ return VL6180x_DMaxGetState(Device);
+ }
+
+/**
+ * @brief Set ranging mode and start/stop measure (use high level functions instead : @a VL6180x_RangeStartSingleShot() or @a VL6180x_RangeStartContinuousMode())
+ *
+ * @par Function Description
+ * When used outside scope of known polling single shot stopped state, \n
+ * user must ensure the device state is "idle" before to issue a new command.
+ *
+ * @param mode A combination of working mode (#MODE_SINGLESHOT or #MODE_CONTINUOUS) and start/stop condition (#MODE_START_STOP) \n
+ * @return 0 on success
+ */
+ int RangeSetSystemMode(uint8_t mode)
+ {
+ return VL6180x_RangeSetSystemMode(Device, mode);
+ }
+
+/** @} */
+
+/** @defgroup api_ll_range_calibration Ranging calibration functions
+ * @brief Ranging calibration functions
+ * @ingroup api_ll
+ * @{
+ */
+/**
+ * @brief Get part to part calibration offset
+ *
+ * @par Function Description
+ * Should only be used after a successful call to @a VL6180x_InitData to backup device nvm value
+ *
+ * @return part to part calibration offset from device
+ */
+ int8_t GetOffsetCalibrationData()
+ {
+ return VL6180x_GetOffsetCalibrationData(Device);
+ }
+
+/**
+ * Set or over-write part to part calibration offset
+ * \sa VL6180x_InitData(), VL6180x_GetOffsetCalibrationData()
+ * @param offset Offset
+ */
+ void SetOffsetCalibrationData(int8_t offset)
+ {
+ return VL6180x_SetOffsetCalibrationData(Device, offset);
+ }
+
+/**
+ * @brief Set Cross talk compensation rate
+ *
+ * @par Function Description
+ * It programs register @a #SYSRANGE_CROSSTALK_COMPENSATION_RATE
+ *
+ * @param Rate Compensation rate (9.7 fix point) see datasheet for details
+ * @return 0 on success
+ */
+ int SetXTalkCompensationRate(FixPoint97_t Rate)
+ {
+ return VL6180x_SetXTalkCompensationRate(Device, Rate);
+ }
+/** @} */
+
+/** @defgroup api_ll_als ALS functions
+ * @brief ALS functions
+ * @ingroup api_ll
+ * @{
+ */
+
+/**
+ * @brief Wait for device to be ready for new als operation or max pollign loop (time out)
+ * @param MaxLoop Max Number of i2c polling loop see @a #msec_2_i2cloop
+ * @return 0 on success. <0 when @a VL6180x_ErrCode_t::TIME_OUT if timed out
+ */
+ int AlsWaitDeviceReady(int MaxLoop)
+ {
+ return VL6180x_AlsWaitDeviceReady(Device, MaxLoop);
+ }
+
+/**
+ * @brief Set ALS system mode and start/stop measure
+ *
+ * @warning When used outside after single shot polling, \n
+ * User must ensure the device state is ready before issuing a new command (using @a VL6180x_AlsWaitDeviceReady()). \n
+ * Non respect of this, can cause loss of interrupt or device hanging.
+ *
+ * @param mode A combination of working mode (#MODE_SINGLESHOT or #MODE_CONTINUOUS) and start condition (#MODE_START_STOP) \n
+ * @return 0 on success
+ */
+ int AlsSetSystemMode(uint8_t mode)
+ {
+ return VL6180x_AlsSetSystemMode(Device, mode);
+ }
+
+/** @defgroup api_ll_misc Misc functions
+ * @brief Misc functions
+ * @ingroup api_ll
+ * @{
+ */
+
+/**
+ * Set Group parameter Hold state
+ *
+ * @par Function Description
+ * Group parameter holds @a #SYSTEM_GROUPED_PARAMETER_HOLD enable safe update (non atomic across multiple measure) by host
+ * \n The critical register group is composed of: \n
+ * #SYSTEM_INTERRUPT_CONFIG_GPIO \n
+ * #SYSRANGE_THRESH_HIGH \n
+ * #SYSRANGE_THRESH_LOW \n
+ * #SYSALS_INTEGRATION_PERIOD \n
+ * #SYSALS_ANALOGUE_GAIN \n
+ * #SYSALS_THRESH_HIGH \n
+ * #SYSALS_THRESH_LOW
+ *
+ *
+ * @param Hold Group parameter Hold state to be set (on/off)
+ * @return 0 on success
+ */
+ int SetGroupParamHold(int Hold)
+ {
+ return VL6180x_SetGroupParamHold(Device, Hold);
+ }
+
+/**
+ * @brief Set new device i2c address
+ *
+ * After completion the device will answer to the new address programmed.
+ *
+ * @sa AN4478: Using multiple VL6180X's in a single design
+ * @param NewAddr The new i2c address (7bit)
+ * @return 0 on success
+ */
+ int SetI2CAddress(int NewAddr)
+ {
+ int status;
+
+ status=VL6180x_SetI2CAddress(Device, NewAddr);
+ if(!status)
+ Device->I2cAddr=NewAddr;
+ return status;
+ }
+
+/**
+ * @brief Fully configure gpio 0/1 pin : polarity and functionality
+ *
+ * @param pin gpio pin 0 or 1
+ * @param IntFunction Pin functionality : either #GPIOx_SELECT_OFF or #GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT (refer to #SYSTEM_MODE_GPIO1 register definition)
+ * @param ActiveHigh Set active high polarity, or active low see @a ::IntrPol_e
+ * @return 0 on success
+ */
+ int SetupGPIOx(int pin, uint8_t IntFunction, int ActiveHigh)
+ {
+ return VL6180x_SetupGPIOx(Device, pin, IntFunction, ActiveHigh);
+ }
+
+/**
+ * @brief Set interrupt pin polarity for the given GPIO
+ *
+ * @param pin Pin 0 or 1
+ * @param active_high select active high or low polarity using @ref IntrPol_e
+ * @return 0 on success
+ */
+ int SetGPIOxPolarity(int pin, int active_high)
+ {
+ return VL6180x_SetGPIOxPolarity(Device, pin, active_high);
+ }
+
+/**
+ * Select interrupt functionality for the given GPIO
+ *
+ * @par Function Description
+ * Functionality refer to @a SYSTEM_MODE_GPIO0
+ *
+ * @param pin Pin to configure 0 or 1 (gpio0 or gpio1)\nNote that gpio0 is chip enable at power up !
+ * @param functionality Pin functionality : either #GPIOx_SELECT_OFF or #GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT (refer to #SYSTEM_MODE_GPIO1 register definition)
+ * @return 0 on success
+ */
+ int SetGPIOxFunctionality(int pin, uint8_t functionality)
+ {
+ return VL6180x_SetGPIOxFunctionality(Device, pin, functionality);
+ }
+
+/**
+ * #brief Disable and turn to Hi-Z gpio output pin
+ *
+ * @param pin The pin number to disable 0 or 1
+ * @return 0 on success
+ */
+ int DisableGPIOxOut(int pin)
+ {
+ return VL6180x_DisableGPIOxOut(Device, pin);
+ }
+
+/** @} */
+
+/** @defgroup api_ll_intr Interrupts management functions
+ * @brief Interrupts management functions
+ * @ingroup api_ll
+ * @{
+ */
+
+/**
+ * @brief Get all interrupts cause
+ *
+ * @param status Ptr to interrupt status. You can use @a IntrStatus_t::val
+ * @return 0 on success
+ */
+ int GetInterruptStatus(uint8_t *status)
+ {
+ return VL6180x_GetInterruptStatus(Device, status);
+ }
+
+/**
+ * @brief Clear given system interrupt condition
+ *
+ * @par Function Description
+ * Clear given interrupt cause by writing into register #SYSTEM_INTERRUPT_CLEAR register.
+ * @param dev The device
+ * @param IntClear Which interrupt source to clear. Use any combinations of #INTERRUPT_CLEAR_RANGING , #INTERRUPT_CLEAR_ALS , #INTERRUPT_CLEAR_ERROR.
