ST
Library to handle the X-NUCLEO-6180XA1 Proximity and ambient light sensor expansion board based on VL6180X.
Dependencies: X_NUCLEO_COMMON ST_INTERFACES
Dependents: HelloWorld_6180XA1 SunTracker_BLE Servo_6180XA1 BLE_HR_Light ... more
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X_NUCLEO_6180XA1
by 
ST Expansion SW Team
X-NUCLEO-6180XA1 Proximity and Ambient Light Sensor Expansion Board Firmware Package
Introduction
This firmware package includes Components Device Drivers and Board Support Package for STMicroelectronics' X-NUCLEO-6180XA1 Proximity and ambient light sensor expansion board based on VL6180X.
Firmware Library
Class X_NUCLEO_6180XA1 is intended to represent the Proximity and ambient light sensor expansion board with the same name.
The expansion board is providing the support of the following components:
- on-board VL6180X proximity and ambient light sensor,
- up to three additional VL6180X Satellites,
- on-board 4-digit display
It is intentionally implemented as a singleton because only one X-NUCLEO-VL6180XA1 at a time might be deployed in a HW component stack. In order to get the singleton instance you have to call class method `Instance()`, e.g.:
// Sensors expansion board singleton instance static X_NUCLEO_6180XA1 *6180X_expansion_board = X_NUCLEO_6180XA1::Instance();
Arduino Connector Compatibility Warning
Using the X-NUCLEO-6180XA1 expansion board with the NUCLEO-F429ZI requires adopting the following patch:
- to remove R46 resistor connected to
A3pin; - to solder R47 resistor connected to
A5pin.
Alternatively, you can route the Nucleo board’s A5 pin directly to the expansion board’s A3 pin with a wire.
In case you patch your expansion board or route the pin, the interrupt signal for the front sensor will be driven on A5 pin rather than on A3 pin.
Example Applications
Revision 16:0d4776564733, committed 2015-10-27
- Comitter:
- gallonm
- Date:
- Tue Oct 27 15:25:11 2015 +0100
- Parent:
- 15:454710d17358
- Child:
- 17:922c88827e4d
- Commit message:
- Added display class.
Updated STMPE1600 class.
Updated cfg.h with the modify of the range scaling.
Updated platform.h with the addition of printf.
Updated x_nucleo_6180xa1.h and x_nucleo_6180xa1.cpp
Changed in this revision
--- a/Components/Display/Display_class.h Tue Oct 20 16:44:28 2015 +0200
+++ b/Components/Display/Display_class.h Tue Oct 27 15:25:11 2015 +0100
@@ -40,30 +40,322 @@
/* Includes ------------------------------------------------------------------*/
#include "mbed.h"
+#include "stmpe1600_class.h"
+#include "DevI2C.h"
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define FAST_DISPLAY
+
+#define DP (1<<7)
+#define NOT_7_NO_DP( ... ) (uint8_t) ~( __VA_ARGS__ + DP )
+#define S0 (1<<0)
+#define S1 (1<<1)
+#define S2 (1<<2)
+#define S3 (1<<3)
+#define S4 (1<<4)
+#define S5 (1<<5)
+#define S6 (1<<6)
+
+/* refer to http://www.twyman.org.uk/Fonts/ */
+static const uint8_t ascii_to_display_lut[256]={
+ [' ']= 0,
+ ['-']= S6,
+ ['_']= S3,
+ ['=']= S3+S6,
+ ['~']= S0+S3+S6, /* 3 h bar */
+ ['^']= S0, /* use as top bar */
+
+ ['?']= NOT_7_NO_DP(S5+S3+S2),
+ ['*']= NOT_7_NO_DP(),
+ ['[']= S0+S3+S4+S5,
+ [']']= S0+S3+S2+S1,
+ ['@']= S0+S3,
+
+ ['0']= NOT_7_NO_DP(S6),
+ ['1']= S1+S2,
+ ['2']= S0+S1+S6+S4+S3,
+ ['3']= NOT_7_NO_DP(S4+S5),
+ ['4']= S5+S1+S6+S2,
+ ['5']= NOT_7_NO_DP(S1+S4),
+ ['6']= NOT_7_NO_DP(S1),
+ ['7']= S0+S1+S2,
+ ['8']= NOT_7_NO_DP(0),
+ ['9']= NOT_7_NO_DP(S4),
+
+ ['a']= S2+ S3+ S4+ S6 ,
+ ['b']= NOT_7_NO_DP(S0+S1),
+ ['c']= S6+S4+S3,
+ ['d']= NOT_7_NO_DP(S0+S5),
+ ['e']= NOT_7_NO_DP(S2),
+ ['f']= S6+S5+S4+S0, /* same as F */
+ ['g']= NOT_7_NO_DP(S4), /* same as 9 */
+ ['h']= S6+S5+S4+S2,
+ ['i']= S4,
+ ['j']= S1+S2+S3+S4,
+ ['k']= S6+S5+S4+S2, /* a h */
+ ['l']= S3+S4,
+ ['m']= S0+S4+S2, /* same as */
+ ['n']= S2+S4+S6,
+ ['o']= S6+S4+S3+S2,
+ ['p']= NOT_7_NO_DP(S3+S2), // same as P
+ ['q']= S0+S1+S2+S5+S6,
+ ['r']= S4+S6,
+ ['s']= NOT_7_NO_DP(S1+S4),
+ ['t']= NOT_7_NO_DP(S0+S1+S2),
+ ['u']= S4+S3+S2+S5+S1, // U
+ ['v']= S4+S3+S2, // is u but u use U
+ ['w']= S1+S3+S5,
+ ['x']= NOT_7_NO_DP(S0+S3), // similar to H
+ ['y']= NOT_7_NO_DP(S0+S4),
+ ['z']= S0+S1+S6+S4+S3, // same as 2
+
+ ['A']= NOT_7_NO_DP(S3),
+ ['B']= NOT_7_NO_DP(S0+S1), /* as b */
+ ['C']= S0+S3+S4+S5, // same as [
+ ['E']= NOT_7_NO_DP(S1+S2),
+ ['F']= S6+S5+S4+S0,
+ ['G']= NOT_7_NO_DP(S4), /* same as 9 */
+ ['H']= NOT_7_NO_DP(S0+S3),
+ ['I']= S1+S2,
+ ['J']= S1+S2+S3+S4,
+ ['K']= NOT_7_NO_DP(S0+S3), /* same as H */
+ ['L']= S3+S4+S5,
+ ['M']= S0+S4+S2, /* same as m*/
+ ['N']= S2+S4+S6, /* same as n*/
+ ['O']= NOT_7_NO_DP(S6),
+ ['P']= S0+S1+S2+S5+S6, // sames as 'q'
+ ['Q']= NOT_7_NO_DP(S3+S2),
+ ['R']= S4+S6,
+ ['S']= NOT_7_NO_DP(S1+S4), /* sasme as 5 */
+ ['T']= NOT_7_NO_DP(S0+S1+S2), /* sasme as t */
+ ['U']= NOT_7_NO_DP(S6+S0),
+ ['V']= S4+S3+S2, // is u but u use U
+ ['W']= S1+S3+S5,
+ ['X']= NOT_7_NO_DP(S0+S3), // similar to H
+ ['Y']= NOT_7_NO_DP(S0+S4),
+ ['Z']= S0+S1+S6+S4+S3, // same as 2
+
+
+};
+
+#undef S0
+#undef S1
+#undef S2
+#undef S3
+#undef S4
+#undef S5
+#undef S6
+#undef DP
+
+#define DISPLAY_DELAY 1 // in mSec
/* Classes -------------------------------------------------------------------*/
-/** Class representing GPIO expander
- */
+/** Class representing Display
+ */
-/*
-class Display :
+class Display
{
public:
- Display(DevI2C &i2c) : device_i2c(i2c);
-
+#ifndef FAST_DISPLAY
+
+ Display(DevI2C &i2c, STMPE1600DigiOut &D1, STMPE1600DigiOut &D2, STMPE1600DigiOut &D3, STMPE1600DigiOut &D4,
+ STMPE1600DigiOut &D_A, STMPE1600DigiOut &D_B, STMPE1600DigiOut &D_C, STMPE1600DigiOut &D_D,
+ STMPE1600DigiOut &D_E, STMPE1600DigiOut &D_F, STMPE1600DigiOut &D_G)
+ : Display_D1(D1), Display_D2(D2), Display_D3(D3), Display_D4(D4),
+ Display_A(D_A), Display_B(D_B), Display_C(D_C), Display_D(D_D),
+ Display_E(D_E), Display_F(D_F), Display_G(D_G), dev_i2c(i2c)
+ {
+ pDisplay_DGT[0] = &Display_D1;
+ pDisplay_DGT[1] = &Display_D2;
+ pDisplay_DGT[2] = &Display_D3;
+ pDisplay_DGT[3] = &Display_D4;
+ pDisplay_SEG[0] = &Display_A;
+ pDisplay_SEG[1] = &Display_B;
+ pDisplay_SEG[2] = &Display_C;
+ pDisplay_SEG[3] = &Display_D;
+ pDisplay_SEG[4] = &Display_E;
+ pDisplay_SEG[5] = &Display_F;
+ pDisplay_SEG[6] = &Display_G;
+
+ for (int i=0; i<4; i++) { *pDisplay_DGT[i]=1; }
+ for (int i=0; i<7; i++) { *pDisplay_SEG[i]=1; }
+ }
+#else
+ Display(DevI2C &i2c) : dev_i2c(i2c) {}
+#endif
virtual ~Display()
{
//nella classe board ci sara' un puntatore ad un oggetto di tipo Display che verra' creato con una new
- //qui devo fare il delete[] del new
+ //qui devo fare il delete[] del new
}
-
-
- private:
- DevI2C &device_i2c;
-
+
+#ifndef FAST_DISPLAY
+ void Digits_off (void) // all 4 digits off
+ {
+ Display_D1=1;
+ Display_D2=1;
+ Display_D3=1;
+ Display_D4=1;
+ }
+
+ void Digits_on (void) // all 4 digits on
+ {
+ Display_D1=0;
+ Display_D2=0;
+ Display_D3=0;
+ Display_D4=0;
+ }
+
+ void Digit_on (int digit) // digits on
+ {
+ *pDisplay_DGT[digit] = 0;
+ }
+
+ void Digit_off (int digit) // digits on
+ {
+ *pDisplay_DGT[digit] = 1;
+ }
+
+ void Segments_off () // all 7 segments off
+ {
+ Display_A=1;
+ Display_B=1;
+ Display_C=1;
+ Display_D=1;
+ Display_E=1;
+ Display_F=1;
+ Display_G=1;
+ }
+
+ void Segment_off (int seg) // segment off
+ {
+ *pDisplay_SEG[seg] = 1;
+ }
+
+ void Segment_on (int seg) // segment on
+ {
+ *pDisplay_SEG[seg] = 0;
+ }
+
+
+ void DisplayString (char str[4])
+ {
+ int i;
+ const char *pc;
+
+ for( i=0, pc=str; i<4 && *pc!=0 ; i++, pc++){
+ _V2_Set7Segment( ascii_to_display_lut[(uint8_t)*pc], i);
+ if( *(pc+1)== '.'){
+ pc++;
+ }
+ wait_ms(DISPLAY_DELAY);
+ Digits_off();
+ }
+ }
+
+
+ void _V2_Set7Segment( int Leds, int digit ){
+ //Digits_off();
+ Segments_off(); // 7 seg off */
+ int mask=1;
+ for (int i=0; i<7; i++) {
+ if (Leds & mask) Segment_on(i);
+ mask = mask<<1;
+ }
+ Digit_on(digit);
+ }
+
+
+#else
+
+ void DisplayDigit (char *val, char dgt)
+ {
+ uint8_t data[2];
+ uint16_t *pdata = (uint16_t*)data;
+ dev_i2c.i2c_read(data, (uint8_t)STMPE1600_DEF_DEVICE_ADDRESS, (uint8_t)GPSR_0_7, 2); // GPSR_0_7
+ *pdata = *pdata | (uint16_t)0x0780; // all digits off
+ dev_i2c.i2c_write(data, (uint8_t)STMPE1600_DEF_DEVICE_ADDRESS, (uint8_t)GPSR_0_7, 2); // GPSR_0_7
+
+ _V2_Set7Segment( ascii_to_display_lut[(uint8_t)*val], dgt);
+ }
+
+ void DisplayString (char str[4], char strlen)
+ {
+ int i, dgt;
+ const char *pc;
+ uint8_t data[2];
+ uint16_t *pdata = (uint16_t*)data;
+
+ // dev_i2c.i2c_read(data, (uint8_t)STMPE1600_DEF_DEVICE_ADDRESS, (uint8_t)GPSR_0_7, 2); // GPSR_0_7
+// *pdata = *pdata | (uint16_t)0x0780; // all digits off
+// dev_i2c.i2c_write(data, (uint8_t)STMPE1600_DEF_DEVICE_ADDRESS, (uint8_t)GPSR_0_7, 2); // GPSR_0_7
+
+ for(i=0, dgt=4-strlen, pc=str; i<strlen && *pc!=0; i++, pc++, dgt++){
+ _V2_Set7Segment( ascii_to_display_lut[(uint8_t)*pc], dgt);
+ if( *(pc+1)== '.'){
+ pc++;
+ }
+ wait_ms(DISPLAY_DELAY);
