Mustapha hamdi / Light_Sensor_Nucleo

INSAT Mini Project

Dependencies:   ST_INTERFACES X_NUCLEO_COMMON

Fork of X_NUCLEO_6180XA1 by ST

Components/VL6180X/vl6180x_class.cpp@7:2dc81120c917, 2015-09-25 (annotated)

Committer:
gallonm
Date:
Fri Sep 25 12:12:51 2015 +0200
Revision:
7:2dc81120c917
Parent:
4:a5abf7757947
Child:
8:f943a1fca15f
update files

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gallonm 1:1de1ea2994d9 1 /**
gallonm 1:1de1ea2994d9 2 ******************************************************************************
gallonm 1:1de1ea2994d9 3 * @file vl6180x_class.cpp
gallonm 1:1de1ea2994d9 4 * @author AST / EST
gallonm 1:1de1ea2994d9 5 * @version V0.0.1
gallonm 1:1de1ea2994d9 6 * @date 14-April-2015
gallonm 1:1de1ea2994d9 7 * @brief Implementation file for the HTS221 driver class
gallonm 1:1de1ea2994d9 8 ******************************************************************************
gallonm 1:1de1ea2994d9 9 * @attention
gallonm 1:1de1ea2994d9 10 *
gallonm 1:1de1ea2994d9 11 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
gallonm 1:1de1ea2994d9 12 *
gallonm 1:1de1ea2994d9 13 * Redistribution and use in source and binary forms, with or without modification,
gallonm 1:1de1ea2994d9 14 * are permitted provided that the following conditions are met:
gallonm 1:1de1ea2994d9 15 * 1. Redistributions of source code must retain the above copyright notice,
gallonm 1:1de1ea2994d9 16 * this list of conditions and the following disclaimer.
gallonm 1:1de1ea2994d9 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
gallonm 1:1de1ea2994d9 18 * this list of conditions and the following disclaimer in the documentation
gallonm 1:1de1ea2994d9 19 * and/or other materials provided with the distribution.
gallonm 1:1de1ea2994d9 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
gallonm 1:1de1ea2994d9 21 * may be used to endorse or promote products derived from this software
gallonm 1:1de1ea2994d9 22 * without specific prior written permission.
gallonm 1:1de1ea2994d9 23 *
gallonm 1:1de1ea2994d9 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
gallonm 1:1de1ea2994d9 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
gallonm 1:1de1ea2994d9 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
gallonm 1:1de1ea2994d9 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
gallonm 1:1de1ea2994d9 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
gallonm 1:1de1ea2994d9 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
gallonm 1:1de1ea2994d9 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
gallonm 1:1de1ea2994d9 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
gallonm 1:1de1ea2994d9 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
gallonm 1:1de1ea2994d9 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
gallonm 1:1de1ea2994d9 34 *
gallonm 1:1de1ea2994d9 35 ******************************************************************************
gallonm 1:1de1ea2994d9 36 */
gallonm 1:1de1ea2994d9 37
gallonm 7:2dc81120c917 38 /* Includes */
gallonm 1:1de1ea2994d9 39 #include "vl6180x_class.h"
gallonm 1:1de1ea2994d9 40
gallonm 7:2dc81120c917 41 /****************** define for i2c configuration *******************************/
gallonm 4:a5abf7757947 42
gallonm 4:a5abf7757947 43 #define I2C_BUFFER_CONFIG 1
gallonm 4:a5abf7757947 44 #define VL6180x_I2C_USER_VAR
gallonm 4:a5abf7757947 45 #define TEMP_BUF_SIZE 32
gallonm 4:a5abf7757947 46
gallonm 4:a5abf7757947 47 #ifndef I2C_BUFFER_CONFIG
gallonm 4:a5abf7757947 48 #error "I2C_BUFFER_CONFIG not defined"
gallonm 4:a5abf7757947 49 /* TODO you must define value for I2C_BUFFER_CONFIG in configuration or platform h */
gallonm 4:a5abf7757947 50 #endif
gallonm 4:a5abf7757947 51
gallonm 4:a5abf7757947 52
gallonm 4:a5abf7757947 53 #if I2C_BUFFER_CONFIG == 0
gallonm 4:a5abf7757947 54 /* GLOBAL config buffer */
gallonm 4:a5abf7757947 55 uint8_t i2c_global_buffer[VL6180x_MAX_I2C_XFER_SIZE];
gallonm 4:a5abf7757947 56
gallonm 4:a5abf7757947 57 #define DECL_I2C_BUFFER
gallonm 4:a5abf7757947 58 #define VL6180x_GetI2cBuffer(dev, n_byte) i2c_global_buffer
gallonm 4:a5abf7757947 59
gallonm 4:a5abf7757947 60 #elif I2C_BUFFER_CONFIG == 1
gallonm 4:a5abf7757947 61 /* ON STACK */
gallonm 4:a5abf7757947 62 #define DECL_I2C_BUFFER uint8_t LocBuffer[VL6180x_MAX_I2C_XFER_SIZE];
gallonm 4:a5abf7757947 63 #define VL6180x_GetI2cBuffer(dev, n_byte) LocBuffer
gallonm 4:a5abf7757947 64 #elif I2C_BUFFER_CONFIG == 2
gallonm 4:a5abf7757947 65 /* user define buffer type declare DECL_I2C_BUFFER as access via VL6180x_GetI2cBuffer */
gallonm 4:a5abf7757947 66 #define DECL_I2C_BUFFER
gallonm 4:a5abf7757947 67 #else
gallonm 4:a5abf7757947 68 #error "invalid I2C_BUFFER_CONFIG "
gallonm 4:a5abf7757947 69 #endif
gallonm 4:a5abf7757947 70
gallonm 7:2dc81120c917 71 #define IsValidGPIOFunction(x) ((x)==GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT || (x)==GPIOx_SELECT_OFF)
gallonm 7:2dc81120c917 72
gallonm 7:2dc81120c917 73
gallonm 7:2dc81120c917 74
gallonm 7:2dc81120c917 75 /******************************************************************************/
gallonm 7:2dc81120c917 76 /******************************* file api.c ***********************************/
gallonm 7:2dc81120c917 77
gallonm 7:2dc81120c917 78 #define VL6180x_9to7Conv(x) (x)
gallonm 7:2dc81120c917 79
gallonm 7:2dc81120c917 80 /* TODO when set all "cached" value with "default init" are updated after init from register read back */