+ * @return 0 On success
+ */
+ int ClearInterrupt(uint8_t IntClear)
+ {
+ return VL6180x_ClearInterrupt(Device, IntClear );
+ }
+
+/**
+ * @brief Clear error interrupt
+ *
+ * @param dev The device
+ * @return 0 On success
+ */
+ #define VL6180x_ClearErrorInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_ERROR)
+
+/**
+ * @brief Clear All interrupt causes (als+range+error)
+ *
+ * @param dev The device
+ * @return 0 On success
+ */
+#define VL6180x_ClearAllInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_ERROR|INTERRUPT_CLEAR_RANGING|INTERRUPT_CLEAR_ALS)
+
+/** @} */
+
+/**
+ * @brief Get the ALS (light in Lux) level
+ *
+ * @par Function Description
+ * Get the ALS (light in Lux) level
+ * @param *piData The pointer to variable to write in the measure in Lux
+ * @return 0 On success
+ */
+ virtual int GetLight(uint32_t *piData)
+ {
+ return VL6180x_AlsGetLux(Device, piData);
+ }
+
+/**
+ * @brief Start the ALS (light) measure in continous mode
+ *
+ * @par Function Description
+ * Start the ALS (light) measure in continous mode
+ * @return 0 On success
+ */
+ int AlsStartContinuousMode()
+ {
+ return VL6180x_AlsSetSystemMode(Device, MODE_START_STOP|MODE_CONTINUOUS);
+ }
+
+/**
+ * @brief Start the ALS (light) measure in single shot mode
+ *
+ * @par Function Description
+ * Start the ALS (light) measure in single shot mode
+ * @return 0 On success
+ */
+ int AlsStartSingleShot()
+ {
+ return VL6180x_AlsSetSystemMode(Device, MODE_START_STOP|MODE_SINGLESHOT);
+ }
+
+ private:
+ /* api.h functions */
+ int VL6180x_WaitDeviceBooted(VL6180xDev_t dev);
+ int VL6180x_InitData(VL6180xDev_t dev );
+ int VL6180x_SetupGPIO1(VL6180xDev_t dev, uint8_t IntFunction, int ActiveHigh);
+ int VL6180x_Prepare(VL6180xDev_t dev);
+ int VL6180x_RangeStartContinuousMode(VL6180xDev_t dev);
+ int VL6180x_RangeStartSingleShot(VL6180xDev_t dev);
+ int VL6180x_RangeSetMaxConvergenceTime(VL6180xDev_t dev, uint8_t MaxConTime_msec);
+ int VL6180x_RangePollMeasurement(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData);
+ int VL6180x_RangeGetMeasurementIfReady(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData);
+ int VL6180x_RangeGetMeasurement(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData);
+ int VL6180x_RangeGetResult(VL6180xDev_t dev, int32_t *pRange_mm);
+ int VL6180x_RangeConfigInterrupt(VL6180xDev_t dev, uint8_t ConfigGpioInt);
+ int VL6180x_RangeGetInterruptStatus(VL6180xDev_t dev, uint8_t *pIntStatus);
+ int VL6180x_AlsPollMeasurement(VL6180xDev_t dev, VL6180x_AlsData_t *pAlsData);
+ int VL6180x_AlsGetMeasurement(VL6180xDev_t dev, VL6180x_AlsData_t *pAlsData);
+ int VL6180x_AlsConfigInterrupt(VL6180xDev_t dev, uint8_t ConfigGpioInt);
+ int VL6180x_AlsSetIntegrationPeriod(VL6180xDev_t dev, uint16_t period_ms);
+ int VL6180x_AlsSetInterMeasurementPeriod(VL6180xDev_t dev, uint16_t intermeasurement_period_ms);
+ int VL6180x_AlsSetAnalogueGain(VL6180xDev_t dev, uint8_t gain);
+ int VL6180x_AlsSetThresholds(VL6180xDev_t dev, uint16_t low, uint16_t high);
+ int VL6180x_AlsGetInterruptStatus(VL6180xDev_t dev, uint8_t *pIntStatus);
+ int VL6180x_StaticInit(VL6180xDev_t dev);
+ int VL6180x_RangeWaitDeviceReady(VL6180xDev_t dev, int MaxLoop );
+ int VL6180x_RangeSetInterMeasPeriod(VL6180xDev_t dev, uint32_t InterMeasTime_msec);
+ int VL6180x_UpscaleSetScaling(VL6180xDev_t dev, uint8_t scaling);
+ int VL6180x_UpscaleGetScaling(VL6180xDev_t dev);
+ uint16_t VL6180x_GetUpperLimit(VL6180xDev_t dev);
+ int VL6180x_RangeSetThresholds(VL6180xDev_t dev, uint16_t low, uint16_t high, int SafeHold);
+ int VL6180x_RangeGetThresholds(VL6180xDev_t dev, uint16_t *low, uint16_t *high);
+ int VL6180x_RangeSetRawThresholds(VL6180xDev_t dev, uint8_t low, uint8_t high);
+ int VL6180x_RangeSetEceFactor(VL6180xDev_t dev, uint16_t FactorM, uint16_t FactorD);
+ int VL6180x_RangeSetEceState(VL6180xDev_t dev, int enable );
+ int VL6180x_FilterSetState(VL6180xDev_t dev, int state);
+ int VL6180x_FilterGetState(VL6180xDev_t dev);
+ int VL6180x_DMaxSetState(VL6180xDev_t dev, int state);
+ int VL6180x_DMaxGetState(VL6180xDev_t dev);
+ int VL6180x_RangeSetSystemMode(VL6180xDev_t dev, uint8_t mode);
+ int8_t VL6180x_GetOffsetCalibrationData(VL6180xDev_t dev);
+ void VL6180x_SetOffsetCalibrationData(VL6180xDev_t dev, int8_t offset);
+ int VL6180x_SetXTalkCompensationRate(VL6180xDev_t dev, FixPoint97_t Rate);
+ int VL6180x_AlsWaitDeviceReady(VL6180xDev_t dev, int MaxLoop );
+ int VL6180x_AlsSetSystemMode(VL6180xDev_t dev, uint8_t mode);
+ int VL6180x_SetGroupParamHold(VL6180xDev_t dev, int Hold);
+ int VL6180x_SetI2CAddress(VL6180xDev_t dev, uint8_t NewAddr);
+ int VL6180x_SetupGPIOx(VL6180xDev_t dev, int pin, uint8_t IntFunction, int ActiveHigh);
+ int VL6180x_SetGPIOxPolarity(VL6180xDev_t dev, int pin, int active_high);
+ int VL6180x_SetGPIOxFunctionality(VL6180xDev_t dev, int pin, uint8_t functionality);
+ int VL6180x_DisableGPIOxOut(VL6180xDev_t dev, int pin);
+ int VL6180x_GetInterruptStatus(VL6180xDev_t dev, uint8_t *status);
+ int VL6180x_ClearInterrupt(VL6180xDev_t dev, uint8_t IntClear );
+
+ /* Other functions defined in api.c */
+ int VL6180x_RangeStaticInit(VL6180xDev_t dev);
+ int VL6180x_UpscaleRegInit(VL6180xDev_t dev);
+ int VL6180x_UpscaleStaticInit(VL6180xDev_t dev);