+ dev_i2c.i2c_read(data, (uint8_t)STMPE1600_DEF_DEVICE_ADDRESS, (uint8_t)GPSR_0_7, 2); // GPSR_0_7
+ *pdata = *pdata | (uint16_t)0x0780; // all digits off
+ dev_i2c.i2c_write(data, (uint8_t)STMPE1600_DEF_DEVICE_ADDRESS, (uint8_t)GPSR_0_7, 2); // GPSR_0_7
+ }
+ }
+
+
+ void _V2_Set7Segment( int Leds, int digit ){
+ //Digits_off();
+
+ uint16_t dgt;
+ dgt = 1<<digit;
+ dgt = ((uint16_t)dgt)<<7;
+ dgt = ~dgt;
+ uint8_t data[2];
+ uint16_t *pdata = (uint16_t*)data;
+
+
+ /* set the exppinname state to lvl */
+ dev_i2c.i2c_read(data, (uint8_t)STMPE1600_DEF_DEVICE_ADDRESS, (uint8_t)GPSR_0_7, 2); // GPSR_0_7
+ *pdata = *pdata | (uint16_t)0x007F; // 7 segments off
+ dev_i2c.i2c_write(data, (uint8_t)STMPE1600_DEF_DEVICE_ADDRESS, (uint8_t)GPSR_0_7, 2); // GPSR_0_7
+
+ int mask=1;
+ for (int i=0; i<7; i++) {
+ if (Leds & mask) *pdata = *pdata & ~(uint16_t)mask;
+ mask = mask<<1;
+ }
+ *pdata = *pdata & dgt;
+ dev_i2c.i2c_write(data, (uint8_t)STMPE1600_DEF_DEVICE_ADDRESS, (uint8_t)GPSR_0_7, 2); // GPSR_0_7
+ }
+#endif
+
+
+ private:
+
+#ifndef FAST_DISPLAY
+ STMPE1600DigiOut &Display_D1;
+ STMPE1600DigiOut &Display_D2;
+ STMPE1600DigiOut &Display_D3;
+ STMPE1600DigiOut &Display_D4;
+ STMPE1600DigiOut *pDisplay_DGT[4]; // the 4 display digits
+
+ STMPE1600DigiOut &Display_A;
+ STMPE1600DigiOut &Display_B;
+ STMPE1600DigiOut &Display_C;
+ STMPE1600DigiOut &Display_D;
+ STMPE1600DigiOut &Display_E;
+ STMPE1600DigiOut &Display_F;
+ STMPE1600DigiOut &Display_G;
+ STMPE1600DigiOut *pDisplay_SEG[7]; // the 7 digit segmments
+#endif
+ DevI2C &dev_i2c;
};
-*/
+#ifdef __cplusplus
+}
+#endif
#endif // __GPIO_EXPANDER_CLASS_H
\ No newline at end of file
--- a/Components/STMPE1600/stmpe1600_class.h Tue Oct 20 16:44:28 2015 +0200
+++ b/Components/STMPE1600/stmpe1600_class.h Tue Oct 27 15:25:11 2015 +0100
@@ -43,20 +43,20 @@
#define STMPE1600_DEF_DIGIOUT_LVL 1
/** STMPE1600 registr map **/
-#define VersionId (uint8_t)0x02
-#define SystemControl (uint8_t)0x03
-#define IEGPIOR_0_7 (uint8_t)0x08
+#define VersionId (uint8_t)0x02
+#define SystemControl (uint8_t)0x03
+#define IEGPIOR_0_7 (uint8_t)0x08
#define IEGPIOR_8_15 (uint8_t)0x09
-#define ISGPIOR_0_7 (uint8_t)0x0A
+#define ISGPIOR_0_7 (uint8_t)0x0A
#define ISGPIOR_8_15 (uint8_t)0x0B
-#define GPMR_0_7 (uint8_t)0x10
-#define GPMR_8_15 (uint8_t)0x11
-#define GPSR_0_7 (uint8_t)0x12
-#define GPSR_8_15 (uint8_t)0x13
-#define GPDR_0_7 (uint8_t)0x14
-#define GPDR_8_15 (uint8_t)0x15
-#define GPIR_0_7 (uint8_t)0x16
-#define GPIR_8_15 (uint8_t)0x17
+#define GPMR_0_7 (uint8_t)0x10
+#define GPMR_8_15 (uint8_t)0x11
+#define GPSR_0_7 (uint8_t)0x12
+#define GPSR_8_15 (uint8_t)0x13
+#define GPDR_0_7 (uint8_t)0x14
+#define GPDR_8_15 (uint8_t)0x15
+#define GPIR_0_7 (uint8_t)0x16
+#define GPIR_8_15 (uint8_t)0x17
typedef enum {
// GPIO Expander pin names
@@ -79,9 +79,9 @@
} ExpGpioPinName;
typedef enum {
- INPUT,
+ INPUT = 0,
OUTPUT,
- NOT_CONNECTED
+ NOT_CONNECTED
}ExpGpioPinDirection;
@@ -89,74 +89,122 @@
public:
STMPE1600DigiOut (DevI2C &i2c, ExpGpioPinName outpinname, uint8_t DevAddr=STMPE1600_DEF_DEVICE_ADDRESS, bool lvl=STMPE1600_DEF_DIGIOUT_LVL): dev_i2c(i2c), expdevaddr(DevAddr), exppinname(outpinname)
- {
- uint8_t data[2];
- /* set the exppinname as output */
- dev_i2c.i2c_read(data, expdevaddr, GPDR_0_7, 1);
- dev_i2c.i2c_read(&data[1], expdevaddr, GPDR_8_15, 1);
- *(uint16_t*)data = *(uint16_t*)data | (1<<(uint16_t)exppinname); // set gpio as out
- dev_i2c.i2c_write(data, expdevaddr, GPDR_0_7, 1);
- dev_i2c.i2c_write(&data[1], expdevaddr, GPDR_8_15, 1);
- write(lvl);
-
- }
+ {
+ uint8_t data[2];
+ /* set the exppinname as output */
+ dev_i2c.i2c_read(data, expdevaddr, GPDR_0_7, 1);
+ dev_i2c.i2c_read(&data[1], expdevaddr, GPDR_8_15, 1);
+ *(uint16_t*)data = *(uint16_t*)data | (1<<(uint16_t)exppinname); // set gpio as out
+ dev_i2c.i2c_write(data, expdevaddr, GPDR_0_7, 1);
+ dev_i2c.i2c_write(&data[1], expdevaddr, GPDR_8_15, 1);
+ write(lvl);
+ }
void write (int lvl) {
uint8_t data[2];
/* set the exppinname state to lvl */
- dev_i2c.i2c_read(data, expdevaddr, GPSR_0_7, 1);
- dev_i2c.i2c_read(&data[1], expdevaddr, GPSR_8_15, 1);
+ dev_i2c.i2c_read(data, expdevaddr, GPSR_0_7, 2);
*(uint16_t*)data = *(uint16_t*)data & (uint16_t)(~(1<<(uint16_t)exppinname)); // set pin mask
- if(lvl)
- *(uint16_t*)data = *(uint16_t*)data | (uint16_t)(1<<(uint16_t)exppinname);
- dev_i2c.i2c_write(data, expdevaddr, GPSR_0_7, 1);
- dev_i2c.i2c_write(&data[1], expdevaddr, GPSR_8_15, 1);
+ if (lvl) *(uint16_t*)data = *(uint16_t*)data | (uint16_t)(1<<(uint16_t)exppinname);
+ dev_i2c.i2c_write(data, expdevaddr, GPSR_0_7, 2);
}
- STMPE1600DigiOut& operator=(int lvl) {
- write (lvl);
- return *this;
- }
+ STMPE1600DigiOut& operator=(int lvl)
+ {
+ write (lvl);
+ return *this;
+ }
private:
- DevI2C &dev_i2c;
- uint8_t expdevaddr;
- ExpGpioPinName exppinname;
+ DevI2C &dev_i2c;
+ uint8_t expdevaddr;
+ ExpGpioPinName exppinname;
};
-class STMPE1600DigiIn {
-
+class STMPE1600DigiIn
+{
public:
- STMPE1600DigiIn (DevI2C &i2c, ExpGpioPinName inpinname, uint8_t DevAddr=STMPE1600_DEF_DEVICE_ADDRESS*2): dev_i2c(i2c), expdevaddr(DevAddr*2), exppinname(inpinname)
+ STMPE1600DigiIn (DevI2C &i2c, ExpGpioPinName inpinname, uint8_t DevAddr=STMPE1600_DEF_DEVICE_ADDRESS*2): dev_i2c(i2c), expdevaddr(DevAddr), exppinname(inpinname)
{
uint8_t data[2];
/* set the exppinname as input pin direction */
- dev_i2c.i2c_read(data, expdevaddr, GPDR_0_7, 1);
- dev_i2c.i2c_read(&data[1], expdevaddr, GPDR_8_15, 1);
+ dev_i2c.i2c_read(data, expdevaddr, GPDR_0_7, 2);
*(uint16_t*)data = *(uint16_t*)data & (uint16_t)(~(1<<(uint16_t)exppinname)); // set gpio as in
- dev_i2c.i2c_write(data, expdevaddr, GPDR_0_7, 1);
- dev_i2c.i2c_write(&data[1], expdevaddr, GPDR_8_15, 1);
+ dev_i2c.i2c_write(data, expdevaddr, GPDR_0_7, 2);
}
bool read () {
uint8_t data[2];
/* read the exppinname */
- dev_i2c.i2c_read(data, expdevaddr, GPMR_0_7, 1);
- dev_i2c.i2c_read(&data[1], expdevaddr, GPMR_8_15, 1);
+ dev_i2c.i2c_read(data, expdevaddr, GPMR_0_7, 2);
*(uint16_t*)data = *(uint16_t*)data & (uint16_t)(1<<(uint16_t)exppinname); // mask the in gpio
if (data[0] || data[1]) return 1;
return 0;
}
- operator int() {
- return read();
- }
+ operator int()
+ {
+ return read();
+ }
private:
- DevI2C &dev_i2c;
- uint8_t expdevaddr;
- ExpGpioPinName exppinname;
+ DevI2C &dev_i2c;
+ uint8_t expdevaddr;
+ ExpGpioPinName exppinname;
};
+/*
+class STMPE1600 {
+
+ public:
+ STMPE1600 (DevI2C &i2c,
+ ExpGpioPinDirection GPDR0, ExpGpioPinDirection GPDR1, ExpGpioPinDirection GPDR2,
+ ExpGpioPinDirection GPDR3, ExpGpioPinDirection GPDR4, ExpGpioPinDirection GPDR5,
+ ExpGpioPinDirection GPDR6, ExpGpioPinDirection GPDR7, ExpGpioPinDirection GPDR8,
+ ExpGpioPinDirection GPDR9, ExpGpioPinDirection GPDR10, ExpGpioPinDirection GPDR11,
+ ExpGpioPinDirection GPDR12, ExpGpioPinDirection GPDR13, ExpGpioPinDirection GPDR14, ExpGpioPinDirection GPDR15, uint8_t DevAddr=STMPE1600_DEF_DEVICE_ADDRESS ) :dev_i2c(i2c)
+
+ {
+ dev_i2c = i2c;
+ expdevaddr = DevAddr;
+ GPDR0_15 = (uint16_t)0; // gpio dir all IN
+ GPSR0_15 = (uint16_t)0x0ffff; // gpio status all 1
+ if (GPDR0 == OUTPUT) GPDR0_15 = GPDR0_15 | (uint16_t)0x0001;
+ if (GPDR1 == OUTPUT) GPDR0_15 = GPDR0_15 | (uint16_t)0x0002;
+ if (GPDR2 == OUTPUT) GPDR0_15 = GPDR0_15 | (uint16_t)0x0004;
+ if (GPDR3 == OUTPUT) GPDR0_15 = GPDR0_15 | (uint16_t)0x0008;
+ if (GPDR4 == OUTPUT) GPDR0_15 = GPDR0_15 | (uint16_t)0x0010;
+ if (GPDR5 == OUTPUT) GPDR0_15 = GPDR0_15 | (uint16_t)0x0020;
+ if (GPDR6 == OUTPUT) GPDR0_15 = GPDR0_15 | (uint16_t)0x0040;
+ if (GPDR7 == OUTPUT) GPDR0_15 = GPDR0_15 | (uint16_t)0x0080;
+ if (GPDR8 == OUTPUT) GPDR0_15 = GPDR0_15 | (uint16_t)0x0100;
+ if (GPDR9 == OUTPUT) GPDR0_15 = GPDR0_15 | (uint16_t)0x0200;
+ if (GPDR10 == OUTPUT) GPDR0_15 = GPDR0_15 | (uint16_t)0x0400;
+ if (GPDR11 == OUTPUT) GPDR0_15 = GPDR0_15 | (uint16_t)0x0800;
+ if (GPDR12 == OUTPUT) GPDR0_15 = GPDR0_15 | (uint16_t)0x1000;
+ if (GPDR13 == OUTPUT) GPDR0_15 = GPDR0_15 | (uint16_t)0x2000;
+ if (GPDR14 == OUTPUT) GPDR0_15 = GPDR0_15 | (uint16_t)0x4000;
+ if (GPDR15 == OUTPUT) GPDR0_15 = GPDR0_15 | (uint16_t)0x8000;
+ dev_i2c.i2c_write((uint8_t*)&GPDR0_15, expdevaddr, GPDR_0_7, 2);
+ dev_i2c.i2c_write((uint8_t*)&GPSR0_15, expdevaddr, GPSR_0_7, 2);
+ }
+
+ void readGPSR0_15 (uint16_t * gpsr0_15){
+ dev_i2c.i2c_read((uint8_t*)gpsr0_15, expdevaddr, GPSR_0_7, 2);
+ GPSR0_15 = gpsr0_15;
+ }
+
+ void writeGPSR0_15 (uint16_t *gpsr0_15){
+ dev_i2c.i2c_write((uint8_t*)*gpsr0_15, expdevaddr, GPSR_0_7, 2);
+ GPSR0_15 = *gpsr0_15;
+ }
+
+ private:
+ DevI2C &dev_i2c;
+ uint16_t GPDR0_15;
+ uint16_t GPSR0_15;
+ uint8_t expdevaddr;
+ };
+*/
#endif // __STMPE1600_CLASS
--- a/Components/VL6180X/vl6180x_cfg.h Tue Oct 20 16:44:28 2015 +0200 +++ b/Components/VL6180X/vl6180x_cfg.h Tue Oct 27 15:25:11 2015 +0100 @@ -58,7 +58,7 @@ * @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 +#define VL6180x_UPSCALE_SUPPORT -3 // -1 to -3 /** * @def VL6180x_ALS_SUPPORT @@ -106,7 +106,7 @@ * 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 VL6180x_EXTENDED_RANGE 1 // 0 to 1 #if (VL6180x_EXTENDED_RANGE) && (VL6180x_ALS_SUPPORT)