gallonm 7:2dc81120c917 81 #define REFRESH_CACHED_DATA_AFTER_INIT 1
gallonm 7:2dc81120c917 82
gallonm 7:2dc81120c917 83
gallonm 7:2dc81120c917 84 #define IsValidGPIOFunction(x) ((x)==GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT || (x)==GPIOx_SELECT_OFF)
gallonm 7:2dc81120c917 85
gallonm 7:2dc81120c917 86
gallonm 7:2dc81120c917 87 /** default value ECE factor Molecular */
gallonm 7:2dc81120c917 88 #define DEF_ECE_FACTOR_M 85
gallonm 7:2dc81120c917 89 /** default value ECE factor Denominator */
gallonm 7:2dc81120c917 90 #define DEF_ECE_FACTOR_D 100
gallonm 7:2dc81120c917 91 /** default value ALS integration time */
gallonm 7:2dc81120c917 92 #define DEF_INT_PEFRIOD 100
gallonm 7:2dc81120c917 93 /** default value ALS gain */
gallonm 7:2dc81120c917 94 #define DEF_ALS_GAIN 1
gallonm 7:2dc81120c917 95 /** default value ALS scaler */
gallonm 7:2dc81120c917 96 #define DEF_ALS_SCALER 1
gallonm 7:2dc81120c917 97 /** default value for DMAX Enbale */
gallonm 7:2dc81120c917 98 #define DEF_DMAX_ENABLE 1
gallonm 7:2dc81120c917 99 /** default ambient tuning factor %x1000 */
gallonm 7:2dc81120c917 100 #define DEF_AMBIENT_TUNING 80
gallonm 7:2dc81120c917 101
gallonm 7:2dc81120c917 102 #if VL6180x_SINGLE_DEVICE_DRIVER
gallonm 7:2dc81120c917 103 extern struct VL6180xDevData_t SingleVL6180xDevData;
gallonm 7:2dc81120c917 104 #define VL6180xDevDataGet(dev, field) (SingleVL6180xDevData.field)
gallonm 7:2dc81120c917 105 #define VL6180xDevDataSet(dev, field, data) SingleVL6180xDevData.field=(data)
gallonm 7:2dc81120c917 106 #endif
gallonm 7:2dc81120c917 107
gallonm 7:2dc81120c917 108 #define LUXRES_FIX_PREC 8
gallonm 7:2dc81120c917 109 #define GAIN_FIX_PREC 8 /* ! if not sme as LUX_PREC then :( adjust GetLux */
gallonm 7:2dc81120c917 110 #define AN_GAIN_MULT (1<<GAIN_FIX_PREC)
gallonm 7:2dc81120c917 111
gallonm 7:2dc81120c917 112
gallonm 7:2dc81120c917 113 static int32_t _GetAveTotalTime(VL6180xDev_t dev);
gallonm 7:2dc81120c917 114 static int VL6180x_RangeSetEarlyConvergenceEestimateThreshold(VL6180xDev_t dev);
gallonm 7:2dc81120c917 115
gallonm 7:2dc81120c917 116 /**
gallonm 7:2dc81120c917 117 * ScalerLookUP scaling factor-1 to register #RANGE_SCALER lookup
gallonm 7:2dc81120c917 118 */
gallonm 7:2dc81120c917 119 static const uint16_t ScalerLookUP[] ROMABLE_DATA ={ 253, 127, 84}; /* lookup table for scaling->scalar 1x2x 3x */
gallonm 7:2dc81120c917 120 /**
gallonm 7:2dc81120c917 121 * scaling factor to Upper limit look up
gallonm 7:2dc81120c917 122 */
gallonm 7:2dc81120c917 123 static const uint16_t UpperLimitLookUP[] ROMABLE_DATA ={ 185, 370, 580}; /* lookup table for scaling->limit 1x2x3x */
gallonm 7:2dc81120c917 124 /**
gallonm 7:2dc81120c917 125 * Als Code gain to fix point gain lookup
gallonm 7:2dc81120c917 126 */
gallonm 7:2dc81120c917 127 static const uint16_t AlsGainLookUp[8] ROMABLE_DATA = {
gallonm 7:2dc81120c917 128 (uint16_t)(20.0f * AN_GAIN_MULT),
gallonm 7:2dc81120c917 129 (uint16_t)(10.0f * AN_GAIN_MULT),
gallonm 7:2dc81120c917 130 (uint16_t)(5.0f * AN_GAIN_MULT),
gallonm 7:2dc81120c917 131 (uint16_t)(2.5f * AN_GAIN_MULT),
gallonm 7:2dc81120c917 132 (uint16_t)(1.67f * AN_GAIN_MULT),
gallonm 7:2dc81120c917 133 (uint16_t)(1.25f * AN_GAIN_MULT),
gallonm 7:2dc81120c917 134 (uint16_t)(1.0f * AN_GAIN_MULT),
gallonm 7:2dc81120c917 135 (uint16_t)(40.0f * AN_GAIN_MULT),
gallonm 7:2dc81120c917 136 };
gallonm 7:2dc81120c917 137
gallonm 7:2dc81120c917 138
gallonm 7:2dc81120c917 139 #if VL6180x_RANGE_STATUS_ERRSTRING
gallonm 7:2dc81120c917 140 const char * ROMABLE_DATA VL6180x_RangeStatusErrString[]={
gallonm 7:2dc81120c917 141 "No Error",
gallonm 7:2dc81120c917 142 "VCSEL Continuity Test",
gallonm 7:2dc81120c917 143 "VCSEL Watchdog Test",
gallonm 7:2dc81120c917 144 "VCSEL Watchdog",
gallonm 7:2dc81120c917 145 "PLL1 Lock",
gallonm 7:2dc81120c917 146 "PLL2 Lock",
gallonm 7:2dc81120c917 147 "Early Convergence Estimate",
gallonm 7:2dc81120c917 148 "Max Convergence",
gallonm 7:2dc81120c917 149 "No Target Ignore",
gallonm 7:2dc81120c917 150 "Not used 9",
gallonm 7:2dc81120c917 151 "Not used 10",
gallonm 7:2dc81120c917 152 "Max Signal To Noise Ratio",
gallonm 7:2dc81120c917 153 "Raw Ranging Algo Underflow",
gallonm 7:2dc81120c917 154 "Raw Ranging Algo Overflow",
gallonm 7:2dc81120c917 155 "Ranging Algo Underflow",
gallonm 7:2dc81120c917 156 "Ranging Algo Overflow",
gallonm 7:2dc81120c917 157
gallonm 7:2dc81120c917 158 "Filtered by post processing"
gallonm 7:2dc81120c917 159 };
gallonm 7:2dc81120c917 160
gallonm 7:2dc81120c917 161 const char * VL6180x_RangeGetStatusErrString(uint8_t RangeErrCode){
gallonm 7:2dc81120c917 162 if( RangeErrCode > sizeof(VL6180x_RangeStatusErrString)/sizeof(VL6180x_RangeStatusErrString[0]) )
gallonm 7:2dc81120c917 163 return NULL;
gallonm 7:2dc81120c917 164 return VL6180x_RangeStatusErrString[RangeErrCode];
gallonm 7:2dc81120c917 165 }
gallonm 7:2dc81120c917 166 #endif
gallonm 7:2dc81120c917 167
gallonm 7:2dc81120c917 168 #if VL6180x_UPSCALE_SUPPORT == 1
gallonm 7:2dc81120c917 169 #define _GetUpscale(dev, ... ) 1
gallonm 7:2dc81120c917 170 #define _SetUpscale(...) -1
gallonm 7:2dc81120c917 171 #define DEF_UPSCALE 1
gallonm 7:2dc81120c917 172 #elif VL6180x_UPSCALE_SUPPORT == 2
gallonm 7:2dc81120c917 173 #define _GetUpscale(dev, ... ) 2
gallonm 7:2dc81120c917 174 #define _SetUpscale(...)
