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 7:2dc81120c917, committed 2015-09-25
- Comitter:
- gallonm
- Date:
- Fri Sep 25 12:12:51 2015 +0200
- Parent:
- 6:6a09fe77ad3c
- Child:
- 8:f943a1fca15f
- Commit message:
- update files
Changed in this revision
--- a/Components/Display/Display_class.h Fri Sep 18 13:19:50 2015 +0000
+++ b/Components/Display/Display_class.h Fri Sep 25 12:12:51 2015 +0200
@@ -0,0 +1,69 @@
+/**
+ ******************************************************************************
+ * @file Display.h
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 14-April-2015
+ * @brief Header file for display
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+*/
+
+#ifndef __DISPLAY_H
+#define __DISPLAY_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "mbed.h"
+
+
+/* Classes -------------------------------------------------------------------*/
+/** Class representing GPIO expander
+ */
+
+/*
+class Display :
+{
+ public:
+
+ Display(DevI2C &i2c) : device_i2c(i2c);
+
+ 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
+ }
+
+
+ private:
+ DevI2C &device_i2c;
+
+};
+*/
+
+#endif // __GPIO_EXPANDER_CLASS_H
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/STMPE1600/stmpe1600_class.h Fri Sep 25 12:12:51 2015 +0200
@@ -0,0 +1,162 @@
+/**
+ ******************************************************************************
+ * @file vl6180x_class.h
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 14-April-2015
+ * @brief Header file for component VL6180X
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+*/
+#ifndef __STMPE1600_CLASS
+#define __STMPE1600_CLASS
+/* Includes ------------------------------------------------------------------*/
+#include "mbed.h"
+#include <assert.h>
+
+#define STMPE1600_DEF_DEVICE_ADDRESS (uint8_t)0x42*2 // in 7 bits I2C format
+#define STMPE1600_DEF_DIGIOUT_LVL 0
+
+/** STMPE1600 registr map **/
+#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_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
+
+ typedef enum {
+ // GPIO Expander pin names
+ GPIO_0,
+ GPIO_1,
+ GPIO_2,
+ GPIO_3,
+ GPIO_4,
+ GPIO_5,
+ GPIO_6,
+ GPIO_7,
+ GPIO_8,
+ GPIO_9,
+ GPIO_10,
+ GPIO_11,
+ GPIO_12,
+ GPIO_13,
+ GPIO_14,
+ GPIO_15
+} ExpGpioPinName;
+
+typedef enum {
+ INPUT,
+ OUTPUT,
+ NOT_CONNECTED
+}ExpGpioPinDirection;
+
+
+class STMPE1600DigiOut {
+
+ 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 gopio 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);
+ *(uint16_t*)data = *(uint16_t*)data & (~(1<<(uint16_t)exppinname)); // set pin mask
+ if (lvl) *(uint16_t*)data = *(uint16_t*)data | ( 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);
+ }
+
+ STMPE1600DigiOut& operator=(int lvl) {
+ write (lvl);
+ return *this;
+ }
+
+ private:
+ DevI2C &dev_i2c;
+ uint8_t expdevaddr;
+ ExpGpioPinName exppinname;
+};
+
+class STMPE1600DigiIn {
+
+ public:
+ STMPE1600DigiIn (DevI2C &i2c, ExpGpioPinName inpinname, uint8_t DevAddr=STMPE1600_DEF_DEVICE_ADDRESS): 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);
+ *(uint16_t*)data = *(uint16_t*)data & (~(1<<(uint16_t)exppinname)); // set gopio as in
+ dev_i2c.i2c_write(data, expdevaddr, GPDR_0_7, 1);
+ dev_i2c.i2c_write(&data[1], expdevaddr, GPDR_8_15, 1);
+ }
+
+ 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);
+ *(uint16_t*)data = *(uint16_t*)data & (1<<(uint16_t)exppinname); // mask the in gpio
+ if (data[0] || data[1]) return 1;
+ return 0;
+ }
+
+ operator int() {
+ return read();
+ }
+
+ private:
+ DevI2C &dev_i2c;
+ uint8_t expdevaddr;
+ ExpGpioPinName exppinname;
+};
+
+
+#endif // __STMPE1600_CLASS
--- a/Components/VL6180X/vl6180x_api.h Fri Sep 18 13:19:50 2015 +0000 +++ b/Components/VL6180X/vl6180x_api.h Fri Sep 25 12:12:51 2015 +0200 @@ -175,7 +175,7 @@ * @param dev The device * @return 0 on success */ - int VL6180x_Prepare(VL6180xDev_t dev); +int VL6180x_Prepare(VL6180xDev_t dev); /** @} */
--- a/Components/VL6180X/vl6180x_appcfg.h Fri Sep 18 13:19:50 2015 +0000 +++ b/Components/VL6180X/vl6180x_appcfg.h Fri Sep 25 12:12:51 2015 +0200 @@ -48,7 +48,7 @@ * value 0 => multiple device capable user must review "device" structure and type in porting files * @ingroup Configuration */ -#define VL6180x_SINGLE_DEVICE_DRIVER 1 +#define VL6180x_SINGLE_DEVICE_DRIVER 1 // fix_me: da sistemare il valore di single_device_driver (0 o 1) /**
--- a/Components/VL6180X/vl6180x_class.cpp Fri Sep 18 13:19:50 2015 +0000
+++ b/Components/VL6180X/vl6180x_class.cpp Fri Sep 25 12:12:51 2015 +0200
@@ -35,76 +35,10 @@
******************************************************************************
*/
-/* Includes ------------------------------------------------------------------*/
+/* Includes */
#include "vl6180x_class.h"
-/* define for inizialization -------------------------------------------------*/
-
-#if VL6180x_UPSCALE_SUPPORT == 1
- #define _GetUpscale(dev, ... ) 1
- #define _SetUpscale(...) -1
- #define DEF_UPSCALE 1
-#elif VL6180x_UPSCALE_SUPPORT == 2
- #define _GetUpscale(dev, ... ) 2
- #define _SetUpscale(...)
- #define DEF_UPSCALE 2
-#elif VL6180x_UPSCALE_SUPPORT == 3
- #define _GetUpscale(dev, ... ) 3
- #define _SetUpscale(...)
- #define DEF_UPSCALE 3
-#else
- #define DEF_UPSCALE (-(VL6180x_UPSCALE_SUPPORT))
- #define _GetUpscale(dev, ... ) VL6180xDevDataGet(dev, UpscaleFactor)
- #define _SetUpscale(dev, Scaling ) VL6180xDevDataSet(dev, UpscaleFactor, Scaling)
-#endif
-
-
-#if VL6180x_SINGLE_DEVICE_DRIVER
-extern struct VL6180xDevData_t SingleVL6180xDevData;
-#define VL6180xDevDataGet(dev, field) (SingleVL6180xDevData.field)
-#define VL6180xDevDataSet(dev, field, data) SingleVL6180xDevData.field=(data)
-#endif
-
-
-#if VL6180x_UPSCALE_SUPPORT == 1
- #define _GetUpscale(dev, ... ) 1
- #define _SetUpscale(...) -1
- #define DEF_UPSCALE 1
-#elif VL6180x_UPSCALE_SUPPORT == 2
- #define _GetUpscale(dev, ... ) 2
- #define _SetUpscale(...)
- #define DEF_UPSCALE 2
-#elif VL6180x_UPSCALE_SUPPORT == 3
- #define _GetUpscale(dev, ... ) 3
- #define _SetUpscale(...)
- #define DEF_UPSCALE 3
-#else
- #define DEF_UPSCALE (-(VL6180x_UPSCALE_SUPPORT))
- #define _GetUpscale(dev, ... ) VL6180xDevDataGet(dev, UpscaleFactor)
- #define _SetUpscale(dev, Scaling ) VL6180xDevDataSet(dev, UpscaleFactor, Scaling)
-#endif
-
-
-struct VL6180xDevData_t VL6180x_DEV_DATA_ATTR SingleVL6180xDevData={
- .EceFactorM = DEF_ECE_FACTOR_M,
- .EceFactorD = DEF_ECE_FACTOR_D,
-#ifdef VL6180x_HAVE_UPSCALE_DATA
- .UpscaleFactor = DEF_UPSCALE,
-#endif
-#ifdef VL6180x_HAVE_ALS_DATA
- .IntegrationPeriod = DEF_INT_PEFRIOD,
- .AlsGainCode = DEF_ALS_GAIN,
- .AlsScaler = DEF_ALS_SCALER,
-#endif
-#ifdef VL6180x_HAVE_DMAX_RANGING
- .DMaxEnable = DEF_DMAX_ENABLE,
-#endif
-};
-
-
-#define Fix7_2_KCPs(x) ((((uint32_t)(x))*1000)>>7)
-
-/* define for i2c configuration ----------------------------------------------*/
+/****************** define for i2c configuration *******************************/
#define I2C_BUFFER_CONFIG 1
#define VL6180x_I2C_USER_VAR
@@ -134,10 +68,188 @@
#error "invalid I2C_BUFFER_CONFIG "
#endif
-/* Initialization functions --------------------------------------------------*/
-
-int VL6180X::VL6180x_InitData(VL6180xDev_t dev)
-{
+#define IsValidGPIOFunction(x) ((x)==GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT || (x)==GPIOx_SELECT_OFF)
+
+
+
+/******************************************************************************/
+/******************************* file api.c ***********************************/
+
+#define VL6180x_9to7Conv(x) (x)
+
+/* TODO when set all "cached" value with "default init" are updated after init from register read back */
+#define REFRESH_CACHED_DATA_AFTER_INIT 1
+
+
+#define IsValidGPIOFunction(x) ((x)==GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT || (x)==GPIOx_SELECT_OFF)
+
+
+/** default value ECE factor Molecular */
+#define DEF_ECE_FACTOR_M 85
+/** default value ECE factor Denominator */
+#define DEF_ECE_FACTOR_D 100
+/** default value ALS integration time */
+#define DEF_INT_PEFRIOD 100
+/** default value ALS gain */
+#define DEF_ALS_GAIN 1
+/** default value ALS scaler */
+#define DEF_ALS_SCALER 1
+/** default value for DMAX Enbale */
+#define DEF_DMAX_ENABLE 1
+/** default ambient tuning factor %x1000 */
+#define DEF_AMBIENT_TUNING 80
+
+#if VL6180x_SINGLE_DEVICE_DRIVER
+extern struct VL6180xDevData_t SingleVL6180xDevData;
+#define VL6180xDevDataGet(dev, field) (SingleVL6180xDevData.field)
+#define VL6180xDevDataSet(dev, field, data) SingleVL6180xDevData.field=(data)
+#endif
+
+#define LUXRES_FIX_PREC 8
+#define GAIN_FIX_PREC 8 /* ! if not sme as LUX_PREC then :( adjust GetLux */
+#define AN_GAIN_MULT (1<<GAIN_FIX_PREC)
+
+
+static int32_t _GetAveTotalTime(VL6180xDev_t dev);
+static int VL6180x_RangeSetEarlyConvergenceEestimateThreshold(VL6180xDev_t dev);
+
+/**
+ * ScalerLookUP scaling factor-1 to register #RANGE_SCALER lookup
+ */
+static const uint16_t ScalerLookUP[] ROMABLE_DATA ={ 253, 127, 84}; /* lookup table for scaling->scalar 1x2x 3x */
+/**
+ * scaling factor to Upper limit look up
+ */
+static const uint16_t UpperLimitLookUP[] ROMABLE_DATA ={ 185, 370, 580}; /* lookup table for scaling->limit 1x2x3x */
+/**
+ * Als Code gain to fix point gain lookup
+ */
+static const uint16_t AlsGainLookUp[8] ROMABLE_DATA = {
+ (uint16_t)(20.0f * AN_GAIN_MULT),
+ (uint16_t)(10.0f * AN_GAIN_MULT),
+ (uint16_t)(5.0f * AN_GAIN_MULT),
+ (uint16_t)(2.5f * AN_GAIN_MULT),
+ (uint16_t)(1.67f * AN_GAIN_MULT),
+ (uint16_t)(1.25f * AN_GAIN_MULT),
+ (uint16_t)(1.0f * AN_GAIN_MULT),
+ (uint16_t)(40.0f * AN_GAIN_MULT),
+};
+
+
+#if VL6180x_RANGE_STATUS_ERRSTRING
+const char * ROMABLE_DATA VL6180x_RangeStatusErrString[]={
+ "No Error",
+ "VCSEL Continuity Test",
+ "VCSEL Watchdog Test",
+ "VCSEL Watchdog",
+ "PLL1 Lock",
+ "PLL2 Lock",
+ "Early Convergence Estimate",
+ "Max Convergence",
+ "No Target Ignore",
+ "Not used 9",
+ "Not used 10",
+ "Max Signal To Noise Ratio",
+ "Raw Ranging Algo Underflow",
+ "Raw Ranging Algo Overflow",
+ "Ranging Algo Underflow",
+ "Ranging Algo Overflow",
+
+ "Filtered by post processing"
+};
+
+const char * VL6180x_RangeGetStatusErrString(uint8_t RangeErrCode){
+ if( RangeErrCode > sizeof(VL6180x_RangeStatusErrString)/sizeof(VL6180x_RangeStatusErrString[0]) )
+ return NULL;
+ return VL6180x_RangeStatusErrString[RangeErrCode];
+}
+#endif
+
+#if VL6180x_UPSCALE_SUPPORT == 1
+ #define _GetUpscale(dev, ... ) 1
+ #define _SetUpscale(...) -1
+ #define DEF_UPSCALE 1
+#elif VL6180x_UPSCALE_SUPPORT == 2
+ #define _GetUpscale(dev, ... ) 2
+ #define _SetUpscale(...)
+ #define DEF_UPSCALE 2
+#elif VL6180x_UPSCALE_SUPPORT == 3
+ #define _GetUpscale(dev, ... ) 3
+ #define _SetUpscale(...)