--- a/Components/VL6180X/vl6180x_class.cpp Tue Oct 20 16:44:28 2015 +0200
+++ b/Components/VL6180X/vl6180x_class.cpp Tue Oct 27 15:25:11 2015 +0100
@@ -34,11 +34,11 @@
*
******************************************************************************
*/
-
+
/* 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
@@ -48,7 +48,7 @@
*/
#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
@@ -58,41 +58,41 @@
*/
#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
-
+
#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 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)
@@ -115,19 +115,19 @@
* @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 */
@@ -142,21 +142,21 @@
#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)
-
-
+
+
static int32_t _GetAveTotalTime(VL6180xDev_t dev);
static int VL6180x_RangeSetEarlyConvergenceEestimateThreshold(VL6180xDev_t dev);
-
+
/**
* ScalerLookUP scaling factor-1 to register #RANGE_SCALER lookup
*/
@@ -178,8 +178,8 @@
(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",
@@ -198,17 +198,17 @@
"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
@@ -226,8 +226,8 @@
#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
@@ -248,16 +248,16 @@
#endif
};
#endif /* VL6180x_SINGLE_DEVICE_DRIVER */
-
-
-
+
+
+
#define Fix7_2_KCPs(x) ((((uint32_t)(x))*1000)>>7)
-
-
+
+
#if VL6180x_WRAP_AROUND_FILTER_SUPPORT || VL6180x_HAVE_DMAX_RANGING
static int _GetRateResult(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData);
#endif
-
+
#if VL6180x_WRAP_AROUND_FILTER_SUPPORT
static int _filter_Init(VL6180xDev_t dev);
static int _filter_GetResult(VL6180xDev_t dev, VL6180x_RangeData_t *pData);
@@ -265,8 +265,8 @@
#else
#define _IsWrapArroundActive(dev) 0
#endif
-
-
+
+
#if VL6180x_HAVE_DMAX_RANGING
void _DMax_OneTimeInit(VL6180xDev_t dev);
static int _DMax_InitData(VL6180xDev_t dev);
@@ -277,22 +277,22 @@
#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;
+ 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;
@@ -300,30 +300,30 @@
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 ){
@@ -331,7 +331,7 @@
break;
}
VL6180xDevDataSet(dev, Part2PartOffsetNVM, offset);
-
+
status=VL6180x_RdDWord( dev, SYSRANGE_RANGE_IGNORE_THRESHOLD, &CalValue);
if( status ){
VL6180x_ErrLog("Part2PartAmbNVM rd fail");
@@ -341,7 +341,7 @@
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 ");
@@ -349,13 +349,13 @@
}
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 ) {
@@ -364,14 +364,14 @@
}
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;
@@ -380,14 +380,14 @@
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;
@@ -403,11 +403,11 @@
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");
@@ -415,43 +415,43 @@
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);
+ init_status=VL6180x_RangeStaticInit(dev);
else
- init_status=VL6180x_UpscaleStaticInit(dev);
-
+ init_status=VL6180x_UpscaleStaticInit(dev);
+
if( init_status <0 ){
- VL6180x_ErrLog("StaticInit fail");
- goto error;
+ VL6180x_ErrLog("StaticInit fail");
+ goto error;
}
else if(init_status > 0){
- VL6180x_ErrLog("StaticInit warning");
+ VL6180x_ErrLog("StaticInit warning");
}
-
+
#if REFRESH_CACHED_DATA_AFTER_INIT
/* update cached value after tuning applied */
do{
@@ -460,7 +460,7 @@
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);
@@ -472,45 +472,45 @@
VL6180x_ErrLog("StaticInit fail");
}
if( !status && init_status){
- 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 ){
@@ -541,10 +541,10 @@
}
while(0);
LOG_FUNCTION_END(status);
-
+
return status;
}
-
+
#if VL6180x_ALS_SUPPORT
int VL6180X::VL6180x_AlsGetLux(VL6180xDev_t dev, lux_t *pLux)
{
@@ -555,14 +555,14 @@
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 */
@@ -577,34 +577,34 @@
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*/
@@ -614,13 +614,13 @@
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);
@@ -630,14 +630,14 @@
if (IntStatus == RES_INT_STAT_GPIO_NEW_SAMPLE_READY) {
break; /* break on new data (status is 0) */
}
-
+
VL6180x_PollDelay(dev);
};
-
+
if (!status) {
status = VL6180x_AlsGetMeasurement(dev, pAlsData);
}
-
+
ClrStatus = VL6180x_AlsClearInterrupt(dev);
if (ClrStatus) {
VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
@@ -647,22 +647,22 @@
}
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;
@@ -679,7 +679,7 @@
u8 = u8 & ALS_DEVICE_READY_MASK;
if( u8 )
break;
-
+
}
if( !status && !u8 ){
status = TIME_OUT;
@@ -688,7 +688,7 @@
LOG_FUNCTION_END(status);
return status;
}
-
+
int VL6180X::VL6180x_AlsSetSystemMode(VL6180xDev_t dev, uint8_t mode)
{
int status;
@@ -704,11 +704,11 @@
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));
}
@@ -719,78 +719,78 @@
LOG_FUNCTION_END(status);
return status;
}
-
-
-
+
+
+
int VL6180X::VL6180x_AlsSetThresholds(VL6180xDev_t dev, uint8_t low, uint8_t high) {
int status;
-
+
LOG_FUNCTION_START("%d %d", (int )low, (int)high);
-
+
status = VL6180x_WrByte(dev, SYSALS_THRESH_LOW, low); //FIXME i valori passati devono essere uint16_t (vedi registri), inoltre i valori delle soglie NON sono in lux! bisogna invertire il calcolo fatto nella VL6180x_AlsGetLux()
if(!status ){
status = VL6180x_WrByte(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) ;
@@ -798,20 +798,20 @@
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);
@@ -826,7 +826,7 @@
VL6180x_ErrLog("VL6180x_RangeSetSystemMode fail");
goto done;
}
-
+
/* poll for new sample ready */
while(1 ){
status=VL6180x_RangeGetInterruptStatus(dev, &IntStatus.val);
@@ -846,11 +846,11 @@
VL6180x_PollDelay(dev);
}
/* //![single_shot_snipet] */
-
+
if ( !status ){
status = VL6180x_RangeGetMeasurement(dev, pRangeData);
}
-
+
/* clear range interrupt source */
ClrStatus = VL6180x_RangeClearInterrupt(dev);
if( ClrStatus ){
@@ -864,17 +864,17 @@
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 );
@@ -887,11 +887,11 @@
else{
VL6180x_ErrLog("Rd RESULT_RANGE_STATUS fail");
}
- #if VL6180x_WRAP_AROUND_FILTER_SUPPORT || VL6180x_HAVE_DMAX_RANGING
+ #if VL6180x_WRAP_AROUND_FILTER_SUPPORT || VL6180x_HAVE_DMAX_RANGING
status = _GetRateResult(dev, pRangeData);
if( status )
- goto error;
- #endif
+ goto error;
+ #endif
#if VL6180x_WRAP_AROUND_FILTER_SUPPORT
/* if enabled run filter */
if( _IsWrapArroundActive(dev) ){
@@ -905,7 +905,7 @@
}
}
#endif
-
+
#if VL6180x_HAVE_DMAX_RANGING
if(_IsDMaxActive(dev) ){
_DMax_Compute(dev, pRangeData);
@@ -923,15 +923,15 @@
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 ){
@@ -959,7 +959,7 @@
LOG_FUNCTION_END(status) ;
return status;
}
-
+
int VL6180X::VL6180x_FilterSetState(VL6180xDev_t dev, int state){
int status;
LOG_FUNCTION_START("%d", state);
@@ -972,7 +972,7 @@
LOG_FUNCTION_END(status);
return status;
}
-
+
int VL6180X::VL6180x_FilterGetState(VL6180xDev_t dev){
int status;
LOG_FUNCTION_START("");
@@ -984,14 +984,14 @@
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);
@@ -1000,7 +1000,7 @@
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;
@@ -1010,11 +1010,11 @@
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;
@@ -1045,20 +1045,20 @@
}
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 ){
@@ -1082,8 +1082,8 @@
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;
@@ -1092,12 +1092,12 @@
* 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;
@@ -1106,7 +1106,7 @@
LOG_FUNCTION_END_FMT(status, "%d", (int)*IntStatus);
return status;
}
-
+
int VL6180X::VL6180x_ClearInterrupt(VL6180xDev_t dev, uint8_t IntClear )
{
int status;
@@ -1120,13 +1120,13 @@
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);
@@ -1158,7 +1158,7 @@
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, 0x0011, 0x10); /* Enables polling for New Sample ready when measurement completes */
VL6180x_WrByte( dev, 0x010a, 0x30); /* Set the averaging sample period (compromise between lower noise and increased execution time) */
@@ -1166,21 +1166,21 @@
VL6180x_WrByte( dev, 0x0031, 0xFF); /* sets the # of range measurements after which auto calibration of system is performed */
VL6180x_WrByte( dev, 0x0040, 0x63); /* Set ALS integration time to 100ms */
VL6180x_WrByte( dev, 0x002e, 0x01); /* perform a single temperature calibration of the ranging sensor */
-
+
/* Optional: Public registers - See data sheet for more detail */
VL6180x_WrByte( dev, 0x001b, 0x09); /* Set default ranging inter-measurement period to 100ms */
VL6180x_WrByte( dev, 0x003e, 0x31); /* Set default ALS inter-measurement period to 500ms */
VL6180x_WrByte( dev, 0x0014, 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;
@@ -1188,7 +1188,7 @@
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)
{
@@ -1204,9 +1204,9 @@
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);
@@ -1243,15 +1243,15 @@
#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])
@@ -1260,13 +1260,13 @@