gallonm 7:2dc81120c917 175 #define DEF_UPSCALE 2
gallonm 7:2dc81120c917 176 #elif VL6180x_UPSCALE_SUPPORT == 3
gallonm 7:2dc81120c917 177 #define _GetUpscale(dev, ... ) 3
gallonm 7:2dc81120c917 178 #define _SetUpscale(...)
gallonm 7:2dc81120c917 179 #define DEF_UPSCALE 3
gallonm 7:2dc81120c917 180 #else
gallonm 7:2dc81120c917 181 #define DEF_UPSCALE (-(VL6180x_UPSCALE_SUPPORT))
gallonm 7:2dc81120c917 182 #define _GetUpscale(dev, ... ) VL6180xDevDataGet(dev, UpscaleFactor)
gallonm 7:2dc81120c917 183 #define _SetUpscale(dev, Scaling ) VL6180xDevDataSet(dev, UpscaleFactor, Scaling)
gallonm 7:2dc81120c917 184 #endif
gallonm 7:2dc81120c917 185
gallonm 7:2dc81120c917 186
gallonm 7:2dc81120c917 187 #if VL6180x_SINGLE_DEVICE_DRIVER
gallonm 7:2dc81120c917 188 /**
gallonm 7:2dc81120c917 189 * the unique driver data When single device driver is active
gallonm 7:2dc81120c917 190 */
gallonm 7:2dc81120c917 191 struct VL6180xDevData_t VL6180x_DEV_DATA_ATTR SingleVL6180xDevData={
gallonm 7:2dc81120c917 192 .EceFactorM = DEF_ECE_FACTOR_M,
gallonm 7:2dc81120c917 193 .EceFactorD = DEF_ECE_FACTOR_D,
gallonm 7:2dc81120c917 194 #ifdef VL6180x_HAVE_UPSCALE_DATA
gallonm 7:2dc81120c917 195 .UpscaleFactor = DEF_UPSCALE,
gallonm 7:2dc81120c917 196 #endif
gallonm 7:2dc81120c917 197 #ifdef VL6180x_HAVE_ALS_DATA
gallonm 7:2dc81120c917 198 .IntegrationPeriod = DEF_INT_PEFRIOD,
gallonm 7:2dc81120c917 199 .AlsGainCode = DEF_ALS_GAIN,
gallonm 7:2dc81120c917 200 .AlsScaler = DEF_ALS_SCALER,
gallonm 7:2dc81120c917 201 #endif
gallonm 7:2dc81120c917 202 #ifdef VL6180x_HAVE_DMAX_RANGING
gallonm 7:2dc81120c917 203 .DMaxEnable = DEF_DMAX_ENABLE,
gallonm 7:2dc81120c917 204 #endif
gallonm 7:2dc81120c917 205 };
gallonm 7:2dc81120c917 206 #endif /* VL6180x_SINGLE_DEVICE_DRIVER */
gallonm 7:2dc81120c917 207
gallonm 7:2dc81120c917 208
gallonm 7:2dc81120c917 209
gallonm 7:2dc81120c917 210 #define Fix7_2_KCPs(x) ((((uint32_t)(x))*1000)>>7)
gallonm 7:2dc81120c917 211
gallonm 7:2dc81120c917 212
gallonm 7:2dc81120c917 213 #if VL6180x_WRAP_AROUND_FILTER_SUPPORT || VL6180x_HAVE_DMAX_RANGING
gallonm 7:2dc81120c917 214 static int _GetRateResult(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData);
gallonm 7:2dc81120c917 215 #endif
gallonm 7:2dc81120c917 216
gallonm 7:2dc81120c917 217 #if VL6180x_WRAP_AROUND_FILTER_SUPPORT
gallonm 7:2dc81120c917 218 static int _filter_Init(VL6180xDev_t dev);
gallonm 7:2dc81120c917 219 static int _filter_GetResult(VL6180xDev_t dev, VL6180x_RangeData_t *pData);
gallonm 7:2dc81120c917 220 #define _IsWrapArroundActive(dev) VL6180xDevDataGet(dev,WrapAroundFilterActive)
gallonm 7:2dc81120c917 221 #else
gallonm 7:2dc81120c917 222 #define _IsWrapArroundActive(dev) 0
gallonm 7:2dc81120c917 223 #endif
gallonm 7:2dc81120c917 224
gallonm 7:2dc81120c917 225
gallonm 7:2dc81120c917 226 #if VL6180x_HAVE_DMAX_RANGING
gallonm 7:2dc81120c917 227 void _DMax_OneTimeInit(VL6180xDev_t dev);
gallonm 7:2dc81120c917 228 static int _DMax_InitData(VL6180xDev_t dev);
gallonm 7:2dc81120c917 229 static int _DMax_Compute(VL6180xDev_t dev, VL6180x_RangeData_t *pRange);
gallonm 7:2dc81120c917 230 #define _IsDMaxActive(dev) VL6180xDevDataGet(dev,DMaxEnable)
gallonm 7:2dc81120c917 231 #else
gallonm 7:2dc81120c917 232 #define _DMax_InitData(...) 0 /* success */
gallonm 7:2dc81120c917 233 #define _DMax_OneTimeInit(...) (void)0
gallonm 7:2dc81120c917 234 #define _IsDMaxActive(...) 0
gallonm 7:2dc81120c917 235 #endif
gallonm 7:2dc81120c917 236
gallonm 7:2dc81120c917 237 static int VL6180x_RangeStaticInit(VL6180xDev_t dev);
gallonm 7:2dc81120c917 238 static int VL6180x_UpscaleStaticInit(VL6180xDev_t dev);
gallonm 7:2dc81120c917 239
gallonm 7:2dc81120c917 240 int VL6180X::VL6180x_WaitDeviceBooted(VL6180xDev_t dev){
gallonm 7:2dc81120c917 241 uint8_t FreshOutReset;
gallonm 7:2dc81120c917 242 int status;
gallonm 7:2dc81120c917 243 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 244 do{
gallonm 7:2dc81120c917 245 status = VL6180x_RdByte(dev,SYSTEM_FRESH_OUT_OF_RESET, &FreshOutReset);
gallonm 7:2dc81120c917 246 }
gallonm 7:2dc81120c917 247 while( FreshOutReset!=1 && status==0);
gallonm 7:2dc81120c917 248 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 249 return status;
gallonm 7:2dc81120c917 250 }
gallonm 7:2dc81120c917 251
gallonm 7:2dc81120c917 252 int VL6180X::VL6180x_InitData(VL6180xDev_t dev){