+ #define DEF_UPSCALE 3
+#else
+ #define DEF_UPSCALE (-(VL6180x_UPSCALE_SUPPORT))
+ #define _GetUpscale(dev, ... ) VL6180xDevDataGet(dev, UpscaleFactor)
+ #define _SetUpscale(dev, Scaling ) VL6180xDevDataSet(dev, UpscaleFactor, Scaling)
+#endif
+
+
+#if VL6180x_SINGLE_DEVICE_DRIVER
+/**
+ * the unique driver data When single device driver is active
+ */
+struct VL6180xDevData_t VL6180x_DEV_DATA_ATTR SingleVL6180xDevData={
+ .EceFactorM = DEF_ECE_FACTOR_M,
+ .EceFactorD = DEF_ECE_FACTOR_D,
+#ifdef VL6180x_HAVE_UPSCALE_DATA
+ .UpscaleFactor = DEF_UPSCALE,
+#endif
+#ifdef VL6180x_HAVE_ALS_DATA
+ .IntegrationPeriod = DEF_INT_PEFRIOD,
+ .AlsGainCode = DEF_ALS_GAIN,
+ .AlsScaler = DEF_ALS_SCALER,
+#endif
+#ifdef VL6180x_HAVE_DMAX_RANGING
+ .DMaxEnable = DEF_DMAX_ENABLE,
+#endif
+};
+#endif /* VL6180x_SINGLE_DEVICE_DRIVER */
+
+
+
+#define Fix7_2_KCPs(x) ((((uint32_t)(x))*1000)>>7)
+
+
+#if VL6180x_WRAP_AROUND_FILTER_SUPPORT || 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);
+ #define _IsWrapArroundActive(dev) VL6180xDevDataGet(dev,WrapAroundFilterActive)
+#else
+ #define _IsWrapArroundActive(dev) 0
+#endif
+
+
+#if VL6180x_HAVE_DMAX_RANGING
+ void _DMax_OneTimeInit(VL6180xDev_t dev);
+ static int _DMax_InitData(VL6180xDev_t dev);
+ static int _DMax_Compute(VL6180xDev_t dev, VL6180x_RangeData_t *pRange);
+ #define _IsDMaxActive(dev) VL6180xDevDataGet(dev,DMaxEnable)
+#else
+ #define _DMax_InitData(...) 0 /* success */
+ #define _DMax_OneTimeInit(...) (void)0
+ #define _IsDMaxActive(...) 0
+#endif
+
+static int VL6180x_RangeStaticInit(VL6180xDev_t dev);
+static int VL6180x_UpscaleStaticInit(VL6180xDev_t dev);
+
+int VL6180X::VL6180x_WaitDeviceBooted(VL6180xDev_t dev){
+ uint8_t FreshOutReset;
+ int status;
+ LOG_FUNCTION_START("");
+ do{
+ status = VL6180x_RdByte(dev,SYSTEM_FRESH_OUT_OF_RESET, &FreshOutReset);
+ }
+ while( FreshOutReset!=1 && status==0);
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+int VL6180X::VL6180x_InitData(VL6180xDev_t dev){
int status, dmax_status ;
int8_t offset;
uint8_t FreshOutReset;
@@ -169,14 +281,14 @@
do{
/* backup offset initial value from nvm these must be done prior any over call that use offset */
- status = VL6180x_RdByte(MyDevice,SYSRANGE_PART_TO_PART_RANGE_OFFSET, (uint8_t*)&offset);
+ status = VL6180X::VL6180x_RdByte(dev,SYSRANGE_PART_TO_PART_RANGE_OFFSET, (uint8_t*)&offset);
if( status ){
VL6180x_ErrLog("SYSRANGE_PART_TO_PART_RANGE_OFFSET rd fail");
break;
}
VL6180xDevDataSet(dev, Part2PartOffsetNVM, offset);
- status=VL6180x_RdDWord(MyDevice, SYSRANGE_RANGE_IGNORE_THRESHOLD, &CalValue);
+ status=VL6180x_RdDWord( dev, SYSRANGE_RANGE_IGNORE_THRESHOLD, &CalValue);
if( status ){
VL6180x_ErrLog("Part2PartAmbNVM rd fail");
break;
@@ -186,7 +298,7 @@
}
VL6180xDevDataSet(dev, Part2PartAmbNVM, CalValue);
- status = VL6180x_RdWord(MyDevice, SYSRANGE_CROSSTALK_COMPENSATION_RATE ,&u16);
+ status = VL6180x_RdWord(dev, SYSRANGE_CROSSTALK_COMPENSATION_RATE ,&u16);
if( status){
VL6180x_ErrLog("SYSRANGE_CROSSTALK_COMPENSATION_RATE rd fail ");
break;
@@ -201,7 +313,7 @@
}
/* Read or wait for fresh out of reset */
- status = VL6180x_RdByte(MyDevice,SYSTEM_FRESH_OUT_OF_RESET, &FreshOutReset);
+ status = VL6180x_RdByte(dev,SYSTEM_FRESH_OUT_OF_RESET, &FreshOutReset);
if( status ) {
VL6180x_ErrLog("SYSTEM_FRESH_OUT_OF_RESET rd fail");
break;
@@ -216,13 +328,1941 @@
return status;
}
+int8_t VL6180X::VL6180x_GetOffsetCalibrationData(VL6180xDev_t dev)
+{
+ int8_t offset;
+ LOG_FUNCTION_START("");
+ offset = VL6180xDevDataGet(dev, Part2PartOffsetNVM);
+ LOG_FUNCTION_END( offset );
+ return offset;
+}
+
+void VL6180X::VL6180x_SetOffsetCalibrationData(VL6180xDev_t dev, int8_t offset)
+{
+ LOG_FUNCTION_START("%d", offset);
+ VL6180xDevDataSet(dev, Part2PartOffsetNVM, offset);
+ LOG_FUNCTION_END(0);
+}
+
+int VL6180X::VL6180x_SetXTalkCompensationRate(VL6180xDev_t dev, FixPoint97_t Rate)
+{
+ int status;
+ LOG_FUNCTION_START("%d", Rate);
+ status = VL6180x_WrWord(dev, SYSRANGE_CROSSTALK_COMPENSATION_RATE, Rate);
+ if( status ==0 ){
+ uint32_t XTalkCompRate_KCps;
+ XTalkCompRate_KCps = Fix7_2_KCPs(Rate);
+ VL6180xDevDataSet(dev, XTalkCompRate_KCps , XTalkCompRate_KCps );
+ /* update dmax whenever xtalk rate changes */
+ status = _DMax_InitData(dev);
+ }
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+int VL6180X::VL6180x_SetI2CAddress(VL6180xDev_t dev, uint8_t NewAddress){
+ int status;
+ LOG_FUNCTION_START("");
+
+ status = VL6180x_WrByte(dev, I2C_SLAVE_DEVICE_ADDRESS, NewAddress/2);
+ if( status ){
+ VL6180x_ErrLog("new i2c addr Wr fail");
+ }
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+uint16_t VL6180X::VL6180x_GetUpperLimit(VL6180xDev_t dev) {
+ uint16_t limit;
+ int scaling;
+
+ LOG_FUNCTION_START("");
+
+ scaling = _GetUpscale(dev);
+ /* FIXME we do assume here _GetUpscale is valid if user call us prior to init we may overflow the LUT mem area */
+ limit = UpperLimitLookUP[scaling - 1];
+
+ LOG_FUNCTION_END((int )limit);
+ return limit;
+}
+
+
+
+int VL6180X::VL6180x_StaticInit(VL6180xDev_t dev){
+ int status=0, init_status;
+ LOG_FUNCTION_START("");
+
+ /* TODO doc When using configurable scaling but using 1x as start condition
+ * load tunning upscale or not ??? */
+ if( _GetUpscale(dev) == 1 && !(VL6180x_UPSCALE_SUPPORT<0))
+ init_status=VL6180x_RangeStaticInit(dev);
+ else
+ init_status=VL6180x_UpscaleStaticInit(dev);
+
+ if( init_status <0 ){
+ VL6180x_ErrLog("StaticInit fail");
+ goto error;
+ }
+ else if(init_status > 0){
+ VL6180x_ErrLog("StaticInit warning");
+ }
+
+#if REFRESH_CACHED_DATA_AFTER_INIT
+ /* update cached value after tuning applied */
+ do{
+#ifdef VL6180x_HAVE_ALS_DATA
+ uint8_t data;
+ status= VL6180x_RdByte(dev, FW_ALS_RESULT_SCALER, &data);
+ if( status ) break;
+ VL6180xDevDataSet(dev, AlsScaler, data);
+
+ status= VL6180x_RdByte(dev, SYSALS_ANALOGUE_GAIN, &data);
+ if( status ) break;
+ VL6180x_AlsSetAnalogueGain(dev, data);
+#endif
+ }
+ while(0);
+#endif /* REFRESH_CACHED_DATA_AFTER_INIT */
+ if( status < 0 ){
+ VL6180x_ErrLog("StaticInit fail");
+ }
+ if( !status && init_status){
+ status = init_status;
+ }
+error:
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+
+int VL6180X::VL6180x_SetGroupParamHold(VL6180xDev_t dev, int Hold)
+{
+ int status;
+ uint8_t value;
+
+ LOG_FUNCTION_START("%d", Hold);
+ if( Hold )
+ value = 1;
+ else
+ value = 0;
+ status = VL6180x_WrByte(dev, SYSTEM_GROUPED_PARAMETER_HOLD, value);
+
+ LOG_FUNCTION_END(status);
+ return status;
+
+}
+
+int VL6180X::VL6180x_Prepare(VL6180xDev_t dev)
+{
+ int status;
+ LOG_FUNCTION_START("");
+
+ do{
+ status=VL6180x_StaticInit(dev);
+ if( status<0) break;
+
+ /* set range InterruptMode to new sample */
+ status=VL6180x_RangeConfigInterrupt(dev, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY );
+ if( status)
+ break;
+
+ /* set default threshold */
+ status=VL6180x_RangeSetRawThresholds(dev, 10, 200);
+ if( status ){
+ VL6180x_ErrLog("VL6180x_RangeSetRawThresholds fail");
+ break;
+ }
+#if VL6180x_ALS_SUPPORT
+ status =VL6180x_AlsSetIntegrationPeriod(dev, 100);
+ if( status ) break;
+ status = VL6180x_AlsSetInterMeasurementPeriod(dev, 200);
+ if( status ) break;
+ status = VL6180x_AlsSetAnalogueGain(dev, 0);
+ if( status ) break;
+ status = VL6180x_AlsSetThresholds(dev, 0, 0xFF);
+ if( status ) break;
+ /* set Als InterruptMode to new sample */
+ status=VL6180x_AlsConfigInterrupt(dev, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
+ if( status ) {
+ VL6180x_ErrLog("VL6180x_AlsConfigInterrupt fail");
+ break;
+ }
+#endif
+#if VL6180x_WRAP_AROUND_FILTER_SUPPORT
+ _filter_Init(dev);
+#endif
+ /* make sure to reset any left previous condition that can hangs first poll */
+ status=VL6180x_ClearAllInterrupt(dev);
+ }
+ while(0);
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+#if VL6180x_ALS_SUPPORT
+int VL6180X::VL6180x_AlsGetLux(VL6180xDev_t dev, lux_t *pLux)
+{
+ int status;
+ uint16_t RawAls;
+ uint32_t luxValue = 0;
+ uint32_t IntPeriod;
+ uint32_t AlsAnGain;
+ uint32_t GainFix;
+ uint32_t AlsScaler;
+
+#if LUXRES_FIX_PREC != GAIN_FIX_PREC
+#error "LUXRES_FIX_PREC != GAIN_FIX_PREC review these code to be correct"
+#endif
+ const uint32_t LuxResxIntIme =(uint32_t)(0.56f* DEF_INT_PEFRIOD *(1<<LUXRES_FIX_PREC));
+
+ LOG_FUNCTION_START("%p", pLux);
+
+ status = VL6180x_RdWord( dev, RESULT_ALS_VAL, &RawAls);
+ if( !status){
+ /* wer are yet here at no fix point */
+ IntPeriod=VL6180xDevDataGet(dev, IntegrationPeriod);
+ AlsScaler=VL6180xDevDataGet(dev, AlsScaler);
+ IntPeriod++; /* what stored is real time ms -1 and it can be 0 for or 0 or 1ms */
+ luxValue = (uint32_t)RawAls * LuxResxIntIme; /* max # 16+8bits + 6bit (0.56*100) */
+ luxValue /= IntPeriod; /* max # 16+8bits + 6bit 16+8+1 to 9 bit */
+ /* between 29 - 21 bit */
+ AlsAnGain = VL6180xDevDataGet(dev, AlsGainCode);
+ GainFix = AlsGainLookUp[AlsAnGain];
+ luxValue = luxValue / (AlsScaler * GainFix);
+ *pLux=luxValue;
+ }
+
+ LOG_FUNCTION_END_FMT(status, "%x",(int)*pLux);
+ return status;
+}
+
+int VL6180X::VL6180x_AlsGetMeasurement(VL6180xDev_t dev, VL6180x_AlsData_t *pAlsData)
+{
+ int status;
+ uint8_t ErrStatus;
+
+ LOG_FUNCTION_START("%p", pAlsData);
+
+ status = VL6180x_AlsGetLux(dev, &pAlsData->lux);
+ if( !status ){
+ status = VL6180x_RdByte(dev, RESULT_ALS_STATUS, & ErrStatus);
+ pAlsData->errorStatus = ErrStatus>>4;
+ }
+ LOG_FUNCTION_END_FMT(status,"%d %d", (int)pAlsData->lux, (int)pAlsData->errorStatus);
+
+ return status;
+}
+
+
+int VL6180X::VL6180x_AlsPollMeasurement(VL6180xDev_t dev, VL6180x_AlsData_t *pAlsData) {
+ int status;
+ int ClrStatus;
+ uint8_t IntStatus;
+
+ LOG_FUNCTION_START("%p", pAlsData);
+#if VL6180X_SAFE_POLLING_ENTER
+ /* if device get stopped with left interrupt uncleared , it is required to clear them now or poll for new condition will never occur*/
+ status=VL6180x_AlsClearInterrupt(dev);
+ if(status){
+ VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
+ goto over;
+ }
+#endif
+
+ status=VL6180x_AlsSetSystemMode(dev, MODE_START_STOP|MODE_SINGLESHOT);
+ if( status){
+ VL6180x_ErrLog("VL6180x_AlsSetSystemMode fail");
+ goto over;
+ }
+
+ /* poll for new sample ready */
+ while (1 ) {
+ status = VL6180x_AlsGetInterruptStatus(dev, &IntStatus);
+ if (status) {
+ break;
+ }
+ if (IntStatus == RES_INT_STAT_GPIO_NEW_SAMPLE_READY) {
+ break; /* break on new data (status is 0) */
+ }
+
+ VL6180x_PollDelay(dev);
+ };
+
+ if (!status) {
+ status = VL6180x_AlsGetMeasurement(dev, pAlsData);
+ }
+
+ ClrStatus = VL6180x_AlsClearInterrupt(dev);
+ if (ClrStatus) {
+ VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
+ if (!status) {
+ status = ClrStatus; /* leave previous if already on error */
+ }
+ }
+over:
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+int VL6180X::VL6180x_AlsGetInterruptStatus(VL6180xDev_t dev, uint8_t *pIntStatus) {
+ int status;
+ uint8_t IntStatus;
+ LOG_FUNCTION_START("%p", pIntStatus);
+
+ status = VL6180x_RdByte(dev, RESULT_INTERRUPT_STATUS_GPIO, &IntStatus);
+ *pIntStatus= (IntStatus>>3)&0x07;
+
+ LOG_FUNCTION_END_FMT(status, "%d", (int)*pIntStatus);
+ return status;
+}
+
+int VL6180X::VL6180x_AlsWaitDeviceReady(VL6180xDev_t dev, int MaxLoop ){
+ int status;
+ int n;
+ uint8_t u8;
+ LOG_FUNCTION_START("%d", (int)MaxLoop);
+ if( MaxLoop<1){
+ status=INVALID_PARAMS;
+ }
+ else{
+ for( n=0; n < MaxLoop ; n++){
+ status=VL6180x_RdByte(dev, RESULT_ALS_STATUS, &u8);
+ if( status)
+ break;
+ u8 = u8 & ALS_DEVICE_READY_MASK;
+ if( u8 )
+ break;
+
+ }
+ if( !status && !u8 ){
+ status = TIME_OUT;
+ }
+ }
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+int VL6180X::VL6180x_AlsSetSystemMode(VL6180xDev_t dev, uint8_t mode)
+{
+ int status;
+ LOG_FUNCTION_START("%d", (int)mode);
+ /* FIXME if we are called back to back real fast we are not checking
+ * if previous mode "set" got absorbed => bit 0 must be 0 so that wr 1 work */
+ if( mode <= 3){
+ status=VL6180x_WrByte(dev, SYSALS_START, mode);
+ }
+ else{
+ status = INVALID_PARAMS;
+ }
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+int VL6180X::VL6180x_AlsConfigInterrupt(VL6180xDev_t dev, uint8_t ConfigGpioInt)
+{
+ int status;
+
+ if( ConfigGpioInt<= CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY){
+ status = VL6180x_UpdateByte(dev, SYSTEM_INTERRUPT_CONFIG_GPIO, (uint8_t)(~CONFIG_GPIO_ALS_MASK), (ConfigGpioInt<<3));
+ }
+ else{
+ VL6180x_ErrLog("Invalid config mode param %d", (int)ConfigGpioInt);
+ status = INVALID_PARAMS;
+ }
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+
+
+int VL6180X::VL6180x_AlsSetThresholds(VL6180xDev_t dev, 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);
+ 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) ;
+ }
+ LOG_FUNCTION_END_FMT(status, "%d", (int)SetIntegrationPeriod);
+ return status;
+}
+
+#endif /* HAVE_ALS_SUPPORT */
+
+
+int VL6180X::VL6180x_RangePollMeasurement(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData)
+{
+ int status;
+ int ClrStatus;
+ IntrStatus_t IntStatus;
+
+ LOG_FUNCTION_START("");
+ /* start single range measurement */
+
+
+#if VL6180X_SAFE_POLLING_ENTER
+ /* if device get stopped with left interrupt uncleared , it is required to clear them now or poll for new condition will never occur*/
+ status=VL6180x_RangeClearInterrupt(dev);
+ if(status){
+ VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
+ goto done;
+ }
+#endif
+ /* //![single_shot_snipet] */
+ status=VL6180x_RangeSetSystemMode(dev, MODE_START_STOP|MODE_SINGLESHOT);
+ if( status ){
+ VL6180x_ErrLog("VL6180x_RangeSetSystemMode fail");
+ goto done;
+ }
+
+
+ /* poll for new sample ready */
+ while(1 ){
+ status=VL6180x_RangeGetInterruptStatus(dev, &IntStatus.val);
+ if( status ){
+ break;
+ }
+ if( IntStatus.status.Error !=0 ){
+ VL6180x_ErrLog("GPIO int Error report %d",(int)IntStatus.val);
+ status = RANGE_ERROR;
+ break;
+ }
+ else
+ if( IntStatus.status.Range == RES_INT_STAT_GPIO_NEW_SAMPLE_READY){
+ break;
+ }
+
+ VL6180x_PollDelay(dev);
+ }
+ /* //![single_shot_snipet] */
+
+ if ( !status ){
+ status = VL6180x_RangeGetMeasurement(dev, pRangeData);
+ }
+
+ /* clear range interrupt source */
+ ClrStatus = VL6180x_RangeClearInterrupt(dev);
+ if( ClrStatus ){
+ VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
+ /* leave initial status if already in error */
+ if( !status ){
+ status=ClrStatus;
+ }
+ }
+done:
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+
+
+int VL6180X::VL6180x_RangeGetMeasurement(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData)
+{
+ int status;
+ uint16_t RawRate;
+ uint8_t RawStatus;
+
+ LOG_FUNCTION_START("");
+
+ status = VL6180x_RangeGetResult(dev, &pRangeData->range_mm);
+ if( !status ){
+ status = VL6180x_RdWord(dev,RESULT_RANGE_SIGNAL_RATE, &RawRate );
+ if( !status ){
+ pRangeData->signalRate_mcps = VL6180x_9to7Conv(RawRate);
+ status = VL6180x_RdByte(dev, RESULT_RANGE_STATUS, &RawStatus);
+ if( !status ){
+ pRangeData->errorStatus = RawStatus >>4;
+ }
+ else{
+ VL6180x_ErrLog("Rd RESULT_RANGE_STATUS fail");
+ }
+ #if VL6180x_WRAP_AROUND_FILTER_SUPPORT || VL6180x_HAVE_DMAX_RANGING
+ status = _GetRateResult(dev, pRangeData);
+ if( status )
+ goto error;
+ #endif
+ #if VL6180x_WRAP_AROUND_FILTER_SUPPORT
+ /* if enabled run filter */
+ if( _IsWrapArroundActive(dev) ){
+ status=_filter_GetResult(dev, pRangeData);
+ if( !status){
+ /* patch the range status and measure if it is filtered */
+ if( pRangeData->range_mm != pRangeData->FilteredData.range_mm) {
+ pRangeData->errorStatus=RangingFiltered;
+ pRangeData->range_mm = pRangeData->FilteredData.range_mm;
+ }
+ }
+ }
+ #endif
+
+#if VL6180x_HAVE_DMAX_RANGING
+ if(_IsDMaxActive(dev) ){
+ _DMax_Compute(dev, pRangeData);
+ }
+#endif
+ }
+ else{
+ VL6180x_ErrLog("Rd RESULT_RANGE_SIGNAL_RATE fail");
+ }
+ }
+ else{
+ VL6180x_ErrLog("VL6180x_GetRangeResult fail");
+ }
+error:
+ LOG_FUNCTION_END_FMT(status, "%d %d %d", (int)pRangeData->range_mm, (int)pRangeData->signalRate_mcps, (int)pRangeData->errorStatus) ;
+ return status;
+}
+
+
+int VL6180X::VL6180x_RangeGetMeasurementIfReady(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData)
+{
+ int status;
+ IntrStatus_t IntStatus;
+
+ LOG_FUNCTION_START();
+
+ status = VL6180x_RangeGetInterruptStatus(dev, &IntStatus.val);
+ if( status ==0 ){
+ if( IntStatus.status.Error !=0 ){
+ VL6180x_ErrLog("GPIO int Error report %d",(int)IntStatus.val);
+ status = RANGE_ERROR;
+ }
+ else
+ if( IntStatus.status.Range == RES_INT_STAT_GPIO_NEW_SAMPLE_READY){
+ status = VL6180x_RangeGetMeasurement(dev,pRangeData );
+ if( status == 0){
+ /* clear range interrupt source */
+ status = VL6180x_RangeClearInterrupt(dev);
+ if( status ){
+ VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
+ }
+ }
+ }
+ else{
+ status = NOT_READY;
+ }
+ }
+ else{
+ VL6180x_ErrLog("fail to get interrupt status");
+ }
+ LOG_FUNCTION_END(status) ;
+ return status;
+}
+
+int VL6180X::VL6180x_FilterSetState(VL6180xDev_t dev, int state){
+ int status;
+ LOG_FUNCTION_START("%d", state);
+#if VL6180x_WRAP_AROUND_FILTER_SUPPORT
+ VL6180xDevDataSet(dev,WrapAroundFilterActive, state);
+ status = 0;
+#else
+ status = NOT_SUPPORTED;
+#endif
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+int VL6180X::VL6180x_FilterGetState(VL6180xDev_t dev){
+ int status;
+ LOG_FUNCTION_START("");
+#if VL6180x_WRAP_AROUND_FILTER_SUPPORT
+ status = VL6180xDevDataGet(dev,WrapAroundFilterActive);
+#else
+ status = 0;
+#endif
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+int VL6180X::VL6180x_RangeGetResult(VL6180xDev_t dev, int32_t *pRange_mm) {
+ int status;
+ uint8_t RawRange;
+ int32_t Upscale;
+
+ LOG_FUNCTION_START("%p",pRange_mm);
+
+ status = VL6180x_RdByte(dev, RESULT_RANGE_VAL, &RawRange);
+ if( !status ){
+ Upscale = _GetUpscale(dev);
+ *pRange_mm= Upscale*(int32_t)RawRange;
+ }
+ LOG_FUNCTION_END_FMT(status, "%d", (int)*pRange_mm);
+ return status;
+}
+
+int VL6180X::VL6180x_RangeSetRawThresholds(VL6180xDev_t dev, uint8_t low, uint8_t high)
+{
+ int status;
+ LOG_FUNCTION_START("%d %d", (int) low, (int)high);
+ /* TODO we can optimize here grouping high/low in a word but that's cpu endianness dependent */
+ status=VL6180x_WrByte(dev, SYSRANGE_THRESH_HIGH,high);
+ if( !status){
+ status=VL6180x_WrByte(dev, SYSRANGE_THRESH_LOW, low);
+ }
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+int VL6180X::VL6180x_RangeSetThresholds(VL6180xDev_t dev, uint16_t low, uint16_t high, int UseSafeParamHold)
+{
+ int status;
+ int scale;
+ LOG_FUNCTION_START("%d %d", (int) low, (int)high);
+ scale=_GetUpscale(dev,UpscaleFactor);
+ if( low>scale*255 || high >scale*255){
+ status = INVALID_PARAMS;
+ }
+ else{
+ do{
+ if( UseSafeParamHold ){
+ status=VL6180x_SetGroupParamHold(dev, 1);
+ if( status )
+ break;
+ }
+ status=VL6180x_RangeSetRawThresholds(dev, (uint8_t)(low/scale), (uint8_t)(high/scale));
+ if( status ){
+ VL6180x_ErrLog("VL6180x_RangeSetRawThresholds fail");
+ }
+ if( UseSafeParamHold ){
+ int HoldStatus;
+ /* tryt to unset param hold vene if previous fail */
+ HoldStatus=VL6180x_SetGroupParamHold(dev, 0);
+ if( !status)
+ status=HoldStatus;
+ }
+ }
+ while(0);
+ }
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+
+int VL6180X::VL6180x_RangeGetThresholds(VL6180xDev_t dev, uint16_t *low, uint16_t *high)
+{
+ int status;
+ uint8_t RawLow, RawHigh;
+ int scale;
+
+ LOG_FUNCTION_START("%p %p", low , high);
+
+ scale=_GetUpscale(dev,UpscaleFactor);
+ do{
+ if( high != NULL ){
+ status=VL6180x_RdByte(dev, SYSRANGE_THRESH_HIGH,&RawHigh);
+ if( status ){
+ VL6180x_ErrLog("rd SYSRANGE_THRESH_HIGH fail");
+ break;
+ }
+ *high=(uint16_t)RawHigh*scale;
+ }
+ if( low != NULL ) {
+ status=VL6180x_RdByte(dev, SYSRANGE_THRESH_LOW, &RawLow);
+ if( status ){
+ VL6180x_ErrLog("rd SYSRANGE_THRESH_LOW fail");
+ break;
+ }
+ *low=(uint16_t)RawLow*scale;
+ }
+ }
+ while(0);
+ LOG_FUNCTION_END_FMT(status, "%d %d",(int)*low ,(int)*high);
+ return status;
+}
+
+
+int VL6180X::VL6180x_RangeGetInterruptStatus(VL6180xDev_t dev, uint8_t *pIntStatus) {
+ int status;
+ uint8_t IntStatus;
+ LOG_FUNCTION_START("%p", pIntStatus);
+ /* FIXME we are grouping "error" with over status the user must check implicitly for it
+ * not just new sample or over status , that will nevr show up in case of error*/
+ status = VL6180x_RdByte(dev, RESULT_INTERRUPT_STATUS_GPIO, &IntStatus);
+ *pIntStatus= IntStatus&0xC7;
+
+ LOG_FUNCTION_END_FMT(status, "%d", (int)*pIntStatus);
+ return status;
+}
+
+
+int VL6180X::VL6180x_GetInterruptStatus(VL6180xDev_t dev, uint8_t *IntStatus)
+{
+ int status;
+ LOG_FUNCTION_START("%p" , IntStatus);
+ status = VL6180x_RdByte(dev, RESULT_INTERRUPT_STATUS_GPIO, IntStatus);
+ LOG_FUNCTION_END_FMT(status, "%d", (int)*IntStatus);
+ return status;
+}
+
+int VL6180X::VL6180x_ClearInterrupt(VL6180xDev_t dev, uint8_t IntClear )
+{
+ int status;
+ LOG_FUNCTION_START("%d" ,(int)IntClear);
+ if( IntClear <= 7 ){
+ status=VL6180x_WrByte( dev, SYSTEM_INTERRUPT_CLEAR, IntClear);
+ }
+ else{
+ status = INVALID_PARAMS;
+ }
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+
+int VL6180X::VL6180x_RangeStaticInit(VL6180xDev_t dev)
+{