#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);
@@ -1275,7 +1275,7 @@
status = VL6180x_RangeSetEceState(dev, scaling == 1); /* enable ece only at 1x scaling */
}
if( status == 0 && !VL6180x_EXTENDED_RANGE && scaling!=1 ){
- status = NOT_GUARANTEED ;
+ status = NOT_GUARANTEED ;
}
#endif
}
@@ -1287,24 +1287,24 @@
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);
@@ -1328,13 +1328,13 @@
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;
@@ -1342,38 +1342,38 @@
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);
@@ -1383,30 +1383,30 @@
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 ){
@@ -1417,24 +1417,24 @@
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;
@@ -1443,11 +1443,11 @@
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);
}
@@ -1458,12 +1458,12 @@
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 */
@@ -1491,23 +1491,23 @@
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;
@@ -1527,11 +1527,11 @@
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 ){
@@ -1556,8 +1556,8 @@
LOG_FUNCTION_END(status);
return status;
}
-
-
+
+
int VL6180X::VL6180x_RangeGetDeviceReady(VL6180xDev_t dev, int * Ready){
int status;
uint8_t u8;
@@ -1568,8 +1568,8 @@
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;
@@ -1586,7 +1586,7 @@
u8 = u8 & RANGE_DEVICE_READY_MASK;
if( u8 )
break;
-
+
}
if( !status && !u8 ){
status = TIME_OUT;
@@ -1595,7 +1595,7 @@
LOG_FUNCTION_END(status);
return status;
}
-
+
int VL6180X::VL6180x_RangeSetSystemMode(VL6180xDev_t dev, uint8_t mode)
{
int status;
@@ -1616,8 +1616,8 @@
LOG_FUNCTION_END(status);
return status;
}
-
-
+
+
int VL6180X::VL6180x_RangeStartContinuousMode(VL6180xDev_t dev)
{
int status;
@@ -1626,7 +1626,7 @@
LOG_FUNCTION_END(status);
return status;
}
-
+
int VL6180X::VL6180x_RangeStartSingleShot(VL6180xDev_t dev) {
int status;
LOG_FUNCTION_START("");
@@ -1634,12 +1634,12 @@
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);
@@ -1650,9 +1650,9 @@
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 ){
@@ -1665,7 +1665,7 @@
status=-1;
break;
}
-
+
convergTime_us = maxConv_ms * cMicroSecPerMilliSec - AveTime;
status = VL6180x_RdDWord(dev, 0xB8, &fineThresh);
if( status ) {
@@ -1674,15 +1674,15 @@
}
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
@@ -1698,9 +1698,9 @@
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");
@@ -1715,25 +1715,25 @@
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
@@ -1741,32 +1741,32 @@
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 {
@@ -1776,35 +1776,35 @@
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;
@@ -1813,44 +1813,44 @@
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;
@@ -1861,13 +1861,13 @@
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:
@@ -1893,7 +1893,7 @@
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;
@@ -1901,8 +1901,8 @@
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;
@@ -1912,7 +1912,7 @@
m_newTrueRange_mm = MaxOrInvalidDistance;
bypassFilter = 1;
}
-
+
/* Checks on Ambient rate level */
if (m_rtnAmbientRate > WrapAroundMaximumAmbientRateFilterLimit) {
/* Too high ambient rate */
@@ -1953,11 +1953,11 @@
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 ){
@@ -1965,7 +1965,7 @@
goto done_err;
}
registerValue =u8;
-
+
/* Read data for filtering */
status = VL6180x_RdByte(dev, 0x10C, &u8 ); /* read only 8 lsb bits */
if( status ){
@@ -1979,7 +1979,7 @@
goto done_err;
}
register32BitsValue2 = u8;
-
+
if (registerValue == 0x3E) {
_FilterData(Default_ZeroVal) = register32BitsValue1;
_FilterData(Default_VAVGVal) = register32BitsValue2;
@@ -1987,7 +1987,7 @@
_FilterData(NoDelay_ZeroVal) = register32BitsValue1;
_FilterData(NoDelay_VAVGVal) = register32BitsValue2;
}
-
+
if (bypassFilter == 1) {
/* Do not go through the filter */
if (registerValue != 0x3E) {
@@ -2008,13 +2008,13 @@
_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;
+ u8_2 = 0x05;
} else {
u8=0x3E;
u8_2 = 0x01;
@@ -2029,17 +2029,17 @@
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);
@@ -2054,10 +2054,10 @@
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;
@@ -2095,7 +2095,7 @@
StdDevDistance = 0;
StdDevRate = 0;
}
-
+
/* Check Return rate standard deviation */
if (StdDevRate < StdDevMovingTargetStdDevLimit) {
if (StdDevSamples < MIN_FILTER_VALID_STDDEV_SAMPLES) {
@@ -2106,7 +2106,7 @@
StdDevLimitWithTargetMove = StdDevLimit + (((StdDevMovingTargetStdDevForReturnRateLimit - StdDevLimit) * StdDevRate) / StdDevMovingTargetReturnRateLimit);
else
StdDevLimitWithTargetMove = StdDevMovingTargetStdDevForReturnRateLimit;
-
+
if ((StdDevDistance * StdDevHighConfidenceSNRLimit) < StdDevLimitWithTargetMove) {
NoWrapAroundHighConfidenceFlag = 1;
} else {
@@ -2125,7 +2125,7 @@
WrapAroundFlag = 1;
}
}
-
+
if (m_newTrueRange_mm == MaxOrInvalidDistance) {
if (_FilterData(StdFilteredReads) > 0)
_FilterData(StdFilteredReads) = (uint16_t) (_FilterData(StdFilteredReads) - 1);
@@ -2151,22 +2151,22 @@
}
}
}
-
+
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) {
@@ -2174,7 +2174,7 @@
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;
@@ -2185,17 +2185,17 @@
} 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;
@@ -2206,11 +2206,11 @@
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");
@@ -2219,49 +2219,49 @@
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);
@@ -2279,7 +2279,7 @@
LOG_FUNCTION_END(status);
return status;
}
-
+
int VL6180X::VL6180x_DMaxGetState(VL6180xDev_t dev){
int status;
LOG_FUNCTION_START("");
@@ -2291,17 +2291,17 @@
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
@@ -2309,11 +2309,11 @@
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;
@@ -2326,22 +2326,22 @@
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 */
@@ -2365,7 +2365,7 @@
}
return RawDMax;
}
-
+
/*
* fetch static data from register to avoid re-read
* precompute all intermediate constant and cliipings
@@ -2392,9 +2392,9 @@
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);
@@ -2402,31 +2402,31 @@
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 ");
@@ -2434,14 +2434,14 @@
}
_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);
@@ -2454,12 +2454,12 @@
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*/
}
@@ -2469,20 +2469,20 @@
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);
}
@@ -2496,1081 +2496,1097 @@
}
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 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 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 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 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 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 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 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;
+ 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;
+ /* 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;
+ 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;
+ 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;
+ 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;
+ /* 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::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 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) //FIXME printf da sostituire con VL6180x_ErrLog e poi specificare il contenuto di questa funzione
{
int status;
-
+
VL6180x_Off();
VL6180x_On();
- /*status=VL6180x_WaitDeviceBooted(Device);
- if(status)
- printf("WaitDeviceBooted fail\n\r");*/
+ /*status=VL6180x_WaitDeviceBooted(Device);
+ if(status)
+ printf("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;
+ 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;
+ }
+ VL6180x_RangeSetMaxConvergenceTime(Device,10); //FIXME temporaneo, capire se devo fissare questi valori di default oppure impostarli solo quando faccio la hand gesture
+ VL6180x_RangeSetInterMeasPeriod(Device,10); //FIXME
+ return status;
}
-
-
+
+
int VL6180X::StartMeasurement(OperatingMode operating_mode, void (*fptr)(void), MeasureData_t *Data, 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(Data);
- else
- return (r_status|l_status);
-
+ 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(Data);
+ 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(Data);
- 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);
-
+ 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(Data);
+ 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);
-
+ 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))
- {
+ 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;
- }
+ if(!status)
+ return RangeMeasPollContinuousMode();
+ else
+ return status;
+ }
else
return (r_status|l_status);
- case(range_continuous_polling_high_threshold):
+ 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=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ {
status=RangeSetHighThreshold(high);
- if(!status)
- return RangeMeasPollContinuousMode();
- else
- return status;
- }
+ 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))