gallonm 3:454541a079f4 253 int status, dmax_status ;
gallonm 3:454541a079f4 254 int8_t offset;
gallonm 3:454541a079f4 255 uint8_t FreshOutReset;
gallonm 3:454541a079f4 256 uint32_t CalValue;
gallonm 3:454541a079f4 257 uint16_t u16;
gallonm 3:454541a079f4 258 uint32_t XTalkCompRate_KCps;
gallonm 3:454541a079f4 259
gallonm 3:454541a079f4 260 LOG_FUNCTION_START("");
gallonm 3:454541a079f4 261
gallonm 3:454541a079f4 262 VL6180xDevDataSet(dev, EceFactorM , DEF_ECE_FACTOR_M);
gallonm 3:454541a079f4 263 VL6180xDevDataSet(dev, EceFactorD , DEF_ECE_FACTOR_D);
gallonm 3:454541a079f4 264
gallonm 3:454541a079f4 265 #ifdef VL6180x_HAVE_UPSCALE_DATA
gallonm 3:454541a079f4 266 VL6180xDevDataSet(dev, UpscaleFactor , DEF_UPSCALE);
gallonm 3:454541a079f4 267 #endif
gallonm 3:454541a079f4 268
gallonm 3:454541a079f4 269 #ifdef VL6180x_HAVE_ALS_DATA
gallonm 3:454541a079f4 270 VL6180xDevDataSet(dev, IntegrationPeriod, DEF_INT_PEFRIOD);
gallonm 3:454541a079f4 271 VL6180xDevDataSet(dev, AlsGainCode, DEF_ALS_GAIN);
gallonm 3:454541a079f4 272 VL6180xDevDataSet(dev, AlsScaler, DEF_ALS_SCALER);
gallonm 3:454541a079f4 273 #endif
gallonm 3:454541a079f4 274
gallonm 3:454541a079f4 275 #ifdef VL6180x_HAVE_WRAP_AROUND_DATA
gallonm 3:454541a079f4 276 VL6180xDevDataSet(dev, WrapAroundFilterActive, (VL6180x_WRAP_AROUND_FILTER_SUPPORT >0));
gallonm 3:454541a079f4 277 VL6180xDevDataSet(dev, DMaxEnable, DEF_DMAX_ENABLE);
gallonm 3:454541a079f4 278 #endif
gallonm 3:454541a079f4 279
gallonm 3:454541a079f4 280 _DMax_OneTimeInit(dev);
gallonm 3:454541a079f4 281 do{
gallonm 3:454541a079f4 282
gallonm 3:454541a079f4 283 /* backup offset initial value from nvm these must be done prior any over call that use offset */
gallonm 7:2dc81120c917 284 status = VL6180X::VL6180x_RdByte(dev,SYSRANGE_PART_TO_PART_RANGE_OFFSET, (uint8_t*)&offset);
gallonm 3:454541a079f4 285 if( status ){
gallonm 3:454541a079f4 286 VL6180x_ErrLog("SYSRANGE_PART_TO_PART_RANGE_OFFSET rd fail");
gallonm 3:454541a079f4 287 break;
gallonm 3:454541a079f4 288 }
gallonm 3:454541a079f4 289 VL6180xDevDataSet(dev, Part2PartOffsetNVM, offset);
gallonm 1:1de1ea2994d9 290
gallonm 7:2dc81120c917 291 status=VL6180x_RdDWord( dev, SYSRANGE_RANGE_IGNORE_THRESHOLD, &CalValue);
gallonm 3:454541a079f4 292 if( status ){
gallonm 3:454541a079f4 293 VL6180x_ErrLog("Part2PartAmbNVM rd fail");
gallonm 3:454541a079f4 294 break;
gallonm 3:454541a079f4 295 }
gallonm 3:454541a079f4 296 if( (CalValue&0xFFFF0000) == 0 ){
gallonm 3:454541a079f4 297 CalValue=0x00CE03F8;
gallonm 3:454541a079f4 298 }
gallonm 3:454541a079f4 299 VL6180xDevDataSet(dev, Part2PartAmbNVM, CalValue);
gallonm 3:454541a079f4 300
gallonm 7:2dc81120c917 301 status = VL6180x_RdWord(dev, SYSRANGE_CROSSTALK_COMPENSATION_RATE ,&u16);
gallonm 3:454541a079f4 302 if( status){
gallonm 3:454541a079f4 303 VL6180x_ErrLog("SYSRANGE_CROSSTALK_COMPENSATION_RATE rd fail ");
gallonm 3:454541a079f4 304 break;
gallonm 3:454541a079f4 305 }
gallonm 3:454541a079f4 306 XTalkCompRate_KCps = Fix7_2_KCPs(u16);
gallonm 3:454541a079f4 307 VL6180xDevDataSet(dev, XTalkCompRate_KCps , XTalkCompRate_KCps );
gallonm 1:1de1ea2994d9 308
gallonm 3:454541a079f4 309 dmax_status = _DMax_InitData(dev);
gallonm 3:454541a079f4 310 if( dmax_status < 0 ){
gallonm 3:454541a079f4 311 VL6180x_ErrLog("DMax init failure");
gallonm 3:454541a079f4 312 break;
gallonm 3:454541a079f4 313 }
gallonm 3:454541a079f4 314
gallonm 3:454541a079f4 315 /* Read or wait for fresh out of reset */
gallonm 7:2dc81120c917 316 status = VL6180x_RdByte(dev,SYSTEM_FRESH_OUT_OF_RESET, &FreshOutReset);
gallonm 3:454541a079f4 317 if( status ) {
gallonm 3:454541a079f4 318 VL6180x_ErrLog("SYSTEM_FRESH_OUT_OF_RESET rd fail");
gallonm 3:454541a079f4 319 break;
gallonm 3:454541a079f4 320 }
gallonm 3:454541a079f4 321 if( FreshOutReset!= 1 || dmax_status )
gallonm 3:454541a079f4 322 status = CALIBRATION_WARNING;
gallonm 3:454541a079f4 323
gallonm 3:454541a079f4 324 }
gallonm 3:454541a079f4 325 while(0);
gallonm 3:454541a079f4 326
gallonm 3:454541a079f4 327 LOG_FUNCTION_END(status);
gallonm 3:454541a079f4 328 return status;
gallonm 1:1de1ea2994d9 329 }
gallonm 1:1de1ea2994d9 330
gallonm 7:2dc81120c917 331 int8_t VL6180X::VL6180x_GetOffsetCalibrationData(VL6180xDev_t dev)
gallonm 7:2dc81120c917 332 {
gallonm 7:2dc81120c917 333 int8_t offset;