+ int status;
+ LOG_FUNCTION_START("");
+
+ /* REGISTER_TUNING_SR03_270514_CustomerView.txt */
+ VL6180x_WrByte( dev, 0x0207, 0x01);
+ VL6180x_WrByte( dev, 0x0208, 0x01);
+ VL6180x_WrByte( dev, 0x0096, 0x00);
+ VL6180x_WrByte( dev, 0x0097, 0xfd);
+ VL6180x_WrByte( dev, 0x00e3, 0x00);
+ VL6180x_WrByte( dev, 0x00e4, 0x04);
+ VL6180x_WrByte( dev, 0x00e5, 0x02);
+ VL6180x_WrByte( dev, 0x00e6, 0x01);
+ VL6180x_WrByte( dev, 0x00e7, 0x03);
+ VL6180x_WrByte( dev, 0x00f5, 0x02);
+ VL6180x_WrByte( dev, 0x00d9, 0x05);
+ VL6180x_WrByte( dev, 0x00db, 0xce);
+ VL6180x_WrByte( dev, 0x00dc, 0x03);
+ VL6180x_WrByte( dev, 0x00dd, 0xf8);
+ VL6180x_WrByte( dev, 0x009f, 0x00);
+ VL6180x_WrByte( dev, 0x00a3, 0x3c);
+ VL6180x_WrByte( dev, 0x00b7, 0x00);
+ VL6180x_WrByte( dev, 0x00bb, 0x3c);
+ VL6180x_WrByte( dev, 0x00b2, 0x09);
+ VL6180x_WrByte( dev, 0x00ca, 0x09);
+ VL6180x_WrByte( dev, 0x0198, 0x01);
+ VL6180x_WrByte( dev, 0x01b0, 0x17);
+ VL6180x_WrByte( dev, 0x01ad, 0x00);
+ VL6180x_WrByte( dev, 0x00ff, 0x05);
+ VL6180x_WrByte( dev, 0x0100, 0x05);
+ VL6180x_WrByte( dev, 0x0199, 0x05);
+ VL6180x_WrByte( dev, 0x01a6, 0x1b);
+ VL6180x_WrByte( dev, 0x01ac, 0x3e);
+ VL6180x_WrByte( dev, 0x01a7, 0x1f);
+ VL6180x_WrByte( dev, 0x0030, 0x00);
+
+ /* Recommended : Public registers - See data sheet for more detail */
+ VL6180x_WrByte( dev, 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) */
+ VL6180x_WrByte( dev, 0x003f, 0x46); /* Sets the light and dark gain (upper nibble). Dark gain should not be changed.*/
+ 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;
+ CalValue= VL6180xDevDataGet(dev, Part2PartAmbNVM);
+ status=VL6180x_WrDWord( dev, 0xDA, CalValue);
+ return status;
+}
+
+/* only include up-scaling register setting when up-scale support is configured in */
+int VL6180X::VL6180x_UpscaleRegInit(VL6180xDev_t dev)
+{
+ /* apply REGISTER_TUNING_ER02_100614_CustomerView.txt */
+ VL6180x_WrByte( dev, 0x0207, 0x01);
+ VL6180x_WrByte( dev, 0x0208, 0x01);
+ VL6180x_WrByte( dev, 0x0096, 0x00);
+ VL6180x_WrByte( dev, 0x0097, 0x54);
+ VL6180x_WrByte( dev, 0x00e3, 0x00);
+ VL6180x_WrByte( dev, 0x00e4, 0x04);
+ VL6180x_WrByte( dev, 0x00e5, 0x02);
+ VL6180x_WrByte( dev, 0x00e6, 0x01);
+ VL6180x_WrByte( dev, 0x00e7, 0x03);
+ VL6180x_WrByte( dev, 0x00f5, 0x02);
+ VL6180x_WrByte( dev, 0x00d9, 0x05);
+
+ _UpscaleInitPatch0(dev);
+
+ VL6180x_WrByte( dev, 0x009f, 0x00);
+ VL6180x_WrByte( dev, 0x00a3, 0x28);
+ VL6180x_WrByte( dev, 0x00b7, 0x00);
+ VL6180x_WrByte( dev, 0x00bb, 0x28);
+ VL6180x_WrByte( dev, 0x00b2, 0x09);
+ VL6180x_WrByte( dev, 0x00ca, 0x09);
+ VL6180x_WrByte( dev, 0x0198, 0x01);
+ VL6180x_WrByte( dev, 0x01b0, 0x17);
+ VL6180x_WrByte( dev, 0x01ad, 0x00);
+ VL6180x_WrByte( dev, 0x00ff, 0x05);
+ VL6180x_WrByte( dev, 0x0100, 0x05);
+ VL6180x_WrByte( dev, 0x0199, 0x05);
+ VL6180x_WrByte( dev, 0x01a6, 0x1b);
+ VL6180x_WrByte( dev, 0x01ac, 0x3e);
+ VL6180x_WrByte( dev, 0x01a7, 0x1f);
+ VL6180x_WrByte( dev, 0x0030, 0x00);
+ VL6180x_WrByte( dev, 0x0011, 0x10);
+ VL6180x_WrByte( dev, 0x010a, 0x30);
+ VL6180x_WrByte( dev, 0x003f, 0x46);
+ VL6180x_WrByte( dev, 0x0031, 0xFF);
+ VL6180x_WrByte( dev, 0x0040, 0x63);
+ VL6180x_WrByte( dev, 0x002e, 0x01);
+ VL6180x_WrByte( dev, 0x002c, 0xff);
+ VL6180x_WrByte( dev, 0x001b, 0x09);
+ VL6180x_WrByte( dev, 0x003e, 0x31);
+ VL6180x_WrByte( dev, 0x0014, 0x24);
+#if VL6180x_EXTENDED_RANGE
+ VL6180x_RangeSetMaxConvergenceTime(dev, 63);
+#else
+ VL6180x_RangeSetMaxConvergenceTime(dev, 50);
+#endif
+ return 0;
+}
+#else
+#define VL6180x_UpscaleRegInit(...) -1
+#endif
+
+int VL6180X::VL6180x_UpscaleSetScaling(VL6180xDev_t dev, uint8_t scaling)
+{
+ int status;
+ uint16_t Scaler;
+ int8_t Offset;
+
+ LOG_FUNCTION_START("%d",(int) scaling);
+
+#ifdef VL6180x_HAVE_UPSCALE_DATA
+ #define min_scaling 1
+ #define max_scaling sizeof(ScalerLookUP)/sizeof(ScalerLookUP[0])
+#else
+ /* we are in fixed config so only allow configured factor */
+ #define min_scaling VL6180x_UPSCALE_SUPPORT
+ #define max_scaling VL6180x_UPSCALE_SUPPORT
+#endif
+
+ if( scaling>=min_scaling && scaling<= max_scaling ){
+
+ Scaler = ScalerLookUP[scaling-1];
+ status = VL6180x_WrWord(dev, RANGE_SCALER, Scaler);
+ _SetUpscale(dev, scaling );
+
+ /* Apply scaling on part-2-part offset */
+ Offset = VL6180xDevDataGet(dev, Part2PartOffsetNVM)/scaling;
+ status = VL6180x_WrByte(dev, SYSRANGE_PART_TO_PART_RANGE_OFFSET, Offset);
+#if ! VL6180x_EXTENDED_RANGE
+ if( status ==0 ){
+ status = VL6180x_RangeSetEceState(dev, scaling == 1); /* enable ece only at 1x scaling */
+ }
+ if( status == 0 && !VL6180x_EXTENDED_RANGE && scaling!=1 ){
+ status = NOT_GUARANTEED ;
+ }
+#endif
+ }
+ else{
+ status = INVALID_PARAMS;
+ }
+#undef min_scaling
+#undef max_scaling
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+
+int VL6180X::VL6180x_UpscaleGetScaling(VL6180xDev_t dev)
+{
+ int status;
+ LOG_FUNCTION_START("");
+ status=_GetUpscale(dev );
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+int VL6180X::VL6180x_UpscaleStaticInit(VL6180xDev_t dev)
+{
+ /* todo make these a fail macro in case only 1x is suppoted */
+ int status;
+
+ LOG_FUNCTION_START("");
+ do{
+ status=VL6180x_UpscaleRegInit(dev);
+ if( status){
+ VL6180x_ErrLog("regInit fail");
+ break;
+ }
+#if VL6180x_EXTENDED_RANGE
+ status = VL6180x_RangeSetEceState(dev, 0);
+ if( status){
+ VL6180x_ErrLog("VL6180x_RangeSetEceState fail");
+ break;
+ }
+#endif
+ } while(0);
+ if( !status){
+ /* must write the scaler at least once to the device to ensure the scaler is in a known state. */
+ status=VL6180x_UpscaleSetScaling(dev, _GetUpscale(dev));
+ VL6180x_WrByte( dev, 0x016, 0x00); /* change fresh out of set status to 0 */
+ }
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+
+int VL6180X::VL6180x_SetGPIOxPolarity(VL6180xDev_t dev, int pin, int active_high)
+{
+ int status;
+ LOG_FUNCTION_START("%d %d",(int) pin, (int)active_high);
+
+ if( pin ==0 || pin ==1 ){
+ uint16_t RegIndex;
+ uint8_t DataSet;
+ if( pin==0 )
+ RegIndex= SYSTEM_MODE_GPIO0;
+ else
+ RegIndex= SYSTEM_MODE_GPIO1;
+
+ if (active_high )
+ DataSet = GPIOx_POLARITY_SELECT_MASK;
+ else
+ DataSet = 0;
+
+ status = VL6180x_UpdateByte(dev, RegIndex, (uint8_t)~GPIOx_POLARITY_SELECT_MASK, DataSet);
+ }
+ else{
+ VL6180x_ErrLog("Invalid pin param %d", (int)pin);
+ status = INVALID_PARAMS;
+ }
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+int VL6180X::VL6180x_SetGPIOxFunctionality(VL6180xDev_t dev, int pin, uint8_t functionality)
+{
+ int status;
+
+ LOG_FUNCTION_START("%d %d",(int) pin, (int)functionality);
+
+ if( ((pin ==0) || (pin ==1)) && IsValidGPIOFunction(functionality) ){
+ uint16_t RegIndex;
+
+ if( pin==0 )
+ RegIndex= SYSTEM_MODE_GPIO0;
+ else
+ RegIndex= SYSTEM_MODE_GPIO1;
+
+ status = VL6180x_UpdateByte(dev, RegIndex, (uint8_t)~GPIOx_FUNCTIONALITY_SELECT_MASK, functionality<<GPIOx_FUNCTIONALITY_SELECT_SHIFT);
+ if( status){
+ VL6180x_ErrLog("Update SYSTEM_MODE_GPIO%d fail", (int)pin);
+ }
+ }
+ else{
+ VL6180x_ErrLog("Invalid pin %d or function %d", (int)pin, (int) functionality);
+ status = INVALID_PARAMS;
+ }
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+
+int VL6180X::VL6180x_SetupGPIOx(VL6180xDev_t dev, int pin, uint8_t IntFunction, int ActiveHigh)
+{
+ int status;
+
+ LOG_FUNCTION_START("%d %d",(int) pin, (int)IntFunction);
+
+ if( ((pin ==0) || (pin ==1)) && IsValidGPIOFunction(IntFunction) ){
+ uint16_t RegIndex;
+ uint8_t value=0;
+
+ if( pin==0 )
+ RegIndex= SYSTEM_MODE_GPIO0;
+ else
+ RegIndex= SYSTEM_MODE_GPIO1;
+
+ if( ActiveHigh )
+ value|=GPIOx_POLARITY_SELECT_MASK;
+
+ value |= IntFunction<<GPIOx_FUNCTIONALITY_SELECT_SHIFT;
+ status = VL6180x_WrByte(dev, RegIndex, value);
+ if( status ){
+ VL6180x_ErrLog("SYSTEM_MODE_GPIO%d wr fail", (int)pin-SYSTEM_MODE_GPIO0);
+ }
+ }
+ else{
+ VL6180x_ErrLog("Invalid pin %d or function %d", (int)pin, (int) IntFunction);
+ status = INVALID_PARAMS;
+ }
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+
+int VL6180X::VL6180x_DisableGPIOxOut(VL6180xDev_t dev, int pin) {
+ int status;
+
+ LOG_FUNCTION_START("%d",(int)pin);
+
+ status=VL6180x_SetGPIOxFunctionality(dev, pin, GPIOx_SELECT_OFF);
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+
+int VL6180X::VL6180x_SetupGPIO1(VL6180xDev_t dev, uint8_t IntFunction, int ActiveHigh)
+{
+ int status;
+ LOG_FUNCTION_START("%d %d",(int)IntFunction, (int)ActiveHigh );
+ status=VL6180x_SetupGPIOx(dev, 1 , IntFunction, ActiveHigh);
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+int VL6180X::VL6180x_RangeConfigInterrupt(VL6180xDev_t dev, uint8_t ConfigGpioInt)
+{
+ int status;
+
+ if( ConfigGpioInt<= CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY){
+ status = VL6180x_UpdateByte(dev, SYSTEM_INTERRUPT_CONFIG_GPIO, (uint8_t)(~CONFIG_GPIO_RANGE_MASK), ConfigGpioInt);
+ }
+ else{
+ VL6180x_ErrLog("Invalid config mode param %d", (int)ConfigGpioInt);
+ status = INVALID_PARAMS;
+ }
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+
+int VL6180X::VL6180x_RangeSetEceFactor(VL6180xDev_t dev, uint16_t FactorM, uint16_t FactorD){
+ int status;
+ uint8_t u8;
+
+ LOG_FUNCTION_START("%d %d", (int)FactorM, (int)FactorD );
+ do{
+ /* D cannot be 0 M must be <=D and >= 0 */
+ if( FactorM <= FactorD && FactorD> 0){
+ VL6180xDevDataSet(dev, EceFactorM, FactorM);
+ VL6180xDevDataSet(dev, EceFactorD, FactorD);
+ /* read and re-apply max conv time to get new ece factor set */
+ status = VL6180x_RdByte(dev, SYSRANGE_MAX_CONVERGENCE_TIME, &u8);
+ if( status){
+ VL6180x_ErrLog("SYSRANGE_MAX_CONVERGENCE_TIME rd fail ");
+ break;
+ }
+ status = VL6180x_RangeSetMaxConvergenceTime(dev, u8);
+ if( status <0 ){
+ VL6180x_ErrLog("fail to apply time after ece m/d change");
+ break;
+ }
+ }
+ else{
+ VL6180x_ErrLog("invalid factor %d/%d", (int)FactorM, (int)FactorD );
+ status = INVALID_PARAMS;
+ }
+ }
+ while(0);
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+int VL6180X::VL6180x_RangeSetEceState(VL6180xDev_t dev, int enable ){
+ int status;
+ uint8_t or_mask;
+
+ LOG_FUNCTION_START("%d", (int)enable);
+ if( enable )
+ or_mask = RANGE_CHECK_ECE_ENABLE_MASK;
+ else
+ or_mask = 0;
+
+ status =VL6180x_UpdateByte(dev, SYSRANGE_RANGE_CHECK_ENABLES, ~RANGE_CHECK_ECE_ENABLE_MASK, or_mask);
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+
+int VL6180X::VL6180x_RangeSetMaxConvergenceTime(VL6180xDev_t dev, uint8_t MaxConTime_msec)
+{
+ int status = 0;
+ LOG_FUNCTION_START("%d",(int)MaxConTime_msec);
+ do{
+ status=VL6180x_WrByte(dev, SYSRANGE_MAX_CONVERGENCE_TIME, MaxConTime_msec);
+ if( status ){
+ break;