+ int VL6180x_AlsGetLux(VL6180xDev_t dev, lux_t *pLux);
+ int _UpscaleInitPatch0(VL6180xDev_t dev);
+ int VL6180x_RangeGetDeviceReady(VL6180xDev_t dev, int * Ready);
+ int VL6180x_RangeSetEarlyConvergenceEestimateThreshold(VL6180xDev_t dev);
+ int32_t _GetAveTotalTime(VL6180xDev_t dev);
+ int32_t _filter_Start(VL6180xDev_t dev, uint16_t m_trueRange_mm, uint16_t m_rawRange_mm, uint32_t m_rtnSignalRate, uint32_t m_rtnAmbientRate, uint16_t errorCode);
+ int _filter_GetResult(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData);
+ int _GetRateResult(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData);
+ int _DMax_InitData(VL6180xDev_t dev);
+
+ /* Read function of the ID device */
+ virtual int ReadID();
+
+ /* Write and read functions from I2C */
+ int VL6180x_WrByte(VL6180xDev_t dev, uint16_t index, uint8_t data);
+ int VL6180x_WrWord(VL6180xDev_t dev, uint16_t index, uint16_t data);
+ int VL6180x_WrDWord(VL6180xDev_t dev, uint16_t index, uint32_t data);
+ int VL6180x_RdByte(VL6180xDev_t dev, uint16_t index, uint8_t *data);
+ int VL6180x_RdWord(VL6180xDev_t dev, uint16_t index, uint16_t *data);
+ int VL6180x_RdDWord(VL6180xDev_t dev, uint16_t index, uint32_t *data);
+ int VL6180x_UpdateByte(VL6180xDev_t dev, uint16_t index, uint8_t AndData, uint8_t OrData);
+ int VL6180x_I2CWrite(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t *pBuffer, uint16_t NumByteToWrite);
+ int VL6180x_I2CRead(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t *pBuffer, uint16_t NumByteToRead);
+
+
+ int IsPresent()
+ {
+ int status;
+
+ status=ReadID();
+ if(status)
+ VL6180x_ErrLog("Failed to read ID device. Device not present!\n\r");
+ return status;
+ }
+ int StopRangeMeasurement(OperatingMode operating_mode);
+ int StopAlsMeasurement(OperatingMode operating_mode);
+ int GetRangeMeas(OperatingMode operating_mode, MeasureData_t *Data);
+ int GetAlsMeas(OperatingMode operating_mode, MeasureData_t *Data);
+ int GetRangeAlsMeas(MeasureData_t *Data);
+ int RangeSetLowThreshold(uint16_t threshold);
+ int RangeSetHighThreshold(uint16_t threshold);
+ int AlsSetLowThreshold(uint16_t threshold);
+ int AlsSetHighThreshold(uint16_t threshold);
+ int GetRangeError(MeasureData_t *Data, VL6180x_RangeData_t RangeData);
+ int GetAlsError(MeasureData_t *Data, VL6180x_AlsData_t AlsData);
+ int RangeMeasPollSingleShot();
+ int AlsMeasPollSingleShot();
+ int RangeMeasPollContinuousMode();
+ int AlsMeasPollContinuousMode();
+ int AlsGetMeasurementIfReady(VL6180xDev_t dev, VL6180x_AlsData_t *pAlsData);
+ int RangeMeasIntContinuousMode(void (*fptr)(void));
+ int AlsMeasIntContinuousMode(void (*fptr)(void));
+ int InterleavedMode(void (*fptr)(void));
+ int StartInterleavedMode();
+ int AlsGetThresholds(VL6180xDev_t dev, lux_t *low, lux_t *high);
+
+
+ /* IO Device */
+ DevI2C &dev_i2c;
+ /* Device data */
+ MyVL6180Dev_t MyDevice;
+ VL6180xDev_t Device;
+};
+
+#endif // __VL6180X_CLASS_H
diff -r 000000000000 -r 1cb50d31c3b5 VL6180X/vl6180x_def.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/VL6180X/vl6180x_def.h Fri Mar 25 21:27:03 2016 +0000
@@ -0,0 +1,743 @@
+/*******************************************************************************
+Copyright © 2014, STMicroelectronics International N.V.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+ * Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+ * Neither the name of STMicroelectronics nor the
+ names of its contributors may be used to endorse or promote products
+ derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
+NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
+IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+********************************************************************************/
+
+/*
+ * $Date: 2015-05-13 14:12:05 +0200 (Wed, 13 May 2015) $
+ * $Revision: 2290 $
+ */
+
+/**
+ * @file VL6180x_def.h
+ *
+ * @brief Type definitions for vl6180x api.
+ *
+ */
+
+
+#ifndef _VL6180x_DEF
+#define _VL6180x_DEF
+
+/** API major version */
+#define VL6180x_API_REV_MAJOR 3
+/** API minor version */
+#define VL6180x_API_REV_MINOR 0
+/** API sub version */
+#define VL6180x_API_REV_SUB 1
+
+#define VL6180X_STR_HELPER(x) #x
+#define VL6180X_STR(x) VL6180X_STR_HELPER(x)
+
+#include "vl6180x_cfg.h"
+#include "vl6180x_types.h"
+
+/*
+ * check configuration macro raise error or warning and suggest a default value
+ */
+
+#ifndef VL6180x_UPSCALE_SUPPORT
+#error "VL6180x_UPSCALE_SUPPORT not defined"
+/* TODO you must define value for upscale support in your vl6180x_cfg.h */
+#endif
+
+#ifndef VL6180x_ALS_SUPPORT
+#error "VL6180x_ALS_SUPPORT not defined"
+/* TODO you must define VL6180x_ALS_SUPPORT with a value in your vl6180x_cfg.h set to 0 do disable*/
+#endif
+
+#ifndef VL6180x_HAVE_DMAX_RANGING
+#error "VL6180x_HAVE_DMAX_RANGING not defined"
+/* TODO you may remove or comment these #error and keep the default below or update your vl6180x_cfg.h .h file */
+/**
+ * force VL6180x_HAVE_DMAX_RANGING to not supported when not part of cfg file
+ */
+#define VL6180x_HAVE_DMAX_RANGING 0
+#endif
+
+#ifndef VL6180x_EXTENDED_RANGE
+#define VL6180x_EXTENDED_RANGE 0
+#endif
+
+#ifndef VL6180x_WRAP_AROUND_FILTER_SUPPORT
+#error "VL6180x_WRAP_AROUND_FILTER_SUPPORT not defined ?"