gallonm 7:2dc81120c917 334 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 335 offset = VL6180xDevDataGet(dev, Part2PartOffsetNVM);
gallonm 7:2dc81120c917 336 LOG_FUNCTION_END( offset );
gallonm 7:2dc81120c917 337 return offset;
gallonm 7:2dc81120c917 338 }
gallonm 7:2dc81120c917 339
gallonm 7:2dc81120c917 340 void VL6180X::VL6180x_SetOffsetCalibrationData(VL6180xDev_t dev, int8_t offset)
gallonm 7:2dc81120c917 341 {
gallonm 7:2dc81120c917 342 LOG_FUNCTION_START("%d", offset);
gallonm 7:2dc81120c917 343 VL6180xDevDataSet(dev, Part2PartOffsetNVM, offset);
gallonm 7:2dc81120c917 344 LOG_FUNCTION_END(0);
gallonm 7:2dc81120c917 345 }
gallonm 7:2dc81120c917 346
gallonm 7:2dc81120c917 347 int VL6180X::VL6180x_SetXTalkCompensationRate(VL6180xDev_t dev, FixPoint97_t Rate)
gallonm 7:2dc81120c917 348 {
gallonm 7:2dc81120c917 349 int status;
gallonm 7:2dc81120c917 350 LOG_FUNCTION_START("%d", Rate);
gallonm 7:2dc81120c917 351 status = VL6180x_WrWord(dev, SYSRANGE_CROSSTALK_COMPENSATION_RATE, Rate);
gallonm 7:2dc81120c917 352 if( status ==0 ){
gallonm 7:2dc81120c917 353 uint32_t XTalkCompRate_KCps;
gallonm 7:2dc81120c917 354 XTalkCompRate_KCps = Fix7_2_KCPs(Rate);
gallonm 7:2dc81120c917 355 VL6180xDevDataSet(dev, XTalkCompRate_KCps , XTalkCompRate_KCps );
gallonm 7:2dc81120c917 356 /* update dmax whenever xtalk rate changes */
gallonm 7:2dc81120c917 357 status = _DMax_InitData(dev);
gallonm 7:2dc81120c917 358 }
gallonm 7:2dc81120c917 359 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 360 return status;
gallonm 7:2dc81120c917 361 }
gallonm 7:2dc81120c917 362
gallonm 7:2dc81120c917 363 int VL6180X::VL6180x_SetI2CAddress(VL6180xDev_t dev, uint8_t NewAddress){
gallonm 7:2dc81120c917 364 int status;
gallonm 7:2dc81120c917 365 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 366
gallonm 7:2dc81120c917 367 status = VL6180x_WrByte(dev, I2C_SLAVE_DEVICE_ADDRESS, NewAddress/2);
gallonm 7:2dc81120c917 368 if( status ){
gallonm 7:2dc81120c917 369 VL6180x_ErrLog("new i2c addr Wr fail");
gallonm 7:2dc81120c917 370 }
gallonm 7:2dc81120c917 371 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 372 return status;
gallonm 7:2dc81120c917 373 }
gallonm 7:2dc81120c917 374
gallonm 7:2dc81120c917 375 uint16_t VL6180X::VL6180x_GetUpperLimit(VL6180xDev_t dev) {
gallonm 7:2dc81120c917 376 uint16_t limit;
gallonm 7:2dc81120c917 377 int scaling;
gallonm 7:2dc81120c917 378
gallonm 7:2dc81120c917 379 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 380
gallonm 7:2dc81120c917 381 scaling = _GetUpscale(dev);
gallonm 7:2dc81120c917 382 /* FIXME we do assume here _GetUpscale is valid if user call us prior to init we may overflow the LUT mem area */
gallonm 7:2dc81120c917 383 limit = UpperLimitLookUP[scaling - 1];
gallonm 7:2dc81120c917 384
gallonm 7:2dc81120c917 385 LOG_FUNCTION_END((int )limit);
gallonm 7:2dc81120c917 386 return limit;
gallonm 7:2dc81120c917 387 }
gallonm 7:2dc81120c917 388
gallonm 7:2dc81120c917 389
gallonm 7:2dc81120c917 390
gallonm 7:2dc81120c917 391 int VL6180X::VL6180x_StaticInit(VL6180xDev_t dev){
gallonm 7:2dc81120c917 392 int status=0, init_status;
gallonm 7:2dc81120c917 393 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 394
gallonm 7:2dc81120c917 395 /* TODO doc When using configurable scaling but using 1x as start condition
gallonm 7:2dc81120c917 396 * load tunning upscale or not ??? */
gallonm 7:2dc81120c917 397 if( _GetUpscale(dev) == 1 && !(VL6180x_UPSCALE_SUPPORT<0))
gallonm 7:2dc81120c917 398 init_status=VL6180x_RangeStaticInit(dev);
gallonm 7:2dc81120c917 399 else
gallonm 7:2dc81120c917 400 init_status=VL6180x_UpscaleStaticInit(dev);
gallonm 7:2dc81120c917 401
gallonm 7:2dc81120c917 402 if( init_status <0 ){
gallonm 7:2dc81120c917 403 VL6180x_ErrLog("StaticInit fail");
gallonm 7:2dc81120c917 404 goto error;
gallonm 7:2dc81120c917 405 }
gallonm 7:2dc81120c917 406 else if(init_status > 0){
gallonm 7:2dc81120c917 407 VL6180x_ErrLog("StaticInit warning");
gallonm 7:2dc81120c917 408 }
gallonm 7:2dc81120c917 409
gallonm 7:2dc81120c917 410 #if REFRESH_CACHED_DATA_AFTER_INIT
gallonm 7:2dc81120c917 411 /* update cached value after tuning applied */
gallonm 7:2dc81120c917 412 do{
gallonm 7:2dc81120c917 413 #ifdef VL6180x_HAVE_ALS_DATA
gallonm 7:2dc81120c917 414 uint8_t data;
gallonm 7:2dc81120c917 415 status= VL6180x_RdByte(dev, FW_ALS_RESULT_SCALER, &data);