- {
+
+ 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;
- }
+ 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=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ {
status=AlsSetLowThreshold(low);
- if(!status)
- return AlsMeasPollContinuousMode();
- else
- return status;
- }
+ 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))
- {
+
+ 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;
- }
+ 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))
- {
+
+ 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;
- }
+ 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))
- {
+
+ 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;
- }
+ if(!status)
+ return RangeMeasIntContinuousMode(fptr);
+ else
+ return status;
+ }
else
- return (r_status|l_status);
-
- case(range_continuous_interrrupt_high_threshold):
- status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_HIGH);
- status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- {
+ return (r_status|l_status);
+
+ case(range_continuous_interrrupt_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;
- }
+ 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))
- {
+
+ 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;
- }
+ 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))
- {
+
+ 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;
- }
+ 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))
- {
+ 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;
- }
+ 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))
- {
+
+ 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;
- }
+ if(!status)
+ return AlsMeasIntContinuousMode(fptr);
+ else
+ return status;
+ }
else
return (r_status|l_status);
-
- default:
- return INVALID_PARAMS;
- }
+
+ default:
+ return INVALID_PARAMS;
+ }
}
-
-
+
+
int VL6180X::GetRangeError(MeasureData_t *Data, VL6180x_RangeData_t RangeData)
{
- Data->range_error=RangeData.errorStatus;
- if(Data->range_error!=0)
- {
+ Data->range_error=RangeData.errorStatus;
+ if(Data->range_error!=0)
+ {
VL6180x_ErrLog("Range error %d",Data->range_error);
return RANGE_ERROR;
- }
- return NoError_;
+ }
+ return NoError_;
}
-
-
+
+
int VL6180X::GetAlsError(MeasureData_t *Data, VL6180x_AlsData_t AlsData)
{
- Data->als_error=AlsData.errorStatus;
- if(Data->als_error!=0)
- {
+ Data->als_error=AlsData.errorStatus;
+ if(Data->als_error!=0)
+ {
VL6180x_ErrLog("Light error %d",Data->light_error);
- return API_ERROR;
- }
- return NoError_;
+ return API_ERROR;
+ }
+ return NoError_;
}
-
-
+
+
int VL6180X::RangeMeasPollSingleShot(MeasureData_t *Data)
{
- VL6180x_RangeData_t RangeData;
- int status;
-
- status=RangePollMeasurement(&RangeData);
- if(!status)
- {
- status=GetRangeError(Data, RangeData);
- if(!status)
- Data->range_mm=RangeData.range_mm;
- else
- Data->range_mm=0xFFFFFFFF;
- }
- return status;
-}
-
-
+ VL6180x_RangeData_t RangeData;
+ int status;
+
+ status=RangePollMeasurement(&RangeData);
+ if(!status)
+ {
+ status=GetRangeError(Data, RangeData);
+ if(!status)
+ Data->range_mm=RangeData.range_mm;
+ else
+ Data->range_mm=0xFFFFFFFF;
+ }
+ return status;
+}
+
+
int VL6180X::AlsMeasPollSingleShot(MeasureData_t *Data)
{
- VL6180x_AlsData_t AlsData;
- int status;
-
- status=AlsPollMeasurement(&AlsData);
- if(!status)
- {
- status=GetAlsError(Data, AlsData);
- if(!status)
- Data->lux=AlsData.lux;
- else
- Data->lux=0xFFFFFFFF;
- }
- return status;
+ VL6180x_AlsData_t AlsData;
+ int status;
+
+ status=AlsPollMeasurement(&AlsData);
+ if(!status)
+ {
+ status=GetAlsError(Data, AlsData);
+ if(!status)
+ Data->lux=AlsData.lux;
+ else
+ Data->lux=0xFFFFFFFF;
+ }
+ return status;
}
-
-
+
+
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();
+
+ 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 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);
+ 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;
+ }
+ }
+ 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");
+ 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;
+ status=RangeStartContinuousMode();
+ return status;
}
-
-
+
+
int VL6180X::AlsMeasIntContinuousMode(void (*fptr)(void))
{
int status, ClrStatus;
-
- EnableInterruptMeasureDetectionIRQ();
+
+ EnableInterruptMeasureDetectionIRQ();
AttachInterruptMeasureDetectionIRQ(fptr);
status=SetupGPIO1(GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT, 1);
- ClrStatus=VL6180x_ClearAllInterrupt(Device);
- if(ClrStatus)
- VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
+ ClrStatus=VL6180x_ClearAllInterrupt(Device);
+ if(ClrStatus)
+ VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
if(!status)
- status=AlsStartContinuousMode();
- return 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;
-
+ 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 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 write SYSALS_INTERMEASUREMENT_PERIOD!\n\r");
- return status;
- }
- return AlsStartContinuousMode();
+ 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)
+ 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;
+ return status;
}
-
-
+
+
int VL6180X::HandleIRQ(OperatingMode operating_mode, MeasureData_t *Data)
{
- int status;
-
- status=GetMeasurement(operating_mode, Data);
- EnableInterruptMeasureDetectionIRQ();
- return status;
+ 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 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 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;
- uint16_t low, high;
-
- status=VL6180x_AlsGetThresholds(Device, &low, &high);
- if(!status)
- status=VL6180x_AlsSetThresholds(Device, threshold, high);
- return status;
+ int status;
+ uint16_t low, high;
+
+ status=VL6180x_AlsGetThresholds(Device, &low, &high);
+ if(!status)
+ status=VL6180x_AlsSetThresholds(Device, threshold, high);
+ return status;
}
-
-
+
+
int VL6180X::AlsSetHighThreshold(uint16_t threshold)
{
- int status;
- uint16_t low, high;
-
- status=VL6180x_AlsGetThresholds(Device, &low, &high);
- if(!status)
- status=VL6180x_AlsSetThresholds(Device, low, threshold);
- return status;
+ int status;
+ uint16_t low, high;
+
+ status=VL6180x_AlsGetThresholds(Device, &low, &high);
+ if(!status)
+ status=VL6180x_AlsSetThresholds(Device, low, threshold);
+ return status;
}
-
-
-int VL6180X::VL6180x_AlsGetThresholds(VL6180xDev_t dev, uint16_t *low, uint16_t *high)
+
+
+int VL6180X::VL6180x_AlsGetThresholds(VL6180xDev_t dev, uint16_t *low, uint16_t *high)
{
int status;
-
- status=VL6180x_RdWord(dev, SYSALS_THRESH_LOW, low);
- if(status)
- {
- VL6180x_ErrLog("rd SYSALS_THRESH_LOW fail");
- return status;
- }
- status=VL6180x_RdWord(dev, SYSALS_THRESH_HIGH, high);
- if(status)
- {
- VL6180x_ErrLog("rd SYSALS_THRESH_HIGH fail");
- return status;
- }
- return status;
+
+ status=VL6180x_RdWord(dev, SYSALS_THRESH_LOW, low);
+ if(status)
+ {
+ VL6180x_ErrLog("rd SYSALS_THRESH_LOW fail");
+ return status;
+ }
+ status=VL6180x_RdWord(dev, SYSALS_THRESH_HIGH, high);
+ if(status)
+ {
+ VL6180x_ErrLog("rd SYSALS_THRESH_HIGH fail");
+ return status;
+ }
+ return status;
}
-
-
+
+
int VL6180X::GetMeasurement(OperatingMode operating_mode, MeasureData_t *Data)
{
- switch(operating_mode)
- {
- 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_interrrupt_high_threshold):
- case(range_continuous_interrupt_out_of_window):
- return GetRangeMeas(operating_mode, Data);
-
- 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;
- }
+ switch(operating_mode)
+ {
+ 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_interrrupt_high_threshold):
+ case(range_continuous_interrupt_out_of_window):
+ return GetRangeMeas(operating_mode, Data);
+
+ 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)
- {
+ 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);
- return RANGE_ERROR;
+ status=RANGE_ERROR;
}
- }
- else
- {
- VL6180x_ErrLog("Failed to read RESULT_INTERRUPT_STATUS_GPIO");
- return status;
- }
- if((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_interrrupt_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;
- }
- ClrStatus=VL6180x_RangeClearInterrupt(Device);
- if(ClrStatus)
- {
- VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
- return ClrStatus;
- }
- ClrStatus=VL6180x_ClearErrorInterrupt(Device);
- if(ClrStatus)
- {
- VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
- return ClrStatus;
- }
- return status;
+ }
+ 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_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_interrrupt_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");
- return status;
- }
- if((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;
- }
- ClrStatus=VL6180x_AlsClearInterrupt(Device);
- if(ClrStatus)
- VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
- ClrStatus=VL6180x_ClearErrorInterrupt(Device);
- if(ClrStatus)
- VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
- return status;
+ 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_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)