+/* TODO you may remove or comment these #error and keep the default below or update vl6180x_cfg.h file */
+/**
+ * force VL6180x_WRAP_AROUND_FILTER_SUPPORT to not supported when not part of cfg file
+ */
+#define VL6180x_WRAP_AROUND_FILTER_SUPPORT 0
+#endif
+
+
+
+
+/****************************************
+ * PRIVATE define do not edit
+ ****************************************/
+
+/** Maximal buffer size ever use in i2c */
+#define VL6180x_MAX_I2C_XFER_SIZE 8 /* At present time it 6 byte max but that can change */
+
+#if VL6180x_UPSCALE_SUPPORT < 0
+/**
+ * @def VL6180x_HAVE_UPSCALE_DATA
+ * @brief is defined if device data structure has data so when user configurable up-scale is active
+ */
+#define VL6180x_HAVE_UPSCALE_DATA /* have data only for user configurable up-scale config */
+#endif
+
+#if VL6180x_WRAP_AROUND_FILTER_SUPPORT
+/**
+ * @def VL6180x_HAVE_WRAP_AROUND_DATA
+ * @brief is defined if device data structure has filter data so when active in cfg file
+ */
+#define VL6180x_HAVE_WRAP_AROUND_DATA
+#endif
+
+#if VL6180x_ALS_SUPPORT != 0
+/**
+ * @def VL6180x_HAVE_ALS_DATA
+ * @brief is defined when als data are include in device data structure so when als suport if configured
+ */
+#define VL6180x_HAVE_ALS_DATA
+#endif
+
+
+#if VL6180x_WRAP_AROUND_FILTER_SUPPORT || VL6180x_HAVE_DMAX_RANGING
+ #define VL6180x_HAVE_RATE_DATA
+#endif
+
+/** Error and warning code returned by API
+ *
+ * negative value are true error mostly fatal\n
+ * positive value are warning most of time it's ok to continue\n
+ */
+enum VL6180x_ErrCode_t{
+ API_NO_ERROR = 0,
+ CALIBRATION_WARNING = 1, /*!< warning invalid calibration data may be in used \a VL6180x_InitData() \a VL6180x_GetOffsetCalibrationData \a VL6180x_SetOffsetCalibrationData*/
+ MIN_CLIPED = 2, /*!< warning parameter passed was clipped to min before to be applied */
+ NOT_GUARANTEED = 3, /*!< Correct operation is not guaranteed typically using extended ranging on vl6180x */
+ NOT_READY = 4, /*!< the data is not ready retry */
+
+ API_ERROR = -1, /*!< Unqualified error */
+ INVALID_PARAMS = -2, /*!< parameter passed is invalid or out of range */
+ NOT_SUPPORTED = -3, /*!< function is not supported in current mode or configuration */
+ RANGE_ERROR = -4, /*!< device report a ranging error interrupt status */
+ TIME_OUT = -5, /*!< aborted due to time out */
+};
+
+/**
+ * Filtered result data structure range data is to be used
+ */
+typedef struct RangeFilterResult_tag {
+ uint16_t range_mm; /*!< Filtered ranging value */
+ uint16_t rawRange_mm; /*!< raw range value (scaled) */
+} RangeFilterResult_t;
+
+/**
+ * "small" unsigned data type used in filter
+ *
+ * if data space saving is not a concern it can be change to platform native unsigned int
+ */
+typedef uint8_t FilterType1_t;
+
+/**
+ * @def FILTER_NBOF_SAMPLES
+ * @brief sample history len used for wrap around filtering
+ */
+#define FILTER_NBOF_SAMPLES 10
+/**
+ * Wrap around filter internal data
+ */
+struct FilterData_t {
+ uint32_t MeasurementIndex; /*!< current measurement index */
+ uint16_t LastTrueRange[FILTER_NBOF_SAMPLES]; /*!< filtered/corrected distance history */
+ uint32_t LastReturnRates[FILTER_NBOF_SAMPLES]; /*!< Return rate history */
+ uint16_t StdFilteredReads; /*!< internal use */
+ FilterType1_t Default_ZeroVal; /*!< internal use */
+ FilterType1_t Default_VAVGVal; /*!< internal use */
+ FilterType1_t NoDelay_ZeroVal; /*!< internal use */
+ FilterType1_t NoDelay_VAVGVal; /*!< internal use */
+ FilterType1_t Previous_VAVGDiff; /*!< internal use */
+};
+
+#if VL6180x_HAVE_DMAX_RANGING
+typedef int32_t DMaxFix_t;
+struct DMaxData_t {
+ uint32_t ambTuningWindowFactor_K; /*!< internal algo tuning (*1000) */
+
+ DMaxFix_t retSignalAt400mm; /*!< intermediate dmax computation value caching @a #SYSRANGE_CROSSTALK_COMPENSATION_RATE and private reg 0x02A */
+ //int32_t RegB8; /*!< register 0xB8 cached to speed reduce i2c traffic for dmax computation */
+ /* place all word data below to optimize struct packing */
+ //int32_t minSignalNeeded; /*!< optimized computation intermediate base on register cached value */
+ int32_t snrLimit_K; /*!< cached and optimized computation intermediate from @a #SYSRANGE_MAX_AMBIENT_LEVEL_MULT */
+ uint16_t ClipSnrLimit; /*!< Max value for snr limit */
+ /* place all byte data below to optimize packing */
+ //uint8_t MaxConvTime; /*!< cached max convergence time @a #SYSRANGE_MAX_CONVERGENCE_TIME*/
+};
+#endif
+
+/**
+ * @struct VL6180xDevData_t
+ *
+ * @brief Per VL6180x device St private data structure \n
+ * End user should never access any of these field directly
+ *
+ * These must never access directly but only via VL6180xDev/SetData(dev, field) macro
+ */
+struct VL6180xDevData_t {
+
+ uint32_t Part2PartAmbNVM; /*!< backed up NVM value */
+ uint32_t XTalkCompRate_KCps; /*! Cached XTlak Compensation Rate */
+
+ uint16_t EceFactorM; /*!< Ece Factor M numerator */
+ uint16_t EceFactorD; /*!< Ece Factor D denominator*/
+
+#ifdef VL6180x_HAVE_ALS_DATA
+ uint16_t IntegrationPeriod; /*!< cached als Integration period avoid slow read from device at each measure */
+ uint16_t AlsGainCode; /*!< cached Als gain avoid slow read from device at each measure */
+ uint16_t AlsScaler; /*!< cached Als scaler avoid slow read from device at each measure */
+#endif
+
+#ifdef VL6180x_HAVE_UPSCALE_DATA
+ uint8_t UpscaleFactor; /*!< up-scaling factor*/
+#endif
+
+#ifdef VL6180x_HAVE_WRAP_AROUND_DATA
+ uint8_t WrapAroundFilterActive; /*!< Filter on/off */
+ struct FilterData_t FilterData; /*!< Filter internal data state history ... */
+#endif
+
+#if VL6180x_HAVE_DMAX_RANGING
+ struct DMaxData_t DMaxData;
+ uint8_t DMaxEnable;
+#endif
+ int8_t Part2PartOffsetNVM; /*!< backed up NVM value */
+};
+
+#if VL6180x_SINGLE_DEVICE_DRIVER
+extern struct VL6180xDevData_t SingleVL6180xDevData;
+#define VL6180xDevDataGet(dev, field) (SingleVL6180xDevData.field)
+/* is also used as direct accessor like VL6180xDevDataGet(dev, x)++*/
+#define VL6180xDevDataSet(dev, field, data) (SingleVL6180xDevData.field)=(data)
+#endif
+
+
+/**
+ * @struct VL6180x_RangeData_t
+ * @brief Range and any optional measurement data.
+ */
+typedef struct {
+ int32_t range_mm; /*!< range distance in mm. */
+ int32_t signalRate_mcps; /*!< signal rate (MCPS)\n these is a 9.7 fix point value, which is effectively a measure of target reflectance.*/
+ uint32_t errorStatus; /*!< Error status of the current measurement. \n
+ see @a ::RangeError_u @a VL6180x_GetRangeStatusErrString() */
+
+
+#ifdef VL6180x_HAVE_RATE_DATA
+ uint32_t rtnAmbRate; /*!< Return Ambient rate in KCount per sec related to \a RESULT_RANGE_RETURN_AMB_COUNT */
+ uint32_t rtnRate; /*!< Return rate in KCount per sec related to \a RESULT_RANGE_RETURN_SIGNAL_COUNT */
+ uint32_t rtnConvTime; /*!< Return Convergence time \a RESULT_RANGE_RETURN_CONV_TIME */
+ uint32_t refConvTime; /*!< Reference convergence time \a RESULT_RANGE_REFERENCE_CONV_TIME */
+#endif
+
+
+#if VL6180x_HAVE_DMAX_RANGING
+ uint32_t DMax; /*!< DMax when applicable */
+#endif
+
+#ifdef VL6180x_HAVE_WRAP_AROUND_DATA
+ RangeFilterResult_t FilteredData; /*!< Filter result main range_mm is updated */
+#endif
+}VL6180x_RangeData_t;
+
+
+/** use where fix point 9.7 bit values are expected
+ *
+ * given a floating point value f it's .7 bit point is (int)(f*(1<<7))*/
+typedef uint16_t FixPoint97_t;
+
+/** lux data type */
+typedef uint32_t lux_t;
+
+/**
+ * @brief This data type defines als measurement data.