gallonm 7:2dc81120c917 416 if( status ) break;
gallonm 7:2dc81120c917 417 VL6180xDevDataSet(dev, AlsScaler, data);
gallonm 7:2dc81120c917 418
gallonm 7:2dc81120c917 419 status= VL6180x_RdByte(dev, SYSALS_ANALOGUE_GAIN, &data);
gallonm 7:2dc81120c917 420 if( status ) break;
gallonm 7:2dc81120c917 421 VL6180x_AlsSetAnalogueGain(dev, data);
gallonm 7:2dc81120c917 422 #endif
gallonm 7:2dc81120c917 423 }
gallonm 7:2dc81120c917 424 while(0);
gallonm 7:2dc81120c917 425 #endif /* REFRESH_CACHED_DATA_AFTER_INIT */
gallonm 7:2dc81120c917 426 if( status < 0 ){
gallonm 7:2dc81120c917 427 VL6180x_ErrLog("StaticInit fail");
gallonm 7:2dc81120c917 428 }
gallonm 7:2dc81120c917 429 if( !status && init_status){
gallonm 7:2dc81120c917 430 status = init_status;
gallonm 7:2dc81120c917 431 }
gallonm 7:2dc81120c917 432 error:
gallonm 7:2dc81120c917 433 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 434 return status;
gallonm 7:2dc81120c917 435 }
gallonm 7:2dc81120c917 436
gallonm 7:2dc81120c917 437
gallonm 7:2dc81120c917 438 int VL6180X::VL6180x_SetGroupParamHold(VL6180xDev_t dev, int Hold)
gallonm 7:2dc81120c917 439 {
gallonm 7:2dc81120c917 440 int status;
gallonm 7:2dc81120c917 441 uint8_t value;
gallonm 7:2dc81120c917 442
gallonm 7:2dc81120c917 443 LOG_FUNCTION_START("%d", Hold);
gallonm 7:2dc81120c917 444 if( Hold )
gallonm 7:2dc81120c917 445 value = 1;
gallonm 7:2dc81120c917 446 else
gallonm 7:2dc81120c917 447 value = 0;
gallonm 7:2dc81120c917 448 status = VL6180x_WrByte(dev, SYSTEM_GROUPED_PARAMETER_HOLD, value);
gallonm 7:2dc81120c917 449
gallonm 7:2dc81120c917 450 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 451 return status;
gallonm 7:2dc81120c917 452
gallonm 7:2dc81120c917 453 }
gallonm 7:2dc81120c917 454
gallonm 7:2dc81120c917 455 int VL6180X::VL6180x_Prepare(VL6180xDev_t dev)
gallonm 7:2dc81120c917 456 {
gallonm 7:2dc81120c917 457 int status;
gallonm 7:2dc81120c917 458 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 459
gallonm 7:2dc81120c917 460 do{
gallonm 7:2dc81120c917 461 status=VL6180x_StaticInit(dev);
gallonm 7:2dc81120c917 462 if( status<0) break;
gallonm 7:2dc81120c917 463
gallonm 7:2dc81120c917 464 /* set range InterruptMode to new sample */
gallonm 7:2dc81120c917 465 status=VL6180x_RangeConfigInterrupt(dev, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY );
gallonm 7:2dc81120c917 466 if( status)
gallonm 7:2dc81120c917 467 break;
gallonm 7:2dc81120c917 468
gallonm 7:2dc81120c917 469 /* set default threshold */
gallonm 7:2dc81120c917 470 status=VL6180x_RangeSetRawThresholds(dev, 10, 200);
gallonm 7:2dc81120c917 471 if( status ){
gallonm 7:2dc81120c917 472 VL6180x_ErrLog("VL6180x_RangeSetRawThresholds fail");
gallonm 7:2dc81120c917 473 break;
gallonm 7:2dc81120c917 474 }
gallonm 7:2dc81120c917 475 #if VL6180x_ALS_SUPPORT
gallonm 7:2dc81120c917 476 status =VL6180x_AlsSetIntegrationPeriod(dev, 100);
gallonm 7:2dc81120c917 477 if( status ) break;
gallonm 7:2dc81120c917 478 status = VL6180x_AlsSetInterMeasurementPeriod(dev, 200);
gallonm 7:2dc81120c917 479 if( status ) break;
gallonm 7:2dc81120c917 480 status = VL6180x_AlsSetAnalogueGain(dev, 0);
gallonm 7:2dc81120c917 481 if( status ) break;
gallonm 7:2dc81120c917 482 status = VL6180x_AlsSetThresholds(dev, 0, 0xFF);
gallonm 7:2dc81120c917 483 if( status ) break;
gallonm 7:2dc81120c917 484 /* set Als InterruptMode to new sample */
gallonm 7:2dc81120c917 485 status=VL6180x_AlsConfigInterrupt(dev, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
gallonm 7:2dc81120c917 486 if( status ) {
gallonm 7:2dc81120c917 487 VL6180x_ErrLog("VL6180x_AlsConfigInterrupt fail");
gallonm 7:2dc81120c917 488 break;
gallonm 7:2dc81120c917 489 }
gallonm 7:2dc81120c917 490 #endif
gallonm 7:2dc81120c917 491 #if VL6180x_WRAP_AROUND_FILTER_SUPPORT
gallonm 7:2dc81120c917 492 _filter_Init(dev);
gallonm 7:2dc81120c917 493 #endif
gallonm 7:2dc81120c917 494 /* make sure to reset any left previous condition that can hangs first poll */
gallonm 7:2dc81120c917 495 status=VL6180x_ClearAllInterrupt(dev);
gallonm 7:2dc81120c917 496 }
gallonm 7:2dc81120c917 497 while(0);
gallonm 7:2dc81120c917 498 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 499
gallonm 7:2dc81120c917 500 return status;
gallonm 7:2dc81120c917 501 }
gallonm 7:2dc81120c917 502
gallonm 7:2dc81120c917 503 #if VL6180x_ALS_SUPPORT