+ }
+ status=VL6180x_RangeSetEarlyConvergenceEestimateThreshold(dev);
+ if( status){
+ break;
+ }
+ status = _DMax_InitData(dev);
+ }
+ while(0);
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+int VL6180X::VL6180x_RangeSetInterMeasPeriod(VL6180xDev_t dev, uint32_t InterMeasTime_msec){
+ uint8_t SetTime;
+ int status;
+
+ LOG_FUNCTION_START("%d",(int)InterMeasTime_msec);
+ do {
+ if( InterMeasTime_msec > 2550 ){
+ status = INVALID_PARAMS;
+ break;
+ }
+ /* doc in not 100% clear and confusing about the limit practically all value are OK but 0
+ * that can hang device in continuous mode */
+ if( InterMeasTime_msec < 10 ) {
+ InterMeasTime_msec=10;
+ }
+ SetTime=(uint8_t)(InterMeasTime_msec/10);
+ status=VL6180x_WrByte(dev, SYSRANGE_INTERMEASUREMENT_PERIOD, SetTime);
+ if( status ){
+ VL6180x_ErrLog("SYSRANGE_INTERMEASUREMENT_PERIOD wr fail");
+ }
+ else
+ if( SetTime != InterMeasTime_msec /10 ) {
+ status = MIN_CLIPED; /* on success change status to clip if it did */
+ }
+ }while(0);
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+
+int VL6180X::VL6180x_RangeGetDeviceReady(VL6180xDev_t dev, int * Ready){
+ int status;
+ uint8_t u8;
+ LOG_FUNCTION_START("%p", (int)Ready);
+ status=VL6180x_RdByte(dev, RESULT_RANGE_STATUS, &u8);
+ if( !status)
+ *Ready = u8&RANGE_DEVICE_READY_MASK;
+ LOG_FUNCTION_END_FMT(status,"%d", *Ready);
+ return status;
+}
+
+
+int VL6180X::VL6180x_RangeWaitDeviceReady(VL6180xDev_t dev, int MaxLoop ){
+ int status; /* if user specify an invalid <=0 loop count we'll return error */
+ int n;
+ uint8_t u8;
+ LOG_FUNCTION_START("%d", (int)MaxLoop);
+ if( MaxLoop<1){
+ status=INVALID_PARAMS;
+ }
+ else{
+ for( n=0; n < MaxLoop ; n++){
+ status=VL6180x_RdByte(dev, RESULT_RANGE_STATUS, &u8);
+ if( status)
+ break;
+ u8 = u8 & RANGE_DEVICE_READY_MASK;
+ if( u8 )
+ break;
+
+ }
+ if( !status && !u8 ){
+ status = TIME_OUT;
+ }
+ }
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+int VL6180X::VL6180x_RangeSetSystemMode(VL6180xDev_t dev, uint8_t mode)
+{
+ int status;
+ LOG_FUNCTION_START("%d", (int)mode);
+ /* FIXME we are not checking device is ready via @a VL6180x_RangeWaitDeviceReady
+ * so if called back to back real fast we are not checking
+ * if previous mode "set" got absorbed => bit 0 must be 0 so that it work
+ */
+ if( mode <= 3){
+ status=VL6180x_WrByte(dev, SYSRANGE_START, mode);
+ if( status ){
+ VL6180x_ErrLog("SYSRANGE_START wr fail");
+ }
+ }
+ else{
+ status = INVALID_PARAMS;
+ }
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+
+int VL6180X::VL6180x_RangeStartContinuousMode(VL6180xDev_t dev)
+{
+ int status;
+ LOG_FUNCTION_START("");
+ status= VL6180x_RangeSetSystemMode(dev, MODE_START_STOP | MODE_CONTINUOUS);
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+int VL6180X::VL6180x_RangeStartSingleShot(VL6180xDev_t dev) {
+ int status;
+ LOG_FUNCTION_START("");
+ status = VL6180x_RangeSetSystemMode(dev, MODE_START_STOP|MODE_SINGLESHOT);
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+
+int VL6180X::VL6180x_RangeSetEarlyConvergenceEestimateThreshold(VL6180xDev_t dev)
+{
+ int status;
+
+ const uint32_t cMicroSecPerMilliSec = 1000;
+ const uint32_t cEceSampleTime_us = 500;
+ uint32_t ece_factor_m = VL6180xDevDataGet(dev, EceFactorM);
+ uint32_t ece_factor_d = VL6180xDevDataGet(dev, EceFactorD);
+ uint32_t convergTime_us;
+ uint32_t fineThresh;
+ uint32_t eceThresh;
+ uint8_t u8;
+ uint32_t maxConv_ms;
+ int32_t AveTime;
+
+ LOG_FUNCTION_START("");
+
+ do{
+ status = VL6180x_RdByte(dev, SYSRANGE_MAX_CONVERGENCE_TIME, &u8);
+ if( status ){
+ VL6180x_ErrLog("SYSRANGE_MAX_CONVERGENCE_TIME rd fail");
+ break;
+ }
+ maxConv_ms = u8;
+ AveTime = _GetAveTotalTime(dev);
+ if( AveTime <0 ){
+ status=-1;
+ break;
+ }
+
+ convergTime_us = maxConv_ms * cMicroSecPerMilliSec - AveTime;
+ status = VL6180x_RdDWord(dev, 0xB8, &fineThresh);
+ if( status ) {
+ VL6180x_ErrLog("reg 0xB8 rd fail");
+ break;
+ }
+ fineThresh*=256;
+ eceThresh = ece_factor_m * cEceSampleTime_us * fineThresh/(convergTime_us * ece_factor_d);
+
+ status=VL6180x_WrWord(dev, SYSRANGE_EARLY_CONVERGENCE_ESTIMATE, (uint16_t)eceThresh);
+ }
+ while(0);
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+/*
+ * Return >0 = time
+ * <0 1 if fail to get read data from device to compute time
+ */
+int32_t VL6180X::_GetAveTotalTime(VL6180xDev_t dev) {
+ uint32_t cFwOverhead_us = 24;
+ uint32_t cVcpSetupTime_us = 70;
+ uint32_t cPLL2_StartupDelay_us = 200;
+ uint8_t cMeasMask = 0x07;
+ uint32_t Samples;
+ uint32_t SamplePeriod;
+ uint32_t SingleTime_us;
+ int32_t TotalAveTime_us;
+ uint8_t u8;
+ int status;
+
+ LOG_FUNCTION_START("");
+
+ status = VL6180x_RdByte(dev, 0x109, &u8);
+ if (status) {
+ VL6180x_ErrLog("rd 0x109 fail");
+ return -1;
+ }
+ Samples = u8 & cMeasMask;
+ status = VL6180x_RdByte(dev, READOUT_AVERAGING_SAMPLE_PERIOD, &u8);
+ if (status) {
+ VL6180x_ErrLog("i2c READOUT_AVERAGING_SAMPLE_PERIOD fail");
+ return -1;
+ }
+ SamplePeriod = u8;
+ SingleTime_us = cFwOverhead_us + cVcpSetupTime_us + (SamplePeriod * 10);
+ TotalAveTime_us = (Samples + 1) * SingleTime_us + cPLL2_StartupDelay_us;
+
+ LOG_FUNCTION_END(TotalAveTime_us);
+ return TotalAveTime_us;
+}
+
+#if VL6180x_HAVE_DMAX_RANGING
+#define _GetDMaxDataRetSignalAt400mm(dev) VL6180xDevDataGet(dev, DMaxData.retSignalAt400mm)
+#else
+#define _GetDMaxDataRetSignalAt400mm(dev) 375 // Use a default high value
+#endif
+
+
+#if VL6180x_WRAP_AROUND_FILTER_SUPPORT
+
+#define FILTER_STDDEV_SAMPLES 6
+#define MIN_FILTER_STDDEV_SAMPLES 3
+#define MIN_FILTER_VALID_STDDEV_SAMPLES 3
+#define FILTER_INVALID_DISTANCE 65535
+
+#define _FilterData(field) VL6180xDevDataGet(dev, FilterData.field)
+/*
+ * One time init
+ */
+int _filter_Init( VL6180xDev_t dev) {
+ int i;
+ _FilterData(MeasurementIndex) = 0;
+
+ _FilterData(Default_ZeroVal) = 0;
+ _FilterData(Default_VAVGVal) = 0;
+ _FilterData(NoDelay_ZeroVal) = 0;
+ _FilterData(NoDelay_VAVGVal) = 0;
+ _FilterData(Previous_VAVGDiff) = 0;
+
+ _FilterData(StdFilteredReads) = 0;
+
+ for (i = 0; i < FILTER_NBOF_SAMPLES; i++) {
+ _FilterData(LastTrueRange)[i] = FILTER_INVALID_DISTANCE;
+ _FilterData(LastReturnRates)[i] = 0;
+ }
+ return 0;
+}
+
+
+static uint32_t _filter_StdDevDamper(uint32_t AmbientRate, uint32_t SignalRate, const uint32_t StdDevLimitLowLight, const uint32_t StdDevLimitLowLightSNR, const uint32_t StdDevLimitHighLight, const uint32_t StdDevLimitHighLightSNR) {
+ uint32_t newStdDev;
+ uint16_t SNR;
+
+ if (AmbientRate > 0)
+ SNR = (uint16_t) ((100 * SignalRate) / AmbientRate);
+ else
+ SNR = 9999;
+
+ if (SNR >= StdDevLimitLowLightSNR) {
+ newStdDev = StdDevLimitLowLight;
+ } else {
+ if (SNR <= StdDevLimitHighLightSNR)
+ newStdDev = StdDevLimitHighLight;
+ else {
+ newStdDev = (uint32_t) (StdDevLimitHighLight + (SNR - StdDevLimitHighLightSNR) * (int) (StdDevLimitLowLight - StdDevLimitHighLight) / (StdDevLimitLowLightSNR - StdDevLimitHighLightSNR));
+ }
+ }
+
+ return newStdDev;
+}
+
+
+/*
+ * Return <0 on error
+ */
+int32_t VL6180X::_filter_Start(VL6180xDev_t dev, uint16_t m_trueRange_mm, uint16_t m_rawRange_mm, uint32_t m_rtnSignalRate, uint32_t m_rtnAmbientRate, uint16_t errorCode) {
+ int status;
+ uint16_t m_newTrueRange_mm = 0;
+
+ uint16_t i;
+ uint16_t bypassFilter = 0;
+
+ uint16_t registerValue;
+
+ uint32_t register32BitsValue1;
+ uint32_t register32BitsValue2;
+
+ uint16_t ValidDistance = 0;
+
+ uint16_t WrapAroundFlag = 0;
+ uint16_t NoWrapAroundFlag = 0;
+ uint16_t NoWrapAroundHighConfidenceFlag = 0;
+
+ uint16_t FlushFilter = 0;
+ uint32_t RateChange = 0;
+
+ uint16_t StdDevSamples = 0;
+ uint32_t StdDevDistanceSum = 0;
+ uint32_t StdDevDistanceMean = 0;
+ uint32_t StdDevDistance = 0;
+ uint32_t StdDevRateSum = 0;
+ uint32_t StdDevRateMean = 0;
+ uint32_t StdDevRate = 0;
+ uint32_t StdDevLimitWithTargetMove = 0;
+
+ uint32_t VAVGDiff;
+ uint32_t IdealVAVGDiff;
+ uint32_t MinVAVGDiff;
+ uint32_t MaxVAVGDiff;
+
+ /* Filter Parameters */
+ static const uint16_t ROMABLE_DATA WrapAroundLowRawRangeLimit = 60;
+ static const uint32_t ROMABLE_DATA WrapAroundLowReturnRateLimit_ROM = 800; // Shall be adapted depending on crossTalk
+ static const uint16_t ROMABLE_DATA WrapAroundLowRawRangeLimit2 = 165;
+ static const uint32_t ROMABLE_DATA WrapAroundLowReturnRateLimit2_ROM = 180; // Shall be adapted depending on crossTalk and device sensitivity
+
+ static const uint32_t ROMABLE_DATA WrapAroundLowReturnRateFilterLimit_ROM = 850; // Shall be adapted depending on crossTalk and device sensitivity
+ static const uint16_t ROMABLE_DATA WrapAroundHighRawRangeFilterLimit = 350;
+ static const uint32_t ROMABLE_DATA WrapAroundHighReturnRateFilterLimit_ROM = 1400; // Shall be adapted depending on crossTalk and device sensitivity
+
+ static const uint32_t ROMABLE_DATA WrapAroundMaximumAmbientRateFilterLimit = 7500;
+
+ /* Temporal filter data and flush values */
+ static const uint32_t ROMABLE_DATA MinReturnRateFilterFlush = 75;
+ static const uint32_t ROMABLE_DATA MaxReturnRateChangeFilterFlush = 50;
+
+ /* STDDEV values and damper values */
+
+ static const uint32_t ROMABLE_DATA StdDevLimitLowLight = 300;
+ static const uint32_t ROMABLE_DATA StdDevLimitLowLightSNR = 30; /* 0.3 */
+ static const uint32_t ROMABLE_DATA StdDevLimitHighLight = 2500;
+ static const uint32_t ROMABLE_DATA StdDevLimitHighLightSNR = 5; /* 0.05 */
+
+ static const uint32_t ROMABLE_DATA StdDevHighConfidenceSNRLimit = 8;
+
+ static const uint32_t ROMABLE_DATA StdDevMovingTargetStdDevLimit = 90000;
+
+ static const uint32_t ROMABLE_DATA StdDevMovingTargetReturnRateLimit = 3500;
+ static const uint32_t ROMABLE_DATA StdDevMovingTargetStdDevForReturnRateLimit = 5000;
+
+ static const uint32_t ROMABLE_DATA MAX_VAVGDiff = 1800;
+
+ /* WrapAroundDetection variables */
+ static const uint16_t ROMABLE_DATA WrapAroundNoDelayCheckPeriod = 2;
+ static const uint16_t ROMABLE_DATA StdFilteredReadsIncrement = 2;
+ static const uint16_t ROMABLE_DATA StdMaxFilteredReads = 4;
+
+ uint32_t SignalRateDMax;
+ uint32_t WrapAroundLowReturnRateLimit;
+ uint32_t WrapAroundLowReturnRateLimit2;
+ uint32_t WrapAroundLowReturnRateFilterLimit;
+ uint32_t WrapAroundHighReturnRateFilterLimit;
+
+ uint8_t u8, u8_2;
+ uint32_t XTalkCompRate_KCps;
+ uint32_t StdDevLimit = 300;
+ uint32_t MaxOrInvalidDistance = 255*_GetUpscale(dev);
+ /* #define MaxOrInvalidDistance (uint16_t) (255 * 3) */
+
+ /* Check if distance is Valid or not */
+ switch (errorCode) {
+ case 0x0C:
+ m_trueRange_mm = MaxOrInvalidDistance;
+ ValidDistance = 0;
+ break;
+ case 0x0D:
+ m_trueRange_mm = MaxOrInvalidDistance;
+ ValidDistance = 1;
+ break;
+ case 0x0F:
+ m_trueRange_mm = MaxOrInvalidDistance;
+ ValidDistance = 1;
+ break;
+ default:
+ if (m_rawRange_mm >= MaxOrInvalidDistance) {
+ ValidDistance = 0;
+ } else {
+ ValidDistance = 1;
+ }
+ break;
+ }
+ m_newTrueRange_mm = m_trueRange_mm;
+
+ XTalkCompRate_KCps = VL6180xDevDataGet(dev, XTalkCompRate_KCps );
+
+
+ //Update signal rate limits depending on crosstalk
+ SignalRateDMax = (uint32_t)_GetDMaxDataRetSignalAt400mm(dev) + XTalkCompRate_KCps;
+ WrapAroundLowReturnRateLimit = WrapAroundLowReturnRateLimit_ROM + XTalkCompRate_KCps;
+ WrapAroundLowReturnRateLimit2 = ((WrapAroundLowReturnRateLimit2_ROM * SignalRateDMax) / 312) + XTalkCompRate_KCps;
+ WrapAroundLowReturnRateFilterLimit = ((WrapAroundLowReturnRateFilterLimit_ROM * SignalRateDMax) / 312) + XTalkCompRate_KCps;
+ WrapAroundHighReturnRateFilterLimit = ((WrapAroundHighReturnRateFilterLimit_ROM * SignalRateDMax) / 312) + XTalkCompRate_KCps;
+
+
+ /* Checks on low range data */
+ if ((m_rawRange_mm < WrapAroundLowRawRangeLimit) && (m_rtnSignalRate < WrapAroundLowReturnRateLimit)) {
+ m_newTrueRange_mm = MaxOrInvalidDistance;
+ bypassFilter = 1;
+ }
+ if ((m_rawRange_mm < WrapAroundLowRawRangeLimit2) && (m_rtnSignalRate < WrapAroundLowReturnRateLimit2)) {
+ m_newTrueRange_mm = MaxOrInvalidDistance;
+ bypassFilter = 1;
+ }
+
+ /* Checks on Ambient rate level */
+ if (m_rtnAmbientRate > WrapAroundMaximumAmbientRateFilterLimit) {
+ /* Too high ambient rate */
+ FlushFilter = 1;
+ bypassFilter = 1;
+ }
+ /* Checks on Filter flush */
+ if (m_rtnSignalRate < MinReturnRateFilterFlush) {
+ /* Completely lost target, so flush the filter */
+ FlushFilter = 1;
+ bypassFilter = 1;
+ }
+ if (_FilterData(LastReturnRates)[0] != 0) {
+ if (m_rtnSignalRate > _FilterData(LastReturnRates)[0])
+ RateChange = (100 * (m_rtnSignalRate - _FilterData(LastReturnRates)[0])) / _FilterData(LastReturnRates)[0];
+ else
+ RateChange = (100 * (_FilterData(LastReturnRates)[0] - m_rtnSignalRate)) / _FilterData(LastReturnRates)[0];
+ } else
+ RateChange = 0;
+ if (RateChange > MaxReturnRateChangeFilterFlush) {
+ FlushFilter = 1;
+ }
+/* TODO optimize filter using circular buffer */
+ if (FlushFilter == 1) {
+ _FilterData(MeasurementIndex) = 0;
+ for (i = 0; i < FILTER_NBOF_SAMPLES; i++) {
+ _FilterData(LastTrueRange)[i] = FILTER_INVALID_DISTANCE;
+ _FilterData(LastReturnRates)[i] = 0;
+ }
+ } else {
+ for (i = (uint16_t) (FILTER_NBOF_SAMPLES - 1); i > 0; i--) {
+ _FilterData(LastTrueRange)[i] = _FilterData(LastTrueRange)[i - 1];
+ _FilterData(LastReturnRates)[i] = _FilterData(LastReturnRates)[i - 1];
+ }
+ }
+ if (ValidDistance == 1)
+ _FilterData(LastTrueRange)[0] = m_trueRange_mm;
+ else
+ _FilterData(LastTrueRange)[0] = FILTER_INVALID_DISTANCE;
+ _FilterData(LastReturnRates)[0] = m_rtnSignalRate;
+
+ /* Check if we need to go through the filter or not */
+ if (!(((m_rawRange_mm < WrapAroundHighRawRangeFilterLimit) && (m_rtnSignalRate < WrapAroundLowReturnRateFilterLimit)) || ((m_rawRange_mm >= WrapAroundHighRawRangeFilterLimit) && (m_rtnSignalRate < WrapAroundHighReturnRateFilterLimit))))
+ bypassFilter = 1;
+
+ /* Check which kind of measurement has been made */
+ status = VL6180x_RdByte(dev, 0x01AC, &u8 );
+ if( status ){
+ VL6180x_ErrLog("0x01AC rd fail");
+ goto done_err;
+ }
+ registerValue =u8;
+
+ /* Read data for filtering */
+ status = VL6180x_RdByte(dev, 0x10C, &u8 ); /* read only 8 lsb bits */
+ if( status ){
+ VL6180x_ErrLog("0x010C rd fail");
+ goto done_err;
+ }
+ register32BitsValue1=u8;
+ status = VL6180x_RdByte(dev, 0x0110, &u8); /* read only 8 lsb bits */
+ if( status ){
+ VL6180x_ErrLog("0x0110 rd fail");
+ goto done_err;
+ }
+ register32BitsValue2 = u8;
+
+ if (registerValue == 0x3E) {
+ _FilterData(Default_ZeroVal) = register32BitsValue1;
+ _FilterData(Default_VAVGVal) = register32BitsValue2;
+ } else {
+ _FilterData(NoDelay_ZeroVal) = register32BitsValue1;
+ _FilterData(NoDelay_VAVGVal) = register32BitsValue2;
+ }
+
+ if (bypassFilter == 1) {
+ /* Do not go through the filter */
+ if (registerValue != 0x3E) {
+ status = VL6180x_WrByte(dev, 0x1AC, 0x3E);
+ if( status ){
+ VL6180x_ErrLog("0x01AC bypass wr fail");
+ goto done_err;
+ }
+ status = VL6180x_WrByte(dev, 0x0F2, 0x01);
+ if( status ){
+ VL6180x_ErrLog("0x0F2 bypass wr fail");
+ goto done_err;
+ }
+ }
+ /* Set both Default and NoDelay To same value */
+ _FilterData(Default_ZeroVal) = register32BitsValue1;
+ _FilterData(Default_VAVGVal) = register32BitsValue2;
+ _FilterData(NoDelay_ZeroVal) = register32BitsValue1;
+ _FilterData(NoDelay_VAVGVal) = register32BitsValue2;
+ _FilterData(MeasurementIndex) = 0;
+
+ return m_newTrueRange_mm;
+ }
+
+ if (_FilterData(MeasurementIndex) % WrapAroundNoDelayCheckPeriod == 0) {
+ u8=0x3C;
+ u8_2 = 0x05;
+ } else {
+ u8=0x3E;
+ u8_2 = 0x01;
+ }
+ status = VL6180x_WrByte(dev, 0x01AC, u8);
+ if( status ){
+ VL6180x_ErrLog("0x01AC wr fail");
+ goto done_err;
+ }
+ status = VL6180x_WrByte(dev, 0x0F2, u8_2);
+ if( status ){
+ VL6180x_ErrLog("0x0F2 wr fail");
+ goto done_err;
+ }
+
+
+ _FilterData(MeasurementIndex)++;
+
+ /* Computes current VAVGDiff */
+ if (_FilterData(Default_VAVGVal) > _FilterData(NoDelay_VAVGVal))
+ VAVGDiff = _FilterData(Default_VAVGVal) - _FilterData(NoDelay_VAVGVal);
+ else
+ VAVGDiff = 0;
+ _FilterData(Previous_VAVGDiff) = VAVGDiff;
+
+ /* Check the VAVGDiff */
+ if (_FilterData(Default_ZeroVal) > _FilterData(NoDelay_ZeroVal))
+ IdealVAVGDiff = _FilterData(Default_ZeroVal) - _FilterData(NoDelay_ZeroVal);
+ else
+ IdealVAVGDiff = _FilterData(NoDelay_ZeroVal) - _FilterData(Default_ZeroVal);
+ if (IdealVAVGDiff > MAX_VAVGDiff)
+ MinVAVGDiff = IdealVAVGDiff - MAX_VAVGDiff;
+ else
+ MinVAVGDiff = 0;
+ MaxVAVGDiff = IdealVAVGDiff + MAX_VAVGDiff;
+ if (VAVGDiff < MinVAVGDiff || VAVGDiff > MaxVAVGDiff) {
+ WrapAroundFlag = 1;
+ } else {
+ /* Go through filtering check */
+
+ /* StdDevLimit Damper on SNR */
+ StdDevLimit = _filter_StdDevDamper(m_rtnAmbientRate, m_rtnSignalRate, StdDevLimitLowLight, StdDevLimitLowLightSNR, StdDevLimitHighLight, StdDevLimitHighLightSNR);
+
+ /* Standard deviations computations */
+ StdDevSamples = 0;
+ StdDevDistanceSum = 0;
+ StdDevDistanceMean = 0;
+ StdDevDistance = 0;
+ StdDevRateSum = 0;
+ StdDevRateMean = 0;
+ StdDevRate = 0;
+ for (i = 0; (i < FILTER_NBOF_SAMPLES) && (StdDevSamples < FILTER_STDDEV_SAMPLES); i++) {
+ if (_FilterData(LastTrueRange)[i] != FILTER_INVALID_DISTANCE) {
+ StdDevSamples = (uint16_t) (StdDevSamples + 1);
+ StdDevDistanceSum = (uint32_t) (StdDevDistanceSum + _FilterData(LastTrueRange)[i]);
+ StdDevRateSum = (uint32_t) (StdDevRateSum + _FilterData(LastReturnRates)[i]);
+ }
+ }
+ if (StdDevSamples > 0) {
+ StdDevDistanceMean = (uint32_t) (StdDevDistanceSum / StdDevSamples);
+ StdDevRateMean = (uint32_t) (StdDevRateSum / StdDevSamples);
+ }
+ /* TODO optimize shorten Std dev in aisngle loop computation using sum of x2 - (sum of x)2 */
+ StdDevSamples = 0;
+ StdDevDistanceSum = 0;
+ StdDevRateSum = 0;
+ for (i = 0; (i < FILTER_NBOF_SAMPLES) && (StdDevSamples < FILTER_STDDEV_SAMPLES); i++) {
+ if (_FilterData(LastTrueRange)[i] != FILTER_INVALID_DISTANCE) {
+ StdDevSamples = (uint16_t) (StdDevSamples + 1);
+ StdDevDistanceSum = (uint32_t) (StdDevDistanceSum + (int) (_FilterData(LastTrueRange)[i] - StdDevDistanceMean) * (int) (_FilterData(LastTrueRange)[i] - StdDevDistanceMean));
+ StdDevRateSum = (uint32_t) (StdDevRateSum + (int) (_FilterData(LastReturnRates)[i] - StdDevRateMean) * (int) (_FilterData(LastReturnRates)[i] - StdDevRateMean));
+ }
+ }
+ if (StdDevSamples >= MIN_FILTER_STDDEV_SAMPLES) {
+ StdDevDistance = (uint16_t) (StdDevDistanceSum / StdDevSamples);
+ StdDevRate = (uint16_t) (StdDevRateSum / StdDevSamples);
+ } else {
+ StdDevDistance = 0;
+ StdDevRate = 0;
+ }
+
+ /* Check Return rate standard deviation */
+ if (StdDevRate < StdDevMovingTargetStdDevLimit) {
+ if (StdDevSamples < MIN_FILTER_VALID_STDDEV_SAMPLES) {
+ m_newTrueRange_mm = MaxOrInvalidDistance;
+ } else {
+ /* Check distance standard deviation */
+ if (StdDevRate < StdDevMovingTargetReturnRateLimit)
+ StdDevLimitWithTargetMove = StdDevLimit + (((StdDevMovingTargetStdDevForReturnRateLimit - StdDevLimit) * StdDevRate) / StdDevMovingTargetReturnRateLimit);
+ else
+ StdDevLimitWithTargetMove = StdDevMovingTargetStdDevForReturnRateLimit;
+
+ if ((StdDevDistance * StdDevHighConfidenceSNRLimit) < StdDevLimitWithTargetMove) {
+ NoWrapAroundHighConfidenceFlag = 1;
+ } else {
+ if (StdDevDistance < StdDevLimitWithTargetMove) {
+ if (StdDevSamples >= MIN_FILTER_VALID_STDDEV_SAMPLES) {
+ NoWrapAroundFlag = 1;
+ } else {
+ m_newTrueRange_mm = MaxOrInvalidDistance;
+ }
+ } else {
+ WrapAroundFlag = 1;
+ }
+ }
+ }
+ } else {
+ WrapAroundFlag = 1;
+ }
+ }
+
+ if (m_newTrueRange_mm == MaxOrInvalidDistance) {
+ if (_FilterData(StdFilteredReads) > 0)
+ _FilterData(StdFilteredReads) = (uint16_t) (_FilterData(StdFilteredReads) - 1);
+ } else {
+ if (WrapAroundFlag == 1) {
+ m_newTrueRange_mm = MaxOrInvalidDistance;
+ _FilterData(StdFilteredReads) = (uint16_t) (_FilterData(StdFilteredReads) + StdFilteredReadsIncrement);
+ if (_FilterData(StdFilteredReads) > StdMaxFilteredReads)
+ _FilterData(StdFilteredReads) = StdMaxFilteredReads;
+ } else {
+ if (NoWrapAroundFlag == 1) {
+ if (_FilterData(StdFilteredReads) > 0) {
+ m_newTrueRange_mm = MaxOrInvalidDistance;
+ if (_FilterData(StdFilteredReads) > StdFilteredReadsIncrement)
+ _FilterData(StdFilteredReads) = (uint16_t) (_FilterData(StdFilteredReads) - StdFilteredReadsIncrement);
+ else
+ _FilterData(StdFilteredReads) = 0;
+ }
+ } else {
+ if (NoWrapAroundHighConfidenceFlag == 1) {
+ _FilterData(StdFilteredReads) = 0;
+ }
+ }
+ }
+ }
+
+ return m_newTrueRange_mm;
+ done_err:
+ return -1;
+
+ #undef MaxOrInvalidDistance
+}
+
+
+int VL6180X::_filter_GetResult(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData) {
+ uint32_t m_rawRange_mm = 0;
+ int32_t FilteredRange;
+ const uint8_t scaler = _GetUpscale(dev);
+ uint8_t u8;
+ int status;
+
+ do {
+ status = VL6180x_RdByte(dev, RESULT_RANGE_RAW, &u8);
+ if (status) {
+ VL6180x_ErrLog("RESULT_RANGE_RAW rd fail");
+ break;
+ }
+ m_rawRange_mm = u8;
+
+ FilteredRange = _filter_Start(dev, pRangeData->range_mm, (m_rawRange_mm * scaler), pRangeData->rtnRate, pRangeData->rtnAmbRate, pRangeData->errorStatus);
+ if( FilteredRange<0 ){
+ status = -1;
+ break;
+ }
+ pRangeData->FilteredData.range_mm= FilteredRange;
+ pRangeData->FilteredData.rawRange_mm = m_rawRange_mm * scaler;