+ */
+typedef struct VL6180x_AlsData_st{
+ lux_t lux; /**< Light measurement (Lux) */
+ uint32_t errorStatus; /**< Error status of the current measurement. \n
+ * No Error := 0. \n
+ * Refer to product sheets for other error codes. */
+}VL6180x_AlsData_t;
+
+/**
+ * @brief Range status Error code
+ *
+ * @a VL6180x_GetRangeStatusErrString() if configured ( @a #VL6180x_RANGE_STATUS_ERRSTRING )
+ * related to register @a #RESULT_RANGE_STATUS and additional post processing
+ */
+typedef enum {
+ NoError_=0, /*!< 0 0b0000 NoError */
+ VCSEL_Continuity_Test, /*!< 1 0b0001 VCSEL_Continuity_Test */
+ VCSEL_Watchdog_Test, /*!< 2 0b0010 VCSEL_Watchdog_Test */
+ VCSEL_Watchdog, /*!< 3 0b0011 VCSEL_Watchdog */
+ PLL1_Lock, /*!< 4 0b0100 PLL1_Lock */
+ PLL2_Lock, /*!< 5 0b0101 PLL2_Lock */
+ Early_Convergence_Estimate,/*!< 6 0b0110 Early_Convergence_Estimate */
+ Max_Convergence, /*!< 7 0b0111 Max_Convergence */
+ No_Target_Ignore, /*!< 8 0b1000 No_Target_Ignore */
+ Not_used_9, /*!< 9 0b1001 Not_used */
+ Not_used_10, /*!< 10 0b1010 Not_used_ */
+ Max_Signal_To_Noise_Ratio, /*!< 11 0b1011 Max_Signal_To_Noise_Ratio*/
+ Raw_Ranging_Algo_Underflow,/*!< 12 0b1100 Raw_Ranging_Algo_Underflow*/
+ Raw_Ranging_Algo_Overflow, /*!< 13 0b1101 Raw_Ranging_Algo_Overflow */
+ Ranging_Algo_Underflow, /*!< 14 0b1110 Ranging_Algo_Underflow */
+ Ranging_Algo_Overflow, /*!< 15 0b1111 Ranging_Algo_Overflow */
+
+ /* code below are addition for API/software side they are not hardware*/
+ RangingFiltered =0x10, /*!< 16 0b10000 filtered by post processing*/
+
+} RangeError_u;
+
+
+/** @defgroup device_regdef Device registers & masks definitions
+ * @brief Device registers and masks definitions
+ */
+
+
+/** @ingroup device_regdef
+ * @{*/
+
+/**
+ * The device model ID
+ */
+#define IDENTIFICATION_MODEL_ID 0x000
+/**
+ * Revision identifier of the Device for major change.
+ */
+#define IDENTIFICATION_MODULE_REV_MAJOR 0x003
+/**
+ * Revision identifier of the Device for minor change.
+ */
+#define IDENTIFICATION_MODULE_REV_MINOR 0x004
+
+
+/**
+ * @def SYSTEM_MODE_GPIO0
+ * @brief Configures polarity and select which function gpio 0 serves.
+ * Gpio0 is chip enable at power up ! Be aware of all h/w implication of turning it to output.
+ * Same definition as #SYSTEM_MODE_GPIO1
+ * @ingroup device_regdef
+ */
+#define SYSTEM_MODE_GPIO0 0x010
+/**
+ * @def SYSTEM_MODE_GPIO1
+ * @brief Configures polarity and select what als or ranging functionality gpio pin serves.
+ *
+ * Function can be #GPIOx_SELECT_OFF #GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT.\n
+ * Same definition apply to register GPIO0 that is used as chip enable at power up.
+ * @ingroup device_regdef
+ */
+#define SYSTEM_MODE_GPIO1 0x011
+ /** gpio pad POLARITY mask in #SYSTEM_MODE_GPIO1 (and/or 0) write 1 to set active high polarity (positive edge) */
+ #define GPIOx_POLARITY_SELECT_MASK 0x20
+ /** gpio pad Function select shift in #SYSTEM_MODE_GPIO1 or 0 */
+ #define GPIOx_FUNCTIONALITY_SELECT_SHIFT 1
+ /** gpio pad Function select mask in #SYSTEM_MODE_GPIO1 or 0 */
+ #define GPIOx_FUNCTIONALITY_SELECT_MASK (0xF<<GPIOx_FUNCTIONALITY_SELECT_SHIFT)
+ /** select no interrupt in #SYSTEM_MODE_GPIO1 pad is put in Hi-Z*/
+ #define GPIOx_SELECT_OFF 0x00
+ /** select gpiox as interrupt output in #SYSTEM_MODE_GPIO1 */
+ #define GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT 0x08
+ /** select range as source for interrupt on in #SYSTEM_MODE_GPIO1 */
+ #define GPIOx_MODE_SELECT_RANGING 0x00
+ /** select als as source for interrupt on in #SYSTEM_MODE_GPIO1 */
+ #define GPIOx_MODE_SELECT_ALS 0x01
+
+
+/**
+ * @def SYSTEM_INTERRUPT_CONFIG_GPIO
+ *
+ * @brief Configure Als and Ranging interrupt reporting
+ *
+ * Possible values for Range and ALS are\n
+ *
+ * #CONFIG_GPIO_INTERRUPT_DISABLED\n
+ * #CONFIG_GPIO_INTERRUPT_LEVEL_LOW\n
+ * #CONFIG_GPIO_INTERRUPT_LEVEL_HIGH\n
+ * #CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW\n
+ * #CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY\n
+ * Apply respective rang/als shift and mask \n
+ * #CONFIG_GPIO_RANGE_SHIFT and full reg mask #CONFIG_GPIO_RANGE_MASK\n
+ * #CONFIG_GPIO_ALS_SHIFT and full reg mask #CONFIG_GPIO_ALS_MASK\n
+ *
+ * \sa GPIO use for interrupt #SYSTEM_MODE_GPIO0 or #SYSTEM_MODE_GPIO1\n
+ * @ingroup device_regdef
+ */
+#define SYSTEM_INTERRUPT_CONFIG_GPIO 0x014
+ /** RANGE bits shift in #SYSTEM_INTERRUPT_CONFIG_GPIO */
+ #define CONFIG_GPIO_RANGE_SHIFT 0
+ /** RANGE bits mask in #SYSTEM_INTERRUPT_CONFIG_GPIO (unshifted)*/
+ #define CONFIG_GPIO_RANGE_MASK (0x7<<CONFIG_GPIO_RANGE_SHIFT)
+ /** ALS bits shift in #SYSTEM_INTERRUPT_CONFIG_GPIO */
+ #define CONFIG_GPIO_ALS_SHIFT 3
+ /** ALS bits mask in #SYSTEM_INTERRUPT_CONFIG_GPIO (unshifted)*/
+ #define CONFIG_GPIO_ALS_MASK (0x7<<CONFIG_GPIO_ALS_SHIFT)
+ /** interrupt is disabled */
+ #define CONFIG_GPIO_INTERRUPT_DISABLED 0x00
+ /** trigger when value < low threshold */
+ #define CONFIG_GPIO_INTERRUPT_LEVEL_LOW 0x01
+ /** trigger when value < low threshold */
+ #define CONFIG_GPIO_INTERRUPT_LEVEL_HIGH 0x02
+ /** trigger when outside range defined by high low threshold */
+ #define CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW 0x03
+ /** trigger when new sample are ready */
+ #define CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY 0x04
+
+/**
+ * @def SYSTEM_INTERRUPT_CLEAR
+ * @brief Writing to this register will clear interrupt source
+ *
+ * Use or combination of any #INTERRUPT_CLEAR_RANGING , #INTERRUPT_CLEAR_ALS , #INTERRUPT_CLEAR_ERROR
+ * @ingroup device_regdef
+ */
+#define SYSTEM_INTERRUPT_CLEAR 0x015
+ /** clear ranging interrupt in write to #SYSTEM_INTERRUPT_CLEAR */
+ #define INTERRUPT_CLEAR_RANGING 0x01
+ /** clear als interrupt in write to #SYSTEM_INTERRUPT_CLEAR */
+ #define INTERRUPT_CLEAR_ALS 0x02
+ /** clear error interrupt in write to #SYSTEM_INTERRUPT_CLEAR */
+ #define INTERRUPT_CLEAR_ERROR 0x04
+
+/** After power up or reset this register will start reading 1 when device is ready */
+#define SYSTEM_FRESH_OUT_OF_RESET 0x016
+
+/**
+ * @def SYSTEM_GROUPED_PARAMETER_HOLD
+ * @brief Writing 1/0 activate/deactivate safe host update of multiple register in critical group \n
+ * rather use \a VL6180x_SetGroupParamHold()
+ *
+ * The critical register group is made of: \n
+ * #SYSTEM_INTERRUPT_CONFIG_GPIO \n
+ * #SYSRANGE_THRESH_HIGH \n
+ * #SYSRANGE_THRESH_LOW \n
+ * #SYSALS_INTEGRATION_PERIOD \n
+ * #SYSALS_ANALOGUE_GAIN \n
+ * #SYSALS_THRESH_HIGH \n
+ * #SYSALS_THRESH_LOW
+ * @ingroup device_regdef
+ */
+#define SYSTEM_GROUPED_PARAMETER_HOLD 0x017
+
+
+/**
+ * @def SYSRANGE_START
+ * @brief Start/stop and set operating range mode
+ *
+ * Write Combination of #MODE_START_STOP and #MODE_CONTINUOUS to select and start desired operation.