gallonm 7:2dc81120c917 504 int VL6180X::VL6180x_AlsGetLux(VL6180xDev_t dev, lux_t *pLux)
gallonm 7:2dc81120c917 505 {
gallonm 7:2dc81120c917 506 int status;
gallonm 7:2dc81120c917 507 uint16_t RawAls;
gallonm 7:2dc81120c917 508 uint32_t luxValue = 0;
gallonm 7:2dc81120c917 509 uint32_t IntPeriod;
gallonm 7:2dc81120c917 510 uint32_t AlsAnGain;
gallonm 7:2dc81120c917 511 uint32_t GainFix;
gallonm 7:2dc81120c917 512 uint32_t AlsScaler;
gallonm 7:2dc81120c917 513
gallonm 7:2dc81120c917 514 #if LUXRES_FIX_PREC != GAIN_FIX_PREC
gallonm 7:2dc81120c917 515 #error "LUXRES_FIX_PREC != GAIN_FIX_PREC review these code to be correct"
gallonm 7:2dc81120c917 516 #endif
gallonm 7:2dc81120c917 517 const uint32_t LuxResxIntIme =(uint32_t)(0.56f* DEF_INT_PEFRIOD *(1<<LUXRES_FIX_PREC));
gallonm 7:2dc81120c917 518
gallonm 7:2dc81120c917 519 LOG_FUNCTION_START("%p", pLux);
gallonm 7:2dc81120c917 520
gallonm 7:2dc81120c917 521 status = VL6180x_RdWord( dev, RESULT_ALS_VAL, &RawAls);
gallonm 7:2dc81120c917 522 if( !status){
gallonm 7:2dc81120c917 523 /* wer are yet here at no fix point */
gallonm 7:2dc81120c917 524 IntPeriod=VL6180xDevDataGet(dev, IntegrationPeriod);
gallonm 7:2dc81120c917 525 AlsScaler=VL6180xDevDataGet(dev, AlsScaler);
gallonm 7:2dc81120c917 526 IntPeriod++; /* what stored is real time ms -1 and it can be 0 for or 0 or 1ms */
gallonm 7:2dc81120c917 527 luxValue = (uint32_t)RawAls * LuxResxIntIme; /* max # 16+8bits + 6bit (0.56*100) */
gallonm 7:2dc81120c917 528 luxValue /= IntPeriod; /* max # 16+8bits + 6bit 16+8+1 to 9 bit */
gallonm 7:2dc81120c917 529 /* between 29 - 21 bit */
gallonm 7:2dc81120c917 530 AlsAnGain = VL6180xDevDataGet(dev, AlsGainCode);
gallonm 7:2dc81120c917 531 GainFix = AlsGainLookUp[AlsAnGain];
gallonm 7:2dc81120c917 532 luxValue = luxValue / (AlsScaler * GainFix);
gallonm 7:2dc81120c917 533 *pLux=luxValue;
gallonm 7:2dc81120c917 534 }
gallonm 7:2dc81120c917 535
gallonm 7:2dc81120c917 536 LOG_FUNCTION_END_FMT(status, "%x",(int)*pLux);
gallonm 7:2dc81120c917 537 return status;
gallonm 7:2dc81120c917 538 }
gallonm 7:2dc81120c917 539
gallonm 7:2dc81120c917 540 int VL6180X::VL6180x_AlsGetMeasurement(VL6180xDev_t dev, VL6180x_AlsData_t *pAlsData)
gallonm 7:2dc81120c917 541 {
gallonm 7:2dc81120c917 542 int status;
gallonm 7:2dc81120c917 543 uint8_t ErrStatus;
gallonm 7:2dc81120c917 544
gallonm 7:2dc81120c917 545 LOG_FUNCTION_START("%p", pAlsData);
gallonm 7:2dc81120c917 546
gallonm 7:2dc81120c917 547 status = VL6180x_AlsGetLux(dev, &pAlsData->lux);
gallonm 7:2dc81120c917 548 if( !status ){
gallonm 7:2dc81120c917 549 status = VL6180x_RdByte(dev, RESULT_ALS_STATUS, & ErrStatus);
gallonm 7:2dc81120c917 550 pAlsData->errorStatus = ErrStatus>>4;
gallonm 7:2dc81120c917 551 }
gallonm 7:2dc81120c917 552 LOG_FUNCTION_END_FMT(status,"%d %d", (int)pAlsData->lux, (int)pAlsData->errorStatus);
gallonm 7:2dc81120c917 553
gallonm 7:2dc81120c917 554 return status;
gallonm 7:2dc81120c917 555 }
gallonm 7:2dc81120c917 556
gallonm 7:2dc81120c917 557
gallonm 7:2dc81120c917 558 int VL6180X::VL6180x_AlsPollMeasurement(VL6180xDev_t dev, VL6180x_AlsData_t *pAlsData) {
gallonm 7:2dc81120c917 559 int status;
gallonm 7:2dc81120c917 560 int ClrStatus;
gallonm 7:2dc81120c917 561 uint8_t IntStatus;
gallonm 7:2dc81120c917 562
gallonm 7:2dc81120c917 563 LOG_FUNCTION_START("%p", pAlsData);
gallonm 7:2dc81120c917 564 #if VL6180X_SAFE_POLLING_ENTER
gallonm 7:2dc81120c917 565 /* if device get stopped with left interrupt uncleared , it is required to clear them now or poll for new condition will never occur*/
gallonm 7:2dc81120c917 566 status=VL6180x_AlsClearInterrupt(dev);
gallonm 7:2dc81120c917 567 if(status){
gallonm 7:2dc81120c917 568 VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
gallonm 7:2dc81120c917 569 goto over;
gallonm 7:2dc81120c917 570 }
gallonm 7:2dc81120c917 571 #endif
gallonm 7:2dc81120c917 572
gallonm 7:2dc81120c917 573 status=VL6180x_AlsSetSystemMode(dev, MODE_START_STOP|MODE_SINGLESHOT);
gallonm 7:2dc81120c917 574 if( status){
gallonm 7:2dc81120c917 575 VL6180x_ErrLog("VL6180x_AlsSetSystemMode fail");
gallonm 7:2dc81120c917 576 goto over;
gallonm 7:2dc81120c917 577 }
gallonm 7:2dc81120c917 578
gallonm 7:2dc81120c917 579 /* poll for new sample ready */
gallonm 7:2dc81120c917 580 while (1 ) {
gallonm 7:2dc81120c917 581 status = VL6180x_AlsGetInterruptStatus(dev, &IntStatus);