+ } while (0);
+ return status;
+}
+
+#undef _FilterData
+#undef FILTER_STDDEV_SAMPLES
+#undef MIN_FILTER_STDDEV_SAMPLES
+#undef MIN_FILTER_VALID_STDDEV_SAMPLES
+#undef FILTER_INVALID_DISTANCE
+
+#endif /* VL6180x_WRAP_AROUND_FILTER_SUPPORT */
+
+#ifdef VL6180x_HAVE_RATE_DATA
+
+int VL6180X::_GetRateResult(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData) {
+ uint32_t m_rtnConvTime = 0;
+ uint32_t m_rtnSignalRate = 0;
+ uint32_t m_rtnAmbientRate = 0;
+ uint32_t m_rtnSignalCount = 0;
+ uint32_t m_rtnAmbientCount = 0;
+ uint32_t m_refConvTime = 0;
+ uint32_t cRtnSignalCountMax = 0x7FFFFFFF;
+ uint32_t cDllPeriods = 6;
+ uint32_t calcConvTime = 0;
+
+ int status;
+
+ do {
+
+ status = VL6180x_RdDWord(dev, RESULT_RANGE_RETURN_SIGNAL_COUNT, &m_rtnSignalCount);
+ if (status) {
+ VL6180x_ErrLog("RESULT_RANGE_RETURN_SIGNAL_COUNT rd fail");
+ break;
+ }
+ if (m_rtnSignalCount > cRtnSignalCountMax) {
+ m_rtnSignalCount = 0;
+ }
+
+ status = VL6180x_RdDWord(dev, RESULT_RANGE_RETURN_AMB_COUNT, &m_rtnAmbientCount);
+ if (status) {
+ VL6180x_ErrLog("RESULT_RANGE_RETURN_AMB_COUNTrd fail");
+ break;
+ }
+
+
+ status = VL6180x_RdDWord(dev, RESULT_RANGE_RETURN_CONV_TIME, &m_rtnConvTime);
+ if (status) {
+ VL6180x_ErrLog("RESULT_RANGE_RETURN_CONV_TIME rd fail");
+ break;
+ }
+
+ status = VL6180x_RdDWord(dev, RESULT_RANGE_REFERENCE_CONV_TIME, &m_refConvTime);
+ if (status) {
+ VL6180x_ErrLog("RESULT_RANGE_REFERENCE_CONV_TIME rd fail");
+ break;
+ }
+
+ pRangeData->rtnConvTime = m_rtnConvTime;
+ pRangeData->refConvTime = m_refConvTime;
+
+ calcConvTime = m_refConvTime;
+ if (m_rtnConvTime > m_refConvTime) {
+ calcConvTime = m_rtnConvTime;
+ }
+ if (calcConvTime == 0)
+ calcConvTime = 63000;
+
+ m_rtnSignalRate = (m_rtnSignalCount * 1000) / calcConvTime;
+ m_rtnAmbientRate = (m_rtnAmbientCount * cDllPeriods * 1000) / calcConvTime;
+
+ pRangeData->rtnRate = m_rtnSignalRate;
+ pRangeData->rtnAmbRate = m_rtnAmbientRate;
+
+
+ } while (0);
+ return status;
+}
+#endif /* VL6180x_HAVE_RATE_DATA */
+
+
+int VL6180X::VL6180x_DMaxSetState(VL6180xDev_t dev, int state){
+ int status;
+ LOG_FUNCTION_START("%d", state);
+#if VL6180x_HAVE_DMAX_RANGING
+ VL6180xDevDataSet(dev,DMaxEnable, state);
+ if( state ){
+ status = _DMax_InitData(dev);
+ }
+ else {
+ status = 0;
+ }
+#else
+ status = NOT_SUPPORTED;
+#endif
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+int VL6180X::VL6180x_DMaxGetState(VL6180xDev_t dev){
+ int status;
+ LOG_FUNCTION_START("");
+#if VL6180x_HAVE_DMAX_RANGING
+ status = VL6180xDevDataGet(dev,DMaxEnable);
+#else
+ status = 0;
+#endif
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+
+#if VL6180x_HAVE_DMAX_RANGING
#define _DMaxData(field) VL6180xDevDataGet(dev, DMaxData.field)
-
+/*
+ * Convert fix point x.7 to KCpount per sec
+ */
#ifndef VL6180x_PLATFORM_PROVIDE_SQRT
-uint32_t VL6180X::VL6180x_SqrtUint32(uint32_t num) {
+/*
+ * 32 bit integer square root with not so bad precision (integer result) and is quite fast
+ * see http://en.wikipedia.org/wiki/Methods_of_computing_square_roots
+ */
+uint32_t VL6180x_SqrtUint32(uint32_t num) {
uint32_t res = 0;
uint32_t bit = 1 << 30; /* The second-to-top bit is set: 1 << 30 for 32 bits */
@@ -244,12 +2284,13 @@
#endif
-void VL6180X::_DMax_OneTimeInit(VL6180xDev_t dev){
+/* DMax one time init */
+void _DMax_OneTimeInit(VL6180xDev_t dev){
_DMaxData(ambTuningWindowFactor_K)=DEF_AMBIENT_TUNING;
}
-uint32_t VL6180X::_DMax_RawValueAtRateKCps(VL6180xDev_t dev, int32_t rate){
+static uint32_t _DMax_RawValueAtRateKCps(VL6180xDev_t dev, int32_t rate){
uint32_t snrLimit_K;
int32_t DMaxSq;
uint32_t RawDMax;
@@ -281,9 +2322,19 @@
return RawDMax;
}
-
-int VL6180X::_DMax_InitData(VL6180xDev_t dev)
-{
+/*
+ * fetch static data from register to avoid re-read
+ * precompute all intermediate constant and cliipings
+ *
+ * to be re-used/call on changes of :
+ * 0x2A
+ * SYSRANGE_MAX_AMBIENT_LEVEL_MULT
+ * Dev Data XtalkComRate_KCPs
+ * SYSRANGE_MAX_CONVERGENCE_TIME
+ * SYSRANGE_RANGE_CHECK_ENABLES mask RANGE_CHECK_RANGE_ENABLE_MASK
+ * range 0xb8-0xbb (0xbb)
+ */
+int VL6180X::_DMax_InitData(VL6180xDev_t dev){
int status, warning;
uint8_t u8;
uint16_t u16;
@@ -302,7 +2353,7 @@
LOG_FUNCTION_START("");
do{
- status = VL6180x_RdByte(MyDevice, 0x02A ,&u8);
+ status = VL6180x_RdByte(dev, 0x02A ,&u8);
if( status ){
VL6180x_ErrLog("Reg 0x02A rd fail");
break;
@@ -314,25 +2365,25 @@
}
Reg2A_KCps = Fix7_2_KCPs(u8); /* convert to KCPs */
- status = VL6180x_RdByte(MyDevice, SYSRANGE_RANGE_CHECK_ENABLES, &SysRangeCheckEn);
+ status = VL6180x_RdByte(dev, SYSRANGE_RANGE_CHECK_ENABLES, &SysRangeCheckEn);
if (status) {
VL6180x_ErrLog("SYSRANGE_RANGE_CHECK_ENABLES rd fail ");
break;
}
- status = VL6180x_RdByte(MyDevice, SYSRANGE_MAX_CONVERGENCE_TIME, &MaxConvTime);
+ status = VL6180x_RdByte(dev, SYSRANGE_MAX_CONVERGENCE_TIME, &MaxConvTime);
if( status){
VL6180x_ErrLog("SYSRANGE_MAX_CONVERGENCE_TIME rd fail ");
break;
}
- status = VL6180x_RdDWord(MyDevice, 0x0B8, &RegB8);
+ status = VL6180x_RdDWord(dev, 0x0B8, &RegB8);
if( status ){
VL6180x_ErrLog("reg 0x0B8 rd fail ");
break;
}
- status = VL6180x_RdByte(MyDevice, SYSRANGE_MAX_AMBIENT_LEVEL_MULT, &snrLimit);
+ status = VL6180x_RdByte(dev, SYSRANGE_MAX_AMBIENT_LEVEL_MULT, &snrLimit);
if( status){
VL6180x_ErrLog("SYSRANGE_MAX_AMBIENT_LEVEL_MULT rd fail ");
break;
@@ -349,7 +2400,7 @@
/* if xtalk range check is off omit it in snr clipping */
if( SysRangeCheckEn&RANGE_CHECK_RANGE_ENABLE_MASK ){
- status = VL6180x_RdWord(MyDevice, SYSRANGE_RANGE_IGNORE_THRESHOLD, &u16);
+ status = VL6180x_RdWord(dev, SYSRANGE_RANGE_IGNORE_THRESHOLD, &u16);
if( status){
VL6180x_ErrLog("SYSRANGE_RANGE_IGNORE_THRESHOLD rd fail ");
break;
@@ -375,10 +2426,45 @@
return status;
}
-
+static int _DMax_Compute(VL6180xDev_t dev, VL6180x_RangeData_t *pRange){
+ uint32_t rtnAmbRate;
+ int32_t DMax;
+ int scaling;
+ uint16_t HwLimitAtScale;
+ static const int ROMABLE_DATA rtnAmbLowLimit_KCps=330*1000;
+
+ rtnAmbRate = pRange->rtnAmbRate;
+ if( rtnAmbRate < rtnAmbLowLimit_KCps ){
+ DMax = _DMax_RawValueAtRateKCps( dev, rtnAmbRate);
+ scaling = _GetUpscale(dev);
+ HwLimitAtScale=UpperLimitLookUP[scaling - 1];
+
+ if( DMax > _DMaxData(ClipSnrLimit) ){
+ DMax=_DMaxData(ClipSnrLimit);
+ }
+ if( DMax > HwLimitAtScale ){
+ DMax=HwLimitAtScale;
+ }
+ pRange->DMax=DMax;
+ }
+ else{
+ pRange->DMax = 0;
+ }
+ return 0;
+}
+
+#undef _DMaxData
#undef Fix7_2_KCPs
-/* Write and read functions from I2C -----------------------------------------*/
+#endif /* VL6180x_HAVE_DMAX_RANGING */
+
+
+/******************************************************************************/
+/******************************************************************************/
+
+
+
+/****************** Write and read functions from I2C *************************/
int VL6180X::VL6180x_WrByte(VL6180xDev_t dev, uint16_t index, uint8_t data)
{
@@ -396,7 +2482,7 @@
DECL_I2C_BUFFER
VL6180x_I2C_USER_VAR
- status=VL6180x_I2CWrite(dev, index, (uint8_t *)&data,(uint8_t)4);
+ status=VL6180x_I2CWrite(MyDeviceAddress, index, (uint8_t *)&data,(uint8_t)4);
return status;
}
@@ -406,7 +2492,7 @@
DECL_I2C_BUFFER
int status;
- status=VL6180x_I2CWrite(dev, index, (uint8_t *)&data,(uint8_t)6);
+ status=VL6180x_I2CWrite(MyDeviceAddress, index, (uint8_t *)&data,(uint8_t)6);
return status;
}
@@ -431,7 +2517,7 @@
uint8_t *buffer;
DECL_I2C_BUFFER
- status=VL6180x_I2CRead(dev, index, buffer,2);
+ status=VL6180x_I2CRead(MyDeviceAddress, index, buffer,2);
if( !status ){
/* VL6180x register are Big endian if cpu is be direct read direct into *data is possible */
*data=((uint16_t)buffer[0]<<8)|(uint16_t)buffer[1];
@@ -447,7 +2533,7 @@
DECL_I2C_BUFFER
- status=VL6180x_I2CRead(dev, index, buffer,4);
+ status=VL6180x_I2CRead(MyDeviceAddress, index, buffer,4);
if( !status ){
/* VL6180x register are Big endian if cpu is be direct read direct into data is possible */
*data=((uint32_t)buffer[0]<<24)|((uint32_t)buffer[1]<<16)|((uint32_t)buffer[2]<<8)|((uint32_t)buffer[3]);
@@ -455,14 +2541,34 @@
return status;
}
+int VL6180X::VL6180x_UpdateByte(VL6180xDev_t dev, uint16_t index, uint8_t AndData, uint8_t OrData){
+ VL6180x_I2C_USER_VAR
+ int status;
+ uint8_t *buffer;
+ DECL_I2C_BUFFER
+
+ status=VL6180x_I2CWrite(MyDeviceAddress, index, (uint8_t *)buffer,(uint8_t)2);
+ if( !status ){
+ /* read data direct onto buffer */
+ status=VL6180x_I2CRead(dev, index, &buffer[2],1);
+ if( !status ){
+ buffer[2]=(buffer[2]&AndData)|OrData;
+ status=VL6180x_I2CWrite(dev, index, buffer, (uint8_t)3);
+ }
+ }
+
+ 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;
- uint8_t *array;
+ uint16_t WriteDeviceAddr=0;
+ WriteDeviceAddr=DeviceAddr*2;
if(NumByteToWrite >= TEMP_BUF_SIZE) return -2;
/* First, send 8 bits device address and 16 bits register address in BE format. Then, send data and STOP condition */
@@ -471,16 +2577,16 @@
if(NumByteToWrite>1)
{
- array=new uint8_t[NumByteToWrite];
for(i=0;i<NumByteToWrite;i++)
{
- array[NumByteToWrite-1-i]=pBuffer[i];
+ tmp[NumByteToWrite+1-i]=pBuffer[i];
}
}
-
- memcpy(tmp+2, array, NumByteToWrite);
-
- ret = dev_i2c.write(DeviceAddr, (const char*)tmp, NumByteToWrite+sizeof(RegisterAddr), false);
+ else
+ {
+ memcpy(tmp+2, pBuffer, NumByteToWrite);
+ }
+ ret = dev_i2c.write(WriteDeviceAddr, (const char*)tmp, NumByteToWrite+sizeof(RegisterAddr), false);
if(ret) return -1;
return 0;
@@ -491,39 +2597,40 @@
int ret;
uint16_t myRegisterAddr = RegisterAddr;
uint16_t myRegisterAddrBE;
-
+ uint16_t ReadDeviceAddr=DeviceAddr;
+
+ ReadDeviceAddr=DeviceAddr*2;
myRegisterAddrBE = *(((uint8_t*)&myRegisterAddr)+1);
*(((uint8_t*)&myRegisterAddrBE)+1) = (uint8_t)myRegisterAddr;
/* Send 8 bits device address and 16 bits register address in BE format, with no STOP condition */
- ret = dev_i2c.write(DeviceAddr, (const char*)&myRegisterAddrBE, sizeof(RegisterAddr), true);
+ ret = dev_i2c.write(ReadDeviceAddr, (const char*)&myRegisterAddrBE, sizeof(RegisterAddr), true);
if(!ret) {
+ ReadDeviceAddr|=0x001;
/* Read data, with STOP condition */
- ret = dev_i2c.read(DeviceAddr, (char*)pBuffer, NumByteToRead, false);
+ ret = dev_i2c.read(ReadDeviceAddr, (char*)pBuffer, NumByteToRead, false);
}
if(ret) return -1;
return 0;
}
-/* IO read funcitons ---------------------------------------------------------*/
-
-int VL6180X::VL6180X_ReadID(uint8_t *rl_id)
+/****************** IO read funcitons *****************************************/
+
+int VL6180X::VL6180X_ReadID()
{
- if(!rl_id)
- {
- return API_ERROR; // DA DEFINIRE IL TIPO DI ERRORE!!