+ *
+ * @ingroup device_regdef
+ */
+#define SYSRANGE_START 0x018
+ /** mask existing bit in #SYSRANGE_START*/
+ #define MODE_MASK 0x03
+ /** bit 0 in #SYSRANGE_START write 1 toggle state in continuous mode and arm next shot in single shot mode */
+ #define MODE_START_STOP 0x01
+ /** bit 1 write 1 in #SYSRANGE_START set continuous operation mode */
+ #define MODE_CONTINUOUS 0x02
+ /** bit 1 write 0 in #SYSRANGE_START set single shot mode */
+ #define MODE_SINGLESHOT 0x00
+
+/**
+ * @def SYSRANGE_THRESH_HIGH
+ * High level range threshold (must be scaled)
+ * @ingroup device_regdef
+ */
+#define SYSRANGE_THRESH_HIGH 0x019
+
+/**
+ * @def SYSRANGE_THRESH_LOW
+ * Low level range threshold (must be scaled)
+ * @ingroup device_regdef
+ */
+#define SYSRANGE_THRESH_LOW 0x01A
+
+/**
+ * @def SYSRANGE_INTERMEASUREMENT_PERIOD
+ * @brief Continuous mode intermeasurement delay \a VL6180x_RangeSetInterMeasPeriod()
+ *
+ * Time delay between measurements in Ranging continuous mode.\n
+ * Range 0-254 (0 = 10ms).\n Step size = 10ms.
+ *
+ * @ingroup device_regdef
+ */
+#define SYSRANGE_INTERMEASUREMENT_PERIOD 0x01B
+
+/**
+ * @brief Maximum time to run measurement in Ranging modes.
+ * Range 1 - 63 ms (1 code = 1 ms);
+ *
+ * Measurement aborted when limit reached to aid power reduction.\
+ * For example, 0x01 = 1ms, 0x0a = 10ms.\
+ * Note: Effective max_convergence_time depends on readout_averaging_sample_period setting.
+ *
+ * @ingroup device_regdef
+ */
+#define SYSRANGE_MAX_CONVERGENCE_TIME 0x01C
+/**@brief Cross talk compensation rate
+ * @warning never write register directly use @a VL6180x_SetXTalkCompensationRate()
+ * refer to manual for calibration procedure and computation
+ * @ingroup device_regdef
+ */
+#define SYSRANGE_CROSSTALK_COMPENSATION_RATE 0x01E
+/**
+ * @brief Minimum range value in mm to qualify for crosstalk compensation
+ */
+#define SYSRANGE_CROSSTALK_VALID_HEIGHT 0x021
+#define SYSRANGE_EARLY_CONVERGENCE_ESTIMATE 0x022
+#define SYSRANGE_PART_TO_PART_RANGE_OFFSET 0x024
+#define SYSRANGE_RANGE_IGNORE_VALID_HEIGHT 0x025
+#define SYSRANGE_RANGE_IGNORE_THRESHOLD 0x026
+#define SYSRANGE_EMITTER_BLOCK_THRESHOLD 0x028
+#define SYSRANGE_MAX_AMBIENT_LEVEL_THRESH 0x02A
+#define SYSRANGE_MAX_AMBIENT_LEVEL_MULT 0x02C
+/** @brief various Enable check enabel register
+ * @a VL6180x_RangeSetEceState()
+ */
+#define SYSRANGE_RANGE_CHECK_ENABLES 0x02D
+ #define RANGE_CHECK_ECE_ENABLE_MASK 0x01
+ #define RANGE_CHECK_RANGE_ENABLE_MASK 0x02
+ #define RANGE_CHECK_SNR_ENABLKE 0x10
+
+#define SYSRANGE_VHV_RECALIBRATE 0x02E
+#define SYSRANGE_VHV_REPEAT_RATE 0x031
+
+/**
+ * @def SYSALS_START
+ * @brief Start/stop and set operating als mode
+ *
+ * same bit definition as range \a #SYSRANGE_START \n
+ */
+#define SYSALS_START 0x038
+
+/** ALS low Threshold high */
+#define SYSALS_THRESH_HIGH 0x03A
+/** ALS low Threshold low */
+#define SYSALS_THRESH_LOW 0x03C
+/** ALS intermeasurement period */
+#define SYSALS_INTERMEASUREMENT_PERIOD 0x03E
+/**
+ * @warning or value with 0x40 when writing to these register*/
+#define SYSALS_ANALOGUE_GAIN 0x03F
+/** ALS integration period */
+#define SYSALS_INTEGRATION_PERIOD 0x040
+
+/**
+ * @brief Result range status
+ *
+ * Hold the various range interrupt flags and error Specific error codes
+ */
+#define RESULT_RANGE_STATUS 0x04D
+ /** Device ready for new command bit 0*/
+ #define RANGE_DEVICE_READY_MASK 0x01
+ /** mask for error status covers bits [7:4] in #RESULT_RANGE_STATUS @a ::RangeError_u */
+ #define RANGE_ERROR_CODE_MASK 0xF0 /* */
+ /** range error bit position in #RESULT_RANGE_STATUS */
+ #define RANGE_ERROR_CODE_SHIFT 4
+
+/**
+ * @def RESULT_ALS_STATUS
+ * @brief Result als status \n
+ * Hold the various als interrupt flags and Specific error codes
+ */
+#define RESULT_ALS_STATUS 0x4E
+ /** Device ready for new command bit 0*/
+ #define ALS_DEVICE_READY_MASK 0x01
+
+/**
+ * @def RESULT_ALS_VAL
+ * @brief 16 Bit ALS count output value.
+ *
+ * Lux value depends on Gain and integration settings and calibrated lux/count setting
+ * \a VL6180x_AlsGetLux() \a VL6180x_AlsGetMeasurement()
+ */
+#define RESULT_ALS_VAL 0x50
+
+/**
+ * @def FW_ALS_RESULT_SCALER
+ * @brief Als scaler register Bits [3:0] analogue gain 1 to 16x
+ * these register content is cached by API in \a VL6180xDevData_t::AlsScaler
+ * for lux computation acceleration
+ */
+#define FW_ALS_RESULT_SCALER 0x120
+
+
+/**
+ * these union can be use as a generic bit field type for map #RESULT_INTERRUPT_STATUS_GPIO register
+ * @ingroup device_regdef
+ */
+typedef union IntrStatus_u{
+ uint8_t val; /*!< raw 8 bit register value*/
+ struct {
+ unsigned Range :3; /*!< Range status one of :\n \a #RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD \n \a #RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD \n \a #RES_INT_STAT_GPIO_OUT_OF_WINDOW \n \a #RES_INT_STAT_GPIO_NEW_SAMPLE_READY */
+ unsigned Als :3; /*!< Als status one of: \n \a #RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD \n \a #RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD \n \a #RES_INT_STAT_GPIO_OUT_OF_WINDOW \n \a #RES_INT_STAT_GPIO_NEW_SAMPLE_READY */
+ unsigned Error :2; /*!< Error status of: \n \a #RES_INT_ERROR_LASER_SAFETY \n \a #RES_INT_ERROR_PLL */
+ } status; /*!< interrupt status as bit field */
+} IntrStatus_t;
+
+/**
+ * @def RESULT_INTERRUPT_STATUS_GPIO
+ * @brief System interrupt status report selected interrupt for als and ranging
+ *
+ * These register can be polled even if no gpio pins is active\n
+ * What reported is selected by \a #SYSTEM_INTERRUPT_CONFIG_GPIO \n
+ * Range mask with \a #RES_INT_RANGE_MASK and shit by \a #RES_INT_RANGE_SHIFT
+ * Als mask with \a #RES_INT_ALS_MASK and shit by \a #RES_INT_ALS_SHIFT
+ * Result value express condition (or combination?)