- {
+ 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);
- return RANGE_ERROR;
+ status=RANGE_ERROR;
}
- }
- else
- {
- VL6180x_ErrLog("Failed to read RESULT_INTERRUPT_STATUS_GPIO");
- 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;
- }
- ClrStatus=VL6180x_ClearAllInterrupt(Device);
- if(ClrStatus)
- VL6180x_ErrLog("VL6180x_ClearAllInterrupt fail");
- }
- else
- return NOT_READY;
- return status;
+ }
+ 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_interrrupt_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 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_interrrupt_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 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, 0xFF);
- if(status)
- VL6180x_ErrLog("VL6180x_AlsSetThresholds fail");
- return status;
+ 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, 0xFF);
+ if(status)
+ VL6180x_ErrLog("VL6180x_AlsSetThresholds fail");
+ return status;
}
-
-
-
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+
+
+
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
\ No newline at end of file
--- a/Components/VL6180X/vl6180x_class.h Tue Oct 20 16:44:28 2015 +0200
+++ b/Components/VL6180X/vl6180x_class.h Tue Oct 27 15:25:11 2015 +0100
@@ -54,38 +54,38 @@
in case of invalid data range_mm=0xFFFFFFFF and lux=0xFFFFFFFF */
typedef struct MeasureData
{
- int32_t range_mm;
- uint32_t lux;
- uint32_t range_error;
- uint32_t als_error;
- uint32_t int_error;
+ 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_interrrupt_high_threshold,
- range_continuous_interrupt_out_of_window,
- als_continuous_interrupt_low_threshold,
- als_continuous_interrupt_high_threshold,
- als_continuous_interrupt_out_of_window,
- //interleaved con soglie
- range_continuous_als_single_shot,
- range_single_shot_als_continuous,
+ 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_interrrupt_high_threshold,
+ range_continuous_interrupt_out_of_window,
+ als_continuous_interrupt_low_threshold,
+ als_continuous_interrupt_high_threshold,
+ als_continuous_interrupt_out_of_window,
+ //interleaved con soglie
+ range_continuous_als_single_shot,
+ range_single_shot_als_continuous,
}OperatingMode;
/** default device address */
@@ -103,183 +103,183 @@
* @param[in] gpio1 pin
* @param[in] device address, 0x29 by default
*/
- VL6180X(DevI2C &i2c, DigitalOut &pin, PinName pin_gpio1, uint8_t DevAddr=DEFAULT_DEVICE_ADDRESS) : RangeSensor(), LightSensor(), dev_i2c(i2c), gpio0(&pin), interrupt_measure(pin_gpio1)
- {
- MyDevice.I2cAddr=DevAddr;
- MyDevice.Present=0;
- MyDevice.Ready=0;
- Device=&MyDevice;;
- expgpio0=NULL;
- }
+ VL6180X(DevI2C &i2c, DigitalOut &pin, PinName pin_gpio1, uint8_t DevAddr=DEFAULT_DEVICE_ADDRESS) : RangeSensor(), LightSensor(), dev_i2c(i2c), gpio0(&pin), interrupt_measure(pin_gpio1)
+ {
+ MyDevice.I2cAddr=DevAddr;
+ MyDevice.Present=0;
+ MyDevice.Ready=0;
+ Device=&MyDevice;;
+ expgpio0=NULL;
+ }
- VL6180X(DevI2C &i2c, STMPE1600DigiOut &pin, PinName pin_gpio1, uint8_t DevAddr=DEFAULT_DEVICE_ADDRESS) : RangeSensor(), LightSensor(), dev_i2c(i2c), expgpio0(&pin), interrupt_measure(pin_gpio1)
- {
- MyDevice.I2cAddr=DevAddr;
- MyDevice.Present=0;
- MyDevice.Ready=0;
- Device=&MyDevice;
- gpio0=NULL;
- }
+ VL6180X(DevI2C &i2c, STMPE1600DigiOut &pin, PinName pin_gpio1, uint8_t DevAddr=DEFAULT_DEVICE_ADDRESS) : RangeSensor(), LightSensor(), dev_i2c(i2c), expgpio0(&pin), interrupt_measure(pin_gpio1)
+ {
+ MyDevice.I2cAddr=DevAddr;
+ MyDevice.Present=0;
+ MyDevice.Ready=0;
+ Device=&MyDevice;
+ gpio0=NULL;
+ }
/** Destructor
*/
//~VL6180X(){}
/* turns on the sensor */
- void VL6180x_On(void)
- {
- if(gpio0)
- *gpio0=1;
- else if(expgpio0)
- *expgpio0=1;
- }
+ void VL6180x_On(void)
+ {
+ if(gpio0)
+ *gpio0=1;
+ else if(expgpio0)
+ *expgpio0=1;
+ }
- /* turns off the sensor */
+ /* turns off the sensor */
void VL6180x_Off(void)
- {
- if(gpio0)
- *gpio0=0;
- else if(expgpio0)
- *expgpio0=0;
- }
+ {
+ if(gpio0)
+ *gpio0=0;
+ else if(expgpio0)
+ *expgpio0=0;
+ }
- int InitSensor(uint8_t NewAddr);
- int StartMeasurement(OperatingMode operating_mode, void (*fptr)(void), MeasureData_t *Data, uint16_t low, uint16_t high);
- int GetMeasurement(OperatingMode operating_mode, MeasureData_t *Data);
- int StopMeasurement(OperatingMode operating_mode);
+ int InitSensor(uint8_t NewAddr);
+ int StartMeasurement(OperatingMode operating_mode, void (*fptr)(void), MeasureData_t *Data, uint16_t low, uint16_t high);
+ int GetMeasurement(OperatingMode operating_mode, MeasureData_t *Data);
+ int StopMeasurement(OperatingMode operating_mode);
- /* handling functions of the interrupt_measure */
+ /* handling functions of the interrupt_measure */
- /** Attach a function to call when an interrupt is detected, i.e. measurement is ready
- *
- * @param[in] fptr A pointer to a void function, or 0 to set as none
- */
- void AttachInterruptMeasureDetectionIRQ(void (*fptr)(void))
- {
- interrupt_measure.rise(fptr);
- }
+ /** Attach a function to call when an interrupt is detected, i.e. measurement is ready
+ *
+ * @param[in] fptr A pointer to a void function, or 0 to set as none
+ */
+ void AttachInterruptMeasureDetectionIRQ(void (*fptr)(void))
+ {
+ interrupt_measure.rise(fptr);
+ }
- /** Enable interrupt measure IRQ
- */
- void EnableInterruptMeasureDetectionIRQ(void)
- {
- interrupt_measure.enable_irq();
- }
+ /** Enable interrupt measure IRQ
+ */
+ void EnableInterruptMeasureDetectionIRQ(void)
+ {
+ interrupt_measure.enable_irq();
+ }
- /** Disable interrupt measure IRQ
- */
- void DisableInterruptMeasureDetectionIRQ(void)
- {
- interrupt_measure.disable_irq();
- }
+ /** Disable interrupt measure IRQ
+ */
+ void DisableInterruptMeasureDetectionIRQ(void)
+ {
+ interrupt_measure.disable_irq();
+ }
- int HandleIRQ(OperatingMode operating_mode, MeasureData_t *Data);
+ int HandleIRQ(OperatingMode operating_mode, MeasureData_t *Data);
- unsigned Present()
- {
- return Device->Present;
- }
+ unsigned Present()
+ {
+ return Device->Present;
+ }
- /* Wrapper functions */
- int WaitDeviceBooted()
- {
- return VL6180x_WaitDeviceBooted(Device);
- }
+ /* Wrapper functions */
+ int WaitDeviceBooted()
+ {
+ return VL6180x_WaitDeviceBooted(Device);
+ }
- int Init()
+ int Init()
{
return VL6180x_InitData(Device);
}
- int SetupGPIO1(uint8_t InitFunction, int ActiveHigh)
- {
- return VL6180x_SetupGPIO1(Device, InitFunction, ActiveHigh);
- }
+ int SetupGPIO1(uint8_t InitFunction, int ActiveHigh)
+ {
+ return VL6180x_SetupGPIO1(Device, InitFunction, ActiveHigh);
+ }
- int Prepare()
- {
- return VL6180x_Prepare(Device);
- }
+ int Prepare()
+ {
+ return VL6180x_Prepare(Device);
+ }
- int RangeStartContinuousMode()
- {
- return VL6180x_RangeStartContinuousMode(Device);
- }
+ int RangeStartContinuousMode()
+ {
+ return VL6180x_RangeStartContinuousMode(Device);
+ }
- int RangeStartSingleShot()
- {
- return VL6180x_RangeStartSingleShot(Device);
- }
+ int RangeStartSingleShot()
+ {
+ return VL6180x_RangeStartSingleShot(Device);
+ }
- int RangeSetMaxConvergenceTime(uint8_t MaxConTime_msec)
- {
- return VL6180x_RangeSetMaxConvergenceTime(Device, MaxConTime_msec);
- }
+ int RangeSetMaxConvergenceTime(uint8_t MaxConTime_msec)
+ {
+ return VL6180x_RangeSetMaxConvergenceTime(Device, MaxConTime_msec);
+ }
- int RangePollMeasurement(VL6180x_RangeData_t *pRangeData)
- {
- return VL6180x_RangePollMeasurement(Device, pRangeData);
- }
+ int RangePollMeasurement(VL6180x_RangeData_t *pRangeData)
+ {
+ return VL6180x_RangePollMeasurement(Device, pRangeData);
+ }
- int RangeGetMeasurementIfReady(VL6180x_RangeData_t *pRangeData)
- {
- return VL6180x_RangeGetMeasurementIfReady(Device, pRangeData);
- }
+ int RangeGetMeasurementIfReady(VL6180x_RangeData_t *pRangeData)
+ {
+ return VL6180x_RangeGetMeasurementIfReady(Device, pRangeData);
+ }
- int RangeGetMeasurement(VL6180x_RangeData_t *pRangeData)
- {
- return VL6180x_RangeGetMeasurement(Device, pRangeData);
- }
+ int RangeGetMeasurement(VL6180x_RangeData_t *pRangeData)
+ {
+ return VL6180x_RangeGetMeasurement(Device, pRangeData);
+ }
- int GetRange(int32_t *piData)
- {
- return VL6180x_RangeGetResult(Device, piData);
- }
+ int GetRange(int32_t *piData)
+ {
+ return VL6180x_RangeGetResult(Device, piData);
+ }
- int RangeConfigInterrupt(uint8_t ConfigGpioInt)
- {
- return VL6180x_RangeConfigInterrupt(Device, ConfigGpioInt);
- }
+ int RangeConfigInterrupt(uint8_t ConfigGpioInt)
+ {
+ return VL6180x_RangeConfigInterrupt(Device, ConfigGpioInt);
+ }
- int RangeGetInterruptStatus(uint8_t *pIntStatus)
- {
- return VL6180x_RangeGetInterruptStatus(Device, pIntStatus);
- }
+ int RangeGetInterruptStatus(uint8_t *pIntStatus)
+ {
+ return VL6180x_RangeGetInterruptStatus(Device, pIntStatus);
+ }
- int AlsPollMeasurement(VL6180x_AlsData_t *pAlsData)
- {
- return VL6180x_AlsPollMeasurement(Device, pAlsData);
- }
+ int AlsPollMeasurement(VL6180x_AlsData_t *pAlsData)
+ {