- }
- return VL6180X_IO_Read(rl_id, IDENTIFICATION_MODEL_ID, 1);
+ uint8_t rl_id;
+
+ return VL6180X_IO_Read(&rl_id, IDENTIFICATION_MODEL_ID, 1);
}
int VL6180X::VL6180X_IO_Read(uint8_t *pBuffer, uint8_t RegisterAddress, uint16_t NumByteToRead)
{
- int lecture;
+ int status;
- lecture=dev_i2c.i2c_read(pBuffer, MyDeviceAddress, RegisterAddress, NumByteToRead);
- if(lecture!=0)
+ status=VL6180x_I2CRead(MyDeviceAddress, RegisterAddress, pBuffer, NumByteToRead);
+ if(status!=0)
{
return INVALID_PARAMS; // DA DEFINIRE IL TIPO DI ERRORE!!
}
@@ -531,4 +2638,6 @@
}
+
+
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- a/Components/VL6180X/vl6180x_class.h Fri Sep 18 13:19:50 2015 +0000
+++ b/Components/VL6180X/vl6180x_class.h Fri Sep 25 12:12:51 2015 +0200
@@ -48,84 +48,84 @@
#include "vl6180x_types.h"
#include "vl6180x_platform.h"
#include "vl6180x_appcfg.h"
+#include "STMPE1600_class.h"
/** default device address */
#define DEFAULT_DEVICE_ADDRESS 0x29
-/** default value ECE factor Molecular */
-#define DEF_ECE_FACTOR_M 85
-/** default value ECE factor Denominator */
-#define DEF_ECE_FACTOR_D 100
-/** default value ALS integration time */
-#define DEF_INT_PEFRIOD 100
-/** default value ALS gain */
-#define DEF_ALS_GAIN 1
-/** default value ALS scaler */
-#define DEF_ALS_SCALER 1
-/** default value for DMAX Enbale */
-#define DEF_DMAX_ENABLE 1
-/** default ambient tuning factor %x1000 */
-#define DEF_AMBIENT_TUNING 80
-
-/*
-typedef struct
-{
- struct VL6180xDevData_t Data;
- uint8_t I2cAddr;
- uint8_t DevID;
-
- unsigned Present;
- unsigned Ready;
-}MyVL6180xDev_t;
-*/
/* Classes -------------------------------------------------------------------*/
/** Class representing a VL6180X sensor component
*/
-class VL6180X : public RangeSensor, public LightSensor {
+class VL6180X : public RangeSensor, public LightSensor
+{
public:
/** Constructor
* @param[in] i2c device I2C to be used for communication
+ * @param[in] digital out pin/STMPE1600DigiOut pin to be used for GPIO expander communication
* @param[in] device address, 0x29 by default
- */
- VL6180X(DevI2C &i2c, uint8_t DevAddr=DEFAULT_DEVICE_ADDRESS) : RangeSensor(), LightSensor(), dev_i2c(i2c)
- {
- MyDeviceAddress=DevAddr;
- RangeLight_id=0;
- //MyDevice.I2cAddr=DevAddr;
- //MyDevice.DeviID=0;
- //MyDevice.Present=0;
- //MyDevice.Ready=0;
- //oppure MyVL6180xDev_t MyDevice={DevAddr, 0, 0, 0};
- }
-
- /** Destructor
+ * @param[in] device id, 0 by default
*/
- /*virtual ~VL6180X()
- {
- // delete[] memory allocated
- VL6180x_SetupGPIOx(MyDevice, 0, 0, 0);
- } */
+
+
+ VL6180X(DevI2C &i2c, DigitalOut &pin, uint8_t DevAddr=DEFAULT_DEVICE_ADDRESS) : RangeSensor(), LightSensor(), dev_i2c(i2c), gpio0(&pin)
+ {
+ MyDeviceAddress=DevAddr;
+ Present=0;
+ Ready=0;
+ }
+
+ VL6180X(DevI2C &i2c, STMPE1600DigiOut &pin, uint8_t DevAddr=DEFAULT_DEVICE_ADDRESS) : RangeSensor(), LightSensor(), dev_i2c(i2c), expgpio0(&pin)
+ {
+ MyDeviceAddress=DevAddr;
+ Present=0;
+ Ready=0;
+ }
+
- // funzione che setta il paremetro DevID: SetDevID(int n)
- // funzione che setta il parametro Present: SetPresent(int n)
- // funzione che setta il parametro Ready: SetReady(int n)
- // funzione che modifica lo slave address: SetI2CAddress(VL6180xDev_t MyDevice, uint8_t NewAddress))
-
+ /** Destructor
+ */
+ //~VL6180X(){}
+
+
+ void VL6180x_On(void) {
+ if (gpio0) *gpio0=1;
+ else if (expgpio0) *expgpio0=1;
+ }
+
+ void VL6180x_Off(void) {
+ if (gpio0) *gpio0=0;
+ else if (expgpio0) *expgpio0=0;
+ }
+ //Init sensor accende, legge id, inizializza il dispositivo e prepara per le misure (range, als)
+ //altrimenti errore e cancello dalla board
+
/*** Interface Methods ***/
- // nel momento in cui creo la classe x_nucleo_6180xa1, all'interno definisco un oggetto VL6180xDev_t MyDevice
- // definisco una funzione Init() che chiama a sua volta la seguente funzione Init() e gli passo MyDevice
- /*virtual*/ int Init() //par:void *init_struct
+ /*virtual*/ int Init()
{
- return VL6180x_InitData(MyDevice); // a questa funzione devo passare il parametro di Init()
+ return VL6180x_InitData(MyDeviceAddress); // ritorna 0 se corretto
}
- // nel momento in cui creo la classe x_nucleo_6180xa1, all'interno definisco un oggetto uint_t *RangeLight_id
- // definisco una funzione ReadID() che chiama a sua volta la seguente funzione ReadID() e gli passo RangeLight_id
- /*virtual*/ int ReadID() //par:uint8_t *rl_id
+ /*virtual*/ int ReadID()
{
- return VL6180X_ReadID(&RangeLight_id); // a questa funzione devo passare il parametro di ReadID()
+ return VL6180X_ReadID(); // ritorna 0 se corretto e -2 se errore
}
-
+ /*
+
+ void SetPresent()
+ {
+ MyDevice.Present=1;
+ }
+
+ void SetDeviceID(int n)
+ {
+ MyDevice.DevID=n;
+ }
+
+ void SetReady()
+ {
+ MyDevice.Ready=1;
+ }
+
/*
virtual int GetRange(int *piData) {
return VL6180X_GetRange(piData);
@@ -134,17 +134,73 @@
virtual int GetLight(int *piData) {
return VL6180X_GetLight(piData);
}
- */
-
- /* Initialization functions */
- int VL6180x_InitData(VL6180xDev_t dev);
- /*static*/ int _DMax_InitData(VL6180xDev_t dev);
- void _DMax_OneTimeInit(VL6180xDev_t dev);
- /*static*/ uint32_t _DMax_RawValueAtRateKCps(VL6180xDev_t dev, int32_t rate);
- uint32_t VL6180x_SqrtUint32(uint32_t num);
- /* IO read funcitons */
- int VL6180X_ReadID(uint8_t *rl_id);
+ /* api.c 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 );
+ 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 functions from registers and write functions into registers */
+ int VL6180X_ReadID();
int VL6180X_IO_Read(uint8_t *pBuffer, uint8_t RegisterAddress, uint16_t NumByteToRead);
/* Write and read functions from I2C */
@@ -154,28 +210,21 @@
int VL6180x_RdByte(VL6180xDev_t dev, uint16_t index, uint8_t *data);
int VL6180x_RdWord(VL6180xDev_t dev, uint16_t index, uint16_t *data);
int VL6180x_RdDWord(VL6180xDev_t dev, uint16_t index, uint32_t *data);
+ int VL6180x_UpdateByte(VL6180xDev_t dev, uint16_t index, uint8_t AndData, uint8_t OrData);
int VL6180x_I2CWrite(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t *pBuffer, uint16_t NumByteToWrite);
int VL6180x_I2CRead(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t *pBuffer, uint16_t NumByteToRead);
-
-
+
private:
- /*** Methods ***/
-
-
-
-
/*** Instance Variables ***/
/* IO Device */
- //temporaneo
- DevI2C &dev_i2c; // creo questa variabile in x_nucleo_6180xa1.h allo stesso modo e poi passo al costruttore del MyDevice il suo indirizzo
- //MyVL6180xDev_t MyDevice; in sostituzione di VL6180xDev_t sotto
+ DevI2C &dev_i2c;
+ DigitalOut *gpio0;
+ STMPE1600DigiOut *expgpio0;
- /* VL6180X Device */
- uint8_t MyDeviceAddress;
- //temporanei
- VL6180xDev_t MyDevice; // creo questa variabile in x_nucleo_6180xa1.h allo stesso modo e poi passo alla funzione Init()
- uint8_t RangeLight_id; // creo questa variabile in x_nucleo_6180xa1.h allo stesso modo e poi passo alla funzione ReadID() il suo indirizzo
+ VL6180xDev_t MyDeviceAddress;
+ unsigned Present;
+ unsigned Ready;
};
--- a/x_nucleo_6180xa1.h Fri Sep 18 13:19:50 2015 +0000
+++ b/x_nucleo_6180xa1.h Fri Sep 25 12:12:51 2015 +0200
@@ -54,26 +54,37 @@
protected:
public:
- X_NUCLEO_VL6180XA1(); // verificare se necessario passare come argomento un dev_i2c
- bool VL6180X_Init(); // controlla la presenza del sensore , chiamo Prepare() e setto ready
- // modificare l'indirizzo i2c dei sensori (slave address)
+ X_NUCLEO_VL6180XA1(DevI2C *i2c)): dev_i2c(i2c),
+ vl6180x_top(new VL6180X()),
+ vl6180x_left(new VL6180X()),
+ vl6180x_bottom(new VL6180X()),
+ vl6180x_right(new VL6180X()),
+ display(new Display(i2c)),
+ gpio_expander(i2c));
- VL6180X *vl6180x_sensor;
+ VL6180X *vl6180x_top;
+ VL6180X *vl6180x_left;
+ VL6180X *vl6180x_bottom;
+ VL6180X *vl6180x_right;
Display *display;
GPIO_expander *gpio_expander;
DevI2C *dev_i2c;
- //posso creare 4 puntatori a istanze di tipo VL6180X, con i nomi della board(S1, left, bottom, right)
- //oppure posso creare un vettore di VL6180X di dimensione 4 per contenere tutti i sensori
- //dopo tengo traccia di quali sensori sono presenti e funzionanti
+ X_NUCLEO_VL6180XA1 *Instance(DevI2C *i2c)
+ {
+ if(_instance==NULL)
+ _instance=new X_NUCLEO_6180XA1(i2c);
+ else
+ errore
+ }
private:
- static X_NUCLEO_IKS01A1 *instance;
+ static X_NUCLEO_6180XA1 *_instance;
}
*/
-#endif /* __X_NUCLEO_6180XA1_H */
\ No newline at end of file
+#endif /* __X_NUCLEO_6180XA1_H */
X-NUCLEO-6180XA1 Proximity and Ambient Light Sensor