+ * \a #RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD \n
+ * \a #RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD \n
+ * \a #RES_INT_STAT_GPIO_OUT_OF_WINDOW \n
+ * \a #RES_INT_STAT_GPIO_NEW_SAMPLE_READY
+ *
+ * @ingroup device_regdef
+ */
+#define RESULT_INTERRUPT_STATUS_GPIO 0x4F
+ /** ranging interrupt 1st bit position in #RESULT_INTERRUPT_STATUS_GPIO */
+ #define RES_INT_RANGE_SHIFT 0
+ /** ALS interrupt 1st bit position in #RESULT_INTERRUPT_STATUS_GPIO */
+ #define RES_INT_ALS_SHIFT 3
+ /** interrupt bit position in #RESULT_INTERRUPT_STATUS_GPIO */
+ #define RES_INT_ERROR_SHIFT 6
+ /** Ranging interrupt mask in #RESULT_INTERRUPT_STATUS_GPIO (prior to shift) \sa IntrStatus_t */
+ #define RES_INT_RANGE_MASK (0x7<<RES_INT_RANGE_SHIFT)
+ /** als interrupt mask in #RESULT_INTERRUPT_STATUS_GPIO (prior to shift) \sa IntrStatus_t */
+ #define RES_INT_ALS_MASK (0x7<<RES_INT_ALS_SHIFT)
+
+ /** low threshold condition in #RESULT_INTERRUPT_STATUS_GPIO for */
+ #define RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD 0x01
+ /** high threshold condition in #RESULT_INTERRUPT_STATUS_GPIO for ALs or Rage*/
+ #define RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD 0x02
+ /** out of window condition in #RESULT_INTERRUPT_STATUS_GPIO */
+ #define RES_INT_STAT_GPIO_OUT_OF_WINDOW 0x03
+ /** new sample ready in #RESULT_INTERRUPT_STATUS_GPIO */
+ #define RES_INT_STAT_GPIO_NEW_SAMPLE_READY 0x04
+ /** error in #RESULT_INTERRUPT_STATUS_GPIO */
+ #define RES_INT_ERROR_MASK (0x3<<RES_INT_ERROR_SHIFT)
+ /** laser safety error on #RES_INT_ERROR_MASK of #RESULT_INTERRUPT_STATUS_GPIO */
+ #define RES_INT_ERROR_LASER_SAFETY 1
+ /** pll 1 or 2 error on #RES_INT_ERROR_MASK of #RESULT_INTERRUPT_STATUS_GPIO*/
+ #define RES_INT_ERROR_PLL 2
+
+/**
+ * Final range result value presented to the user for use. Unit is in mm.
+ */
+#define RESULT_RANGE_VAL 0x062
+
+/**
+ * Raw Range result value with offset applied (no cross talk compensation applied). Unit is in mm.
+ */
+#define RESULT_RANGE_RAW 0x064
+
+/**
+ * @brief Sensor count rate of signal returns correlated to IR emitter.
+ *
+ * Computed from RETURN_SIGNAL_COUNT / RETURN_CONV_TIME. Mcps 9.7 format
+ */
+#define RESULT_RANGE_SIGNAL_RATE 0x066
+
+/**
+ * @brief Return signal count
+ *
+ * Sensor count output value attributed to signal correlated to IR emitter on the Return array.
+ */
+#define RESULT_RANGE_RETURN_SIGNAL_COUNT 0x06C
+
+/**
+ * @brief Reference signal count
+ *
+ * sensor count output value attributed to signal correlated to IR emitter on the Reference array.
+ */
+#define RESULT_RANGE_REFERENCE_SIGNAL_COUNT 0x070
+
+/**
+ * @brief Return ambient count
+ *
+ * sensor count output value attributed to uncorrelated ambient signal on the Return array.
+ * Must be multiplied by 6 if used to calculate the ambient to signal threshold
+ */
+#define RESULT_RANGE_RETURN_AMB_COUNT 0x074
+
+/**
+ * @brief Reference ambient count
+ *
+ * Sensor count output value attributed to uncorrelated ambient signal on the Reference array.
+ */
+#define RESULT_RANGE_REFERENCE_AMB_COUNT 0x078
+
+/**
+ * sensor count output value attributed to signal on the Return array.
+ */
+#define RESULT_RANGE_RETURN_CONV_TIME 0x07C
+
+/**
+ * sensor count output value attributed to signal on the Reference array.
+ */
+#define RESULT_RANGE_REFERENCE_CONV_TIME 0x080
+
+
+/**
+ * @def RANGE_SCALER
+ * @brief RANGE scaling register
+ *
+ * Never should user write directly onto that register directly \a VL6180x_UpscaleSetScaling()
+ */
+#define RANGE_SCALER 0x096
+
+/**
+ * @def READOUT_AVERAGING_SAMPLE_PERIOD
+ * @brief Readout averaging sample period register
+ *
+ *
+ * The internal readout averaging sample period can be adjusted from 0 to 255.
+ * Increasing the sampling period decreases noise but also reduces the effective
+ * max convergence time and increases power consumption
+ * Each unit sample period corresponds to around 64.5 μs additional processing time.
+ * The recommended setting is 48 which equates to around 4.3 ms.
+ *
+ * see datasheet for more detail
+ */
+#define READOUT_AVERAGING_SAMPLE_PERIOD 0x10A
+
+/**
+ * @def I2C_SLAVE_DEVICE_ADDRESS
+ * User programmable I2C address (7-bit). Device address can be re-designated after power-up.
+ * @warning What programmed in the register 7-0 are bit 8-1 of i2c address on bus (bit 0 is rd/wr)
+ * so what prohamd is commonly whar ergfer as adrerss /2
+ * @sa VL6180x_SetI2CAddress()
+ */
+#define I2C_SLAVE_DEVICE_ADDRESS 0x212
+
+#endif /* _VL6180x_DEF */
diff -r 000000000000 -r 1cb50d31c3b5 VL6180X/vl6180x_platform.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/VL6180X/vl6180x_platform.h Fri Mar 25 21:27:03 2016 +0000
@@ -0,0 +1,108 @@
+/*******************************************************************************
+################################################################################
+#
+# This program is free software; you can redistribute it and/or modify it under
+# the terms of the GNU General Public License version 2 and only version 2 as
+# published by the Free Software Foundation.
+#
+# 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 General Public License for more
+# details.