+ return VL6180x_AlsPollMeasurement(Device, pAlsData);
+ }
- int AlsGetMeasurement(VL6180x_AlsData_t *pAlsData)
- {
- return VL6180x_AlsGetMeasurement(Device, pAlsData);
- }
+ int AlsGetMeasurement(VL6180x_AlsData_t *pAlsData)
+ {
+ return VL6180x_AlsGetMeasurement(Device, pAlsData);
+ }
- int AlsConfigInterrupt(uint8_t ConfigGpioInt)
- {
- return VL6180x_AlsConfigInterrupt(Device, ConfigGpioInt);
- }
+ int AlsConfigInterrupt(uint8_t ConfigGpioInt)
+ {
+ return VL6180x_AlsConfigInterrupt(Device, ConfigGpioInt);
+ }
- int AlsSetIntegrationPeriod(uint16_t period_ms)
- {
+ int AlsSetIntegrationPeriod(uint16_t period_ms)
+ {
return VL6180x_AlsSetIntegrationPeriod(Device, period_ms);
- }
+ }
- int AlsSetInterMeasurementPeriod(uint16_t intermeasurement_period_ms)
- {
+ int AlsSetInterMeasurementPeriod(uint16_t intermeasurement_period_ms)
+ {
return VL6180x_AlsSetInterMeasurementPeriod(Device, intermeasurement_period_ms);
}
int AlsSetAnalogueGain(uint8_t gain)
- {
- return VL6180x_AlsSetAnalogueGain(Device, gain);
- }
+ {
+ return VL6180x_AlsSetAnalogueGain(Device, gain);
+ }
- int AlsSetThresholds(uint8_t low, uint8_t high)
- {
- return VL6180x_AlsSetThresholds(Device, low, high);
- }
+ int AlsSetThresholds(uint8_t low, uint8_t high)
+ {
+ return VL6180x_AlsSetThresholds(Device, low, high);
+ }
int AlsGetInterruptStatus(uint8_t *pIntStatus)
{
@@ -287,231 +287,231 @@
}
int StaticInit()
- {
- return VL6180x_StaticInit(Device);
- }
+ {
+ return VL6180x_StaticInit(Device);
+ }
- int RangeWaitDeviceReady(int MaxLoop )
- {
- return VL6180x_RangeWaitDeviceReady(Device, MaxLoop);
- }
+ int RangeWaitDeviceReady(int MaxLoop )
+ {
+ return VL6180x_RangeWaitDeviceReady(Device, MaxLoop);
+ }
- int RangeSetInterMeasPeriod(uint32_t InterMeasTime_msec)
- {
- return VL6180x_RangeSetInterMeasPeriod(Device, InterMeasTime_msec);
- }
+ int RangeSetInterMeasPeriod(uint32_t InterMeasTime_msec)
+ {
+ return VL6180x_RangeSetInterMeasPeriod(Device, InterMeasTime_msec);
+ }
- int UpscaleSetScaling(uint8_t scaling)
- {
- return VL6180x_UpscaleSetScaling(Device, scaling);
- }
+ int UpscaleSetScaling(uint8_t scaling)
+ {
+ return VL6180x_UpscaleSetScaling(Device, scaling);
+ }
- int UpscaleGetScaling()
- {
- return VL6180x_UpscaleGetScaling(Device);
- }
+ int UpscaleGetScaling()
+ {
+ return VL6180x_UpscaleGetScaling(Device);
+ }
- uint16_t GetUpperLimit()
- {
- return VL6180x_GetUpperLimit(Device);
- }
+ uint16_t GetUpperLimit()
+ {
+ return VL6180x_GetUpperLimit(Device);
+ }
- int RangeSetThresholds(uint16_t low, uint16_t high, int SafeHold)
- {
- return VL6180x_RangeSetThresholds(Device, low, high, SafeHold);
- }
+ int RangeSetThresholds(uint16_t low, uint16_t high, int SafeHold)
+ {
+ return VL6180x_RangeSetThresholds(Device, low, high, SafeHold);
+ }
- int RangeGetThresholds(uint16_t *low, uint16_t *high)
- {
- return VL6180x_RangeGetThresholds(Device, low, high);
- }
+ int RangeGetThresholds(uint16_t *low, uint16_t *high)
+ {
+ return VL6180x_RangeGetThresholds(Device, low, high);
+ }
- int RangeSetRawThresholds(uint8_t low, uint8_t high)
- {
- return VL6180x_RangeSetRawThresholds(Device, low, high);
- }
+ int RangeSetRawThresholds(uint8_t low, uint8_t high)
+ {
+ return VL6180x_RangeSetRawThresholds(Device, low, high);
+ }
- int RangeSetEceFactor(uint16_t FactorM, uint16_t FactorD)
- {
- return VL6180x_RangeSetEceFactor(Device, FactorM, FactorD);
- }
+ int RangeSetEceFactor(uint16_t FactorM, uint16_t FactorD)
+ {
+ return VL6180x_RangeSetEceFactor(Device, FactorM, FactorD);
+ }
- int RangeSetEceState(int enable)
- {
- return VL6180x_RangeSetEceState(Device, enable);
- }
+ int RangeSetEceState(int enable)
+ {
+ return VL6180x_RangeSetEceState(Device, enable);
+ }
- int FilterSetState(int state)
- {
- return VL6180x_FilterSetState(Device, state);
- }
+ int FilterSetState(int state)
+ {
+ return VL6180x_FilterSetState(Device, state);
+ }
- int FilterGetState()
- {
- return VL6180x_FilterGetState(Device);
- }
+ int FilterGetState()
+ {
+ return VL6180x_FilterGetState(Device);
+ }
- int DMaxSetState(int state)
- {
- return VL6180x_DMaxSetState(Device, state);
- }
+ int DMaxSetState(int state)
+ {
+ return VL6180x_DMaxSetState(Device, state);
+ }
- int DMaxGetState()
- {
- return VL6180x_DMaxGetState(Device);
- }
+ int DMaxGetState()
+ {
+ return VL6180x_DMaxGetState(Device);
+ }
- int RangeSetSystemMode(uint8_t mode)
- {
- return VL6180x_RangeSetSystemMode(Device, mode);
- }
+ int RangeSetSystemMode(uint8_t mode)
+ {
+ return VL6180x_RangeSetSystemMode(Device, mode);
+ }
- int8_t GetOffsetCalibrationData()
- {
- return VL6180x_GetOffsetCalibrationData(Device);
- }
+ int8_t GetOffsetCalibrationData()
+ {
+ return VL6180x_GetOffsetCalibrationData(Device);
+ }
- void SetOffsetCalibrationData(int8_t offset)
- {
- return VL6180x_SetOffsetCalibrationData(Device, offset);
- }
+ void SetOffsetCalibrationData(int8_t offset)
+ {
+ return VL6180x_SetOffsetCalibrationData(Device, offset);
+ }
- int SetXTalkCompensationRate(FixPoint97_t Rate)
- {
- return VL6180x_SetXTalkCompensationRate(Device, Rate);
- }
+ int SetXTalkCompensationRate(FixPoint97_t Rate)
+ {
+ return VL6180x_SetXTalkCompensationRate(Device, Rate);
+ }
- int AlsWaitDeviceReady(int MaxLoop)
- {
- return VL6180x_AlsWaitDeviceReady(Device, MaxLoop);
- }
+ int AlsWaitDeviceReady(int MaxLoop)
+ {
+ return VL6180x_AlsWaitDeviceReady(Device, MaxLoop);
+ }
- int AlsSetSystemMode(uint8_t mode)
- {
- return VL6180x_AlsSetSystemMode(Device, mode);
- }
+ int AlsSetSystemMode(uint8_t mode)
+ {
+ return VL6180x_AlsSetSystemMode(Device, mode);
+ }
- int SetGroupParamHold(int Hold)
- {
- return VL6180x_SetGroupParamHold(Device, Hold);
- }
+ int SetGroupParamHold(int Hold)
+ {
+ return VL6180x_SetGroupParamHold(Device, Hold);
+ }
- int SetI2CAddress(int NewAddr)
- {
- int status;
+ int SetI2CAddress(int NewAddr)
+ {
+ int status;
- status=VL6180x_SetI2CAddress(Device, NewAddr);
- if(!status)
- Device->I2cAddr=NewAddr;
- return status;
- }
+ status=VL6180x_SetI2CAddress(Device, NewAddr);
+ if(!status)
+ Device->I2cAddr=NewAddr;
+ return status;
+ }
- int SetupGPIOx(int pin, uint8_t IntFunction, int ActiveHigh)
- {
- return VL6180x_SetupGPIOx(Device, pin, IntFunction, ActiveHigh);
- }
+ int SetupGPIOx(int pin, uint8_t IntFunction, int ActiveHigh)
+ {
+ return VL6180x_SetupGPIOx(Device, pin, IntFunction, ActiveHigh);
+ }
- int SetGPIOxPolarity(int pin, int active_high)
- {
- return VL6180x_SetGPIOxPolarity(Device, pin, active_high);
- }
+ int SetGPIOxPolarity(int pin, int active_high)
+ {
+ return VL6180x_SetGPIOxPolarity(Device, pin, active_high);
+ }
- int SetGPIOxFunctionality(int pin, uint8_t functionality)
- {
- return VL6180x_SetGPIOxFunctionality(Device, pin, functionality);
- }
+ int SetGPIOxFunctionality(int pin, uint8_t functionality)
+ {
+ return VL6180x_SetGPIOxFunctionality(Device, pin, functionality);
+ }
- int DisableGPIOxOut(int pin)
- {
- return VL6180x_DisableGPIOxOut(Device, pin);
- }
+ int DisableGPIOxOut(int pin)
+ {
+ return VL6180x_DisableGPIOxOut(Device, pin);
+ }
- int GetInterruptStatus(uint8_t *status)
- {
- return VL6180x_GetInterruptStatus(Device, status);
- }
+ int GetInterruptStatus(uint8_t *status)
+ {
+ return VL6180x_GetInterruptStatus(Device, status);
+ }
- int ClearInterrupt(uint8_t IntClear)
- {
- return VL6180x_ClearInterrupt(Device, IntClear );
- }
+ int ClearInterrupt(uint8_t IntClear)
+ {
+ return VL6180x_ClearInterrupt(Device, IntClear );
+ }
- int GetLight(uint32_t *piData)
- {
- return VL6180x_AlsGetLux(Device, piData);
- }
+ int GetLight(uint32_t *piData)
+ {
+ return VL6180x_AlsGetLux(Device, piData);
+ }
- int AlsStartContinuousMode()
- {
- return VL6180x_AlsSetSystemMode(Device, MODE_START_STOP|MODE_CONTINUOUS);
- }
+ int AlsStartContinuousMode()
+ {
+ return VL6180x_AlsSetSystemMode(Device, MODE_START_STOP|MODE_CONTINUOUS);
+ }
-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, uint8_t low, uint8_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 );
+ 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, uint8_t low, uint8_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);
+ /* 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 */
int ReadID();
@@ -523,41 +523,41 @@
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_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;
+ int IsPresent()
+ {
+ int status;
- status=ReadID();
+ status=ReadID();
if(status)
- printf("Failed to read ID device! Device not present!\n\r"); //FIXME da sistemare la funzione di stampa errore ErrLog da platform.h
- 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(MeasureData_t *Data);
- int AlsMeasPollSingleShot(MeasureData_t *Data);
- 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 VL6180x_AlsGetThresholds(VL6180xDev_t dev, uint16_t *low, uint16_t *high);
+ printf("Failed to read ID device! Device not present!\n\r"); //FIXME da sistemare la funzione di stampa errore ErrLog da platform.h