+#
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+#
+#------------------------------------------------------------------------------
+# Imaging Division
+################################################################################
+********************************************************************************/
+
+
+/* vl6180x_platform.h STM32 Nucleo F401 single device sample code project */
+
+#ifndef VL6180x_PLATFORM
+#define VL6180x_PLATFORM
+
+
+#include "vl6180x_def.h"
+
+
+#define VL6180x_SINGLE_DEVICE_DRIVER 0
+#define VL6180x_RANGE_STATUS_ERRSTRING 1
+#define VL6180X_SAFE_POLLING_ENTER 0
+#define VL6180X_LOG_ENABLE 0
+#define MY_LOG 1
+
+#define VL6180x_DEV_DATA_ATTR
+#define ROMABLE_DATA
+
+
+#if VL6180X_LOG_ENABLE
+/* dot not include non ansi here trace was a case :( */
+#ifdef TRACE
+#include "diag/trace.h"
+extern volatile uint32_t g_TickCnt;
+#define LOG_GET_TIME() g_TickCnt
+//#define LOG_GET_TIME() HAL_GetTick()
+#else
+/* these is nto stm32 vl6180x GNuArm eclpse build*/
+#define trace_printf(...) (void)0
+#define LOG_GET_TIME() (int)0 /* add your code here expect to be an integer native (%d) type value */
+#endif
+
+
+
+#define LOG_FUNCTION_START(fmt, ... ) \
+ trace_printf("beg %s start @%d\t" fmt "\n", __func__, LOG_GET_TIME(), ##__VA_ARGS__)
+
+#define LOG_FUNCTION_END(status)\
+ trace_printf("end %s @%d %d\n", __func__, LOG_GET_TIME(), (int)status)
+
+#define LOG_FUNCTION_END_FMT(status, fmt, ... )\
+ trace_printf("End %s @%d %d\t"fmt"\n" , __func__, LOG_GET_TIME(), (int)status, ##__VA_ARGS__)
+
+#define VL6180x_ErrLog(msg, ... )\
+ do{\
+ trace_printf("ERR in %s line %d\n" msg, __func__, __LINE__, ##__VA_ARGS__);\
+ }while(0)
+
+#else /* VL6180X_LOG_ENABLE no logging */
+ //void OnErrLog(void);
+ #define LOG_FUNCTION_START(...) (void)0
+ #define LOG_FUNCTION_END(...) (void)0
+ #define LOG_FUNCTION_END_FMT(...) (void)0
+ #define VL6180x_ErrLog(... ) //OnErrLog() //(void)0
+#endif
+
+
+#ifdef MY_LOG /* define printf as pc.printf in order to change the baudrate */
+ extern Serial pc;
+ #define printf(...) pc.printf(__VA_ARGS__)
+#endif
+
+
+#if VL6180x_SINGLE_DEVICE_DRIVER
+ #error "VL6180x_SINGLE_DEVICE_DRIVER must be set"
+#endif
+
+struct MyVL6180Dev_t {
+ struct VL6180xDevData_t Data;
+ uint8_t I2cAddr;
+ //uint8_t DevID;
+
+ //misc flags for application
+ unsigned Present:1;
+ unsigned Ready:1;
+};
+typedef struct MyVL6180Dev_t *VL6180xDev_t;
+
+#define VL6180xDevDataGet(dev, field) (dev->Data.field)
+#define VL6180xDevDataSet(dev, field, data) (dev->Data.field)=(data)
+
+
+#endif /* VL6180x_PLATFORM */
+
+
+
diff -r 000000000000 -r 1cb50d31c3b5 VL6180X/vl6180x_types.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/VL6180X/vl6180x_types.h Fri Mar 25 21:27:03 2016 +0000
@@ -0,0 +1,62 @@
+/*******************************************************************************
+Copyright © 2014, STMicroelectronics International N.V.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+ * Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+ * Neither the name of STMicroelectronics nor the
+ names of its contributors may be used to endorse or promote products
+ derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
+NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
+IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+********************************************************************************/
+
+#ifndef VL6180x_TYPES_H_
+#define VL6180x_TYPES_H_
+
+
+#include <stdint.h>
+#include <stddef.h> /* these is for NULL */
+
+#ifndef NULL
+#error "review NULL definition or add required include "
+#endif
+
+#if !defined(STDINT_H) && !defined(_GCC_STDINT_H) && !defined(__STDINT_DECLS) && !defined(_STDINT) && !defined(_STDINT_H)
+
+#pragma message("Please review type definition of STDINT define for your platform and add to list above ")
+
+ /*
+ * target platform do not provide stdint or use a different #define than above
+ * to avoid seeing the message below addapt the #define list above or implement
+ * all type and delete these pragma
+ */
+
+typedef unsigned int uint32_t;
+typedef int int32_t;
+
+typedef unsigned short uint16_t;
+typedef short int16_t;
+
+typedef unsigned char uint8_t;
+
+typedef signed char int8_t;
+
+#endif /* _STDINT_H */
+
+#endif /* VL6180x_TYPES_H_ */
diff -r 000000000000 -r 1cb50d31c3b5 X_NUCLEO_COMMON.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/X_NUCLEO_COMMON.lib Fri Mar 25 21:27:03 2016 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/teams/ST/code/X_NUCLEO_COMMON/#216930edb6b7
diff -r 000000000000 -r 1cb50d31c3b5 X_NUCLEO_IHM01A1.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/X_NUCLEO_IHM01A1.lib Fri Mar 25 21:27:03 2016 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/teams/Robotique-FIP/code/X_NUCLEO_IHM01A1/#456a51498c6b
diff -r 000000000000 -r 1cb50d31c3b5 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Mar 25 21:27:03 2016 +0000
@@ -0,0 +1,123 @@
+/**
+ ******************************************************************************
+ * @file main.cpp
+ * @author Julien Tiron, FIP Télécom Bretagne
+ * @version V1.0.0
+ * @date March 23th, 2016
+ * @brief DoorCloser robot main code
+ ******************************************************************************
+ **/
+
+/* Includes ------------------------------------------------------------------*/
+
+#include "mbed.h"
+#include "DevSPI.h"
+#include "l6474_class.h"
+#include "DevI2C.h"
+#include "vl6180x_class.h"
+
+/* Definitions ---------------------------------------------------------------*/
+
+#define VL6180X_ADDRESS 0x29
+
+/* Variables -----------------------------------------------------------------*/
+
+/* Start and Stop Component */
+InterruptIn startup(PC_1);
+Ticker game_length;
+volatile bool start = 1;
+volatile bool end = 1;
+
+/* Motor Control Component */
+L6474 *motor1;
+L6474 *motor2;
+
+/* Distance Sensors Component */
+DevI2C *i2c =new DevI2C(D14, D15);
+VL6180X sensor1(i2c);
+VL6180X sensor2(i2c);
+VL6180X sensor3(i2c);
+
+/* Functions -----------------------------------------------------------------*/
+
+void go()
+{
+ start = 0;
+}
+
+void stop()
+{
+ end = 0;
+}
+
+void init_sensor(){
+
+}
+
+void switch_sensor(int number){
+
+}
+
+/* Main ----------------------------------------------------------------------*/
+
+int main()
+{
+ /*----- Initialization. -----*/
+
+ /* Initializing SPI bus. */
+ DevSPI dev_spi(D11, D12, D13);
+
+ /* Initializing Motor Control Components. */
+ motor1 = new L6474(D2, D8, D7, D9, D10, dev_spi);
+ motor2 = new L6474(D2, D8, D4, D3, D10, dev_spi);
+ if (motor1->Init() != COMPONENT_OK)
+ exit(EXIT_FAILURE);
+ if (motor2->Init() != COMPONENT_OK)
+ exit(EXIT_FAILURE);
+
+ /* Interrupt to start the robot */
+ startup.fall(&go);
+
+ /* Interrupt to stop the robot */
+ game_length.attach(&stop, 90); //1 minutes 30 secondes pour la Coupe
+
+ while(start) {
+ /* Waiting code */
+ }
+
+ while(end) {
+ /* In-game code */
+
+ /* Requesting to run backward. */
+ motor1->Run(StepperMotor::BWD);
+ motor2->Run(StepperMotor::FWD);
+
+ /* Waiting until delay has expired. */
+ wait_ms(3000);
+
+ motor1->HardStop();
+ motor2->HardStop();
+
+ motor1->WaitWhileActive();
+ motor2->WaitWhileActive();
+
+ /* Requesting to run backward. */
+ motor1->Run(StepperMotor::FWD);
+ motor2->Run(StepperMotor::BWD);
+
+ /* Waiting until delay has expired. */
+ wait_ms(3000);
+
+ motor1->HardStop();
+ motor2->HardStop();
+
+ motor1->WaitWhileActive();
+ motor2->WaitWhileActive();
+ }
+
+ motor1->HardStop();
+ motor2->HardStop();
+
+ motor1->WaitWhileActive();
+ motor2->WaitWhileActive();
+}
diff -r 000000000000 -r 1cb50d31c3b5 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Mar 25 21:27:03 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/c0f6e94411f5 \ No newline at end of file