+ 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(MeasureData_t *Data);
+ int AlsMeasPollSingleShot(MeasureData_t *Data);
+ 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 VL6180x_AlsGetThresholds(VL6180xDev_t dev, uint16_t *low, uint16_t *high);
/* IO Device */
--- a/Components/VL6180X/vl6180x_platform.h Tue Oct 20 16:44:28 2015 +0200
+++ b/Components/VL6180X/vl6180x_platform.h Tue Oct 27 15:25:11 2015 +0100
@@ -31,9 +31,9 @@
#define VL6180x_SINGLE_DEVICE_DRIVER 0
#define VL6180x_RANGE_STATUS_ERRSTRING 1
-#define VL6180X_SAFE_POLLING_ENTER 0
-#define VL6180X_LOG_ENABLE 0
-
+#define VL6180X_SAFE_POLLING_ENTER 0
+#define VL6180X_LOG_ENABLE 0
+#define MY_LOG 1
#define VL6180x_DEV_DATA_ATTR
#define ROMABLE_DATA
@@ -69,11 +69,17 @@
}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
+ 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
+ extern Serial pc;
+ #define printf(...) pc.printf(__VA_ARGS__)
#endif
--- a/x_nucleo_6180xa1.cpp Tue Oct 20 16:44:28 2015 +0200
+++ b/x_nucleo_6180xa1.cpp Tue Oct 27 15:25:11 2015 +0100
@@ -45,82 +45,82 @@
X_NUCLEO_6180XA1* X_NUCLEO_6180XA1::Instance(DevI2C *ext_i2c)
{
- if(_instance==NULL)
- _instance=new X_NUCLEO_6180XA1(ext_i2c);
- else
- VL6180x_ErrLog("Failed to init X_NUCLEO_6180XA1 board!\n");
- return _instance;
+ if(_instance==NULL)
+ _instance=new X_NUCLEO_6180XA1(ext_i2c);
+ else
+ VL6180x_ErrLog("Failed to init X_NUCLEO_6180XA1 board!\n");
+ return _instance;
}
int X_NUCLEO_6180XA1::InitBoard() //FIXME sistemare le stampe degli errori
{
- int status, n_dev=0;
+ int status, n_dev=0;
- sensor_top->VL6180x_Off();
- sensor_bottom->VL6180x_Off();
- sensor_left->VL6180x_Off();
- sensor_right->VL6180x_Off();
- status=sensor_top->InitSensor(NEW_SENSOR_TOP_ADDRESS);
- if(status)
- {
- delete sensor_top;
- delete gpio0_top;
- sensor_top=NULL;
- gpio0_top=NULL;
- //VL6180x_ErrLog("Fail to init sensor_top\n\r");
- printf("Failure to init sensor_top\n\r");
- }
- else
- {
- n_dev++;
- }
- status=sensor_bottom->InitSensor(NEW_SENSOR_BOTTOM_ADDRESS);
- if(status)
- {
- delete sensor_bottom;
- delete gpio0_bottom;
- sensor_bottom=NULL;
- gpio0_bottom=NULL;
- //VL6180x_ErrLog("Fail to init sensor_bottom\n\r");
- printf("Failed to init sensor_bottom\n\r");
- }
- else
- {
- n_dev++;
- }
- status=sensor_left->InitSensor(NEW_SENSOR_LEFT_ADDRESS);
- if(status)
- {
- delete sensor_left;
- delete gpio0_left;
- sensor_left=NULL;
- gpio0_left=NULL;
- //VL6180x_ErrLog("Fail to init sensor_left\n\r");
- printf("Failed to init sensor_left\n\r");
- }
- else
- {
- n_dev++;
- }
- status=sensor_right->InitSensor(NEW_SENSOR_RIGHT_ADDRESS);
- if(status)
- {
- delete sensor_right;
- delete gpio0_right;
- sensor_right=NULL;
- gpio0_right=NULL;
- //VL6180x_ErrLog("Fail to init sensor_right\n\r");
- printf("Failed to init sensor_right\n\r");
- }
- else
- {
- n_dev++;
- }
- if(n_dev==0)
- return 1;
- else
- return 0;
+ sensor_top->VL6180x_Off();
+ sensor_bottom->VL6180x_Off();
+ sensor_left->VL6180x_Off();
+ sensor_right->VL6180x_Off();
+ status=sensor_top->InitSensor(NEW_SENSOR_TOP_ADDRESS);
+ if(status)
+ {
+ delete sensor_top;
+ delete gpio0_top;
+ sensor_top=NULL;
+ gpio0_top=NULL;
+ //VL6180x_ErrLog("Failed to init sensor_top\n\r");
+ printf("Failed to init sensor_top\n\r");
+ }
+ else
+ {
+ n_dev++;
+ }
+ status=sensor_bottom->InitSensor(NEW_SENSOR_BOTTOM_ADDRESS);
+ if(status)
+ {
+ delete sensor_bottom;
+ delete gpio0_bottom;
+ sensor_bottom=NULL;
+ gpio0_bottom=NULL;
+ //VL6180x_ErrLog("Failed to init sensor_bottom\n\r");
+ printf("Failed to init sensor_bottom\n\r");
+ }
+ else
+ {
+ n_dev++;
+ }
+ status=sensor_left->InitSensor(NEW_SENSOR_LEFT_ADDRESS);
+ if(status)
+ {
+ delete sensor_left;
+ delete gpio0_left;
+ sensor_left=NULL;
+ gpio0_left=NULL;
+ //VL6180x_ErrLog("Failed to init sensor_left\n\r");
+ printf("Failed to init sensor_left\n\r");
+ }
+ else
+ {
+ n_dev++;
+ }
+ status=sensor_right->InitSensor(NEW_SENSOR_RIGHT_ADDRESS);
+ if(status)
+ {
+ delete sensor_right;
+ delete gpio0_right;
+ sensor_right=NULL;
+ gpio0_right=NULL;
+ //VL6180x_ErrLog("Failed to init sensor_right\n\r");
+ printf("Failed to init sensor_right\n\r");
+ }
+ else
+ {
+ n_dev++;
+ }
+ if(n_dev==0)
+ return 1;
+ else
+ return 0;
}
--- a/x_nucleo_6180xa1.h Tue Oct 20 16:44:28 2015 +0200
+++ b/x_nucleo_6180xa1.h Tue Oct 27 15:25:11 2015 +0100
@@ -43,7 +43,7 @@
/* Includes ------------------------------------------------------------------*/
#include "mbed.h"
#include "vl6180x_class.h"
-#include "display_class.h"
+#include "Display_class.h"
#include "STMPE1600_class.h"
#include "DevI2C.h"
@@ -57,81 +57,125 @@
class X_NUCLEO_6180XA1
{
- public:
- X_NUCLEO_6180XA1(DevI2C *ext_i2c) : dev_i2c(ext_i2c)
+ public:
+ X_NUCLEO_6180XA1(DevI2C *ext_i2c) : dev_i2c(ext_i2c)
{
- gpio0_top=new STMPE1600DigiOut(*dev_i2c, GPIO_12);
- sensor_top=new VL6180X(*dev_i2c, *gpio0_top, PB_0);
- gpio0_bottom=new STMPE1600DigiOut(*dev_i2c, GPIO_13);
- sensor_bottom=new VL6180X(*dev_i2c, *gpio0_bottom, PA_4);
- gpio0_left=new STMPE1600DigiOut(*dev_i2c, GPIO_14);
- sensor_left=new VL6180X(*dev_i2c, *gpio0_left, D13);
- gpio0_right=new STMPE1600DigiOut(*dev_i2c, GPIO_15);
- sensor_right=new VL6180X(*dev_i2c, *gpio0_right, PA_10);
- }
+ digit1=new STMPE1600DigiOut(*dev_i2c, GPIO_7);
+ digit2=new STMPE1600DigiOut(*dev_i2c, GPIO_8);
+ digit3=new STMPE1600DigiOut(*dev_i2c, GPIO_9);
+ digit4=new STMPE1600DigiOut(*dev_i2c, GPIO_10);
+
+ dispA=new STMPE1600DigiOut(*dev_i2c, GPIO_0);
+ dispB=new STMPE1600DigiOut(*dev_i2c, GPIO_1);
+ dispC=new STMPE1600DigiOut(*dev_i2c, GPIO_2);
+ dispD=new STMPE1600DigiOut(*dev_i2c, GPIO_3);
+ dispE=new STMPE1600DigiOut(*dev_i2c, GPIO_4);
+ dispF=new STMPE1600DigiOut(*dev_i2c, GPIO_5);
+ dispG=new STMPE1600DigiOut(*dev_i2c, GPIO_6);
+ //display=new Display(*digit1,*digit2,*digit3,*digit4,*dispA,*dispB,*dispC,*dispD,*dispE,*dispF,*dispG);
+ display=new Display(*ext_i2c);
+
+ gpio0_top=new STMPE1600DigiOut(*dev_i2c, GPIO_12);
+ sensor_top=new VL6180X(*dev_i2c, *gpio0_top, PB_0);
+
+ gpio0_bottom=new STMPE1600DigiOut(*dev_i2c, GPIO_13);
+ sensor_bottom=new VL6180X(*dev_i2c, *gpio0_bottom, PA_4);
+
+ gpio0_left=new STMPE1600DigiOut(*dev_i2c, GPIO_14);
+ sensor_left=new VL6180X(*dev_i2c, *gpio0_left, PA_5);
+
+ gpio0_right=new STMPE1600DigiOut(*dev_i2c, GPIO_15);
+ sensor_right=new VL6180X(*dev_i2c, *gpio0_right, PA_10);
+ }
- ~X_NUCLEO_6180XA1()
+ ~X_NUCLEO_6180XA1()
{
- if(gpio0_top!=NULL)
- {
- delete gpio0_top;
- gpio0_top=NULL;
- }
- if(sensor_top!=NULL)
- {
- delete sensor_top;
- sensor_top=NULL;
- }
- if(gpio0_bottom!=NULL)
- {
- delete gpio0_bottom;
- gpio0_bottom=NULL;
- }
- if(sensor_bottom!=NULL)
- {
- delete sensor_bottom;
- sensor_bottom=NULL;
- }
- if(gpio0_left!=NULL)
- {
- delete gpio0_left;
- gpio0_left=NULL;
- }
- if(sensor_left!=NULL)
- {
- delete sensor_left;
- sensor_left=NULL;
- }
- if(gpio0_right!=NULL)
- {
- delete gpio0_right;
- gpio0_right=NULL;
- }
- if(sensor_right!=NULL)
- {
- delete sensor_right;
- sensor_right=NULL;
- }
- }
+ if(gpio0_top!=NULL)
+ {
+ delete gpio0_top;
+ gpio0_top=NULL;
+ }
+ if(sensor_top!=NULL)
+ {
+ delete sensor_top;
+ sensor_top=NULL;
+ }
+ if(gpio0_bottom!=NULL)
+ {
+ delete gpio0_bottom;
+ gpio0_bottom=NULL;
+ }
+ if(sensor_bottom!=NULL)
+ {
+ delete sensor_bottom;
+ sensor_bottom=NULL;
+ }
+ if(gpio0_left!=NULL)
+ {
+ delete gpio0_left;
+ gpio0_left=NULL;
+ }
+ if(sensor_left!=NULL)
+ {
+ delete sensor_left;
+ sensor_left=NULL;
+ }
+ if(gpio0_left!=NULL)
+ {
+ delete gpio0_left;
+ gpio0_left=NULL;
+ }
+ if(sensor_left!=NULL)
+ {
+ delete sensor_left;
+ sensor_left=NULL;
+ }
+ if(gpio0_right!=NULL)
+ {
+ delete gpio0_right;
+ gpio0_right=NULL;
+ }
+ if(sensor_right!=NULL)
+ {
+ delete sensor_right;
+ sensor_right=NULL;
+ }
+ }
- DevI2C *dev_i2c;
- STMPE1600DigiOut *gpio0_top;
- STMPE1600DigiOut *gpio0_bottom;
- STMPE1600DigiOut *gpio0_left;
- STMPE1600DigiOut *gpio0_right;
- VL6180X *sensor_top;
- VL6180X *sensor_bottom;
- VL6180X *sensor_left;
- VL6180X *sensor_right;
+ DevI2C *dev_i2c;
+
+ VL6180X *sensor_top;
+ VL6180X *sensor_bottom;
+ VL6180X *sensor_left;
+ VL6180X *sensor_right;
+
+ STMPE1600DigiOut *gpio0_top;
+ STMPE1600DigiOut *gpio0_bottom;
+ STMPE1600DigiOut *gpio0_left;
+ STMPE1600DigiOut *gpio0_right;
- //Display *display;
-
- static X_NUCLEO_6180XA1 *Instance(DevI2C *ext_i2c);
+
+ STMPE1600DigiOut *digit1;
+ STMPE1600DigiOut *digit2;
+ STMPE1600DigiOut *digit3;
+ STMPE1600DigiOut *digit4;
- int InitBoard();
+ STMPE1600DigiOut *dispA;
+ STMPE1600DigiOut *dispB;
+ STMPE1600DigiOut *dispC;
+ STMPE1600DigiOut *dispD;
+ STMPE1600DigiOut *dispE;
+ STMPE1600DigiOut *dispF;
+ STMPE1600DigiOut *dispG;
+
+ Display *display;
- private:
- static X_NUCLEO_6180XA1 *_instance;
+ static X_NUCLEO_6180XA1 *Instance(DevI2C *ext_i2c);
+
+ int InitBoard();
+
+ private:
+ static X_NUCLEO_6180XA1 *_instance;
};
#endif /* __X_NUCLEO_6180XA1_H */
X-NUCLEO-6180XA1 Proximity and Ambient Light Sensor