gallonm 7:2dc81120c917 582 if (status) {
gallonm 7:2dc81120c917 583 break;
gallonm 7:2dc81120c917 584 }
gallonm 7:2dc81120c917 585 if (IntStatus == RES_INT_STAT_GPIO_NEW_SAMPLE_READY) {
gallonm 7:2dc81120c917 586 break; /* break on new data (status is 0) */
gallonm 7:2dc81120c917 587 }
gallonm 7:2dc81120c917 588
gallonm 7:2dc81120c917 589 VL6180x_PollDelay(dev);
gallonm 7:2dc81120c917 590 };
gallonm 7:2dc81120c917 591
gallonm 7:2dc81120c917 592 if (!status) {
gallonm 7:2dc81120c917 593 status = VL6180x_AlsGetMeasurement(dev, pAlsData);
gallonm 7:2dc81120c917 594 }
gallonm 7:2dc81120c917 595
gallonm 7:2dc81120c917 596 ClrStatus = VL6180x_AlsClearInterrupt(dev);
gallonm 7:2dc81120c917 597 if (ClrStatus) {
gallonm 7:2dc81120c917 598 VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
gallonm 7:2dc81120c917 599 if (!status) {
gallonm 7:2dc81120c917 600 status = ClrStatus; /* leave previous if already on error */
gallonm 7:2dc81120c917 601 }
gallonm 7:2dc81120c917 602 }
gallonm 7:2dc81120c917 603 over:
gallonm 7:2dc81120c917 604 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 605
gallonm 7:2dc81120c917 606 return status;
gallonm 7:2dc81120c917 607 }
gallonm 7:2dc81120c917 608
gallonm 7:2dc81120c917 609 int VL6180X::VL6180x_AlsGetInterruptStatus(VL6180xDev_t dev, uint8_t *pIntStatus) {
gallonm 7:2dc81120c917 610 int status;
gallonm 7:2dc81120c917 611 uint8_t IntStatus;
gallonm 7:2dc81120c917 612 LOG_FUNCTION_START("%p", pIntStatus);
gallonm 7:2dc81120c917 613
gallonm 7:2dc81120c917 614 status = VL6180x_RdByte(dev, RESULT_INTERRUPT_STATUS_GPIO, &IntStatus);
gallonm 7:2dc81120c917 615 *pIntStatus= (IntStatus>>3)&0x07;
gallonm 7:2dc81120c917 616
gallonm 7:2dc81120c917 617 LOG_FUNCTION_END_FMT(status, "%d", (int)*pIntStatus);
gallonm 7:2dc81120c917 618 return status;
gallonm 7:2dc81120c917 619 }
gallonm 7:2dc81120c917 620
gallonm 7:2dc81120c917 621 int VL6180X::VL6180x_AlsWaitDeviceReady(VL6180xDev_t dev, int MaxLoop ){
gallonm 7:2dc81120c917 622 int status;
gallonm 7:2dc81120c917 623 int n;
gallonm 7:2dc81120c917 624 uint8_t u8;
gallonm 7:2dc81120c917 625 LOG_FUNCTION_START("%d", (int)MaxLoop);
gallonm 7:2dc81120c917 626 if( MaxLoop<1){
gallonm 7:2dc81120c917 627 status=INVALID_PARAMS;
gallonm 7:2dc81120c917 628 }
gallonm 7:2dc81120c917 629 else{
gallonm 7:2dc81120c917 630 for( n=0; n < MaxLoop ; n++){
gallonm 7:2dc81120c917 631 status=VL6180x_RdByte(dev, RESULT_ALS_STATUS, &u8);
gallonm 7:2dc81120c917 632 if( status)
gallonm 7:2dc81120c917 633 break;
gallonm 7:2dc81120c917 634 u8 = u8 & ALS_DEVICE_READY_MASK;
gallonm 7:2dc81120c917 635 if( u8 )
gallonm 7:2dc81120c917 636 break;
gallonm 7:2dc81120c917 637
gallonm 7:2dc81120c917 638 }
gallonm 7:2dc81120c917 639 if( !status && !u8 ){
gallonm 7:2dc81120c917 640 status = TIME_OUT;
gallonm 7:2dc81120c917 641 }
gallonm 7:2dc81120c917 642 }
gallonm 7:2dc81120c917 643 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 644 return status;
gallonm 7:2dc81120c917 645 }
gallonm 7:2dc81120c917 646
gallonm 7:2dc81120c917 647 int VL6180X::VL6180x_AlsSetSystemMode(VL6180xDev_t dev, uint8_t mode)
gallonm 7:2dc81120c917 648 {
gallonm 7:2dc81120c917 649 int status;
gallonm 7:2dc81120c917 650 LOG_FUNCTION_START("%d", (int)mode);
gallonm 7:2dc81120c917 651 /* FIXME if we are called back to back real fast we are not checking
gallonm 7:2dc81120c917 652 * if previous mode "set" got absorbed => bit 0 must be 0 so that wr 1 work */
gallonm 7:2dc81120c917 653 if( mode <= 3){
gallonm 7:2dc81120c917 654 status=VL6180x_WrByte(dev, SYSALS_START, mode);
gallonm 7:2dc81120c917 655 }
gallonm 7:2dc81120c917 656 else{
gallonm 7:2dc81120c917 657 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 658 }
gallonm 7:2dc81120c917 659 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 660 return status;
gallonm 7:2dc81120c917 661 }
gallonm 7:2dc81120c917 662
gallonm 7:2dc81120c917 663 int VL6180X::VL6180x_AlsConfigInterrupt(VL6180xDev_t dev, uint8_t ConfigGpioInt)
gallonm 7:2dc81120c917 664 {
gallonm 7:2dc81120c917 665 int status;
gallonm 7:2dc81120c917 666
gallonm 7:2dc81120c917 667 if( ConfigGpioInt<= CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY){
gallonm 7:2dc81120c917 668 status = VL6180x_UpdateByte(dev, SYSTEM_INTERRUPT_CONFIG_GPIO, (uint8_t)(~CONFIG_GPIO_ALS_MASK), (ConfigGpioInt<<3));
gallonm 7:2dc81120c917 669 }
gallonm 7:2dc81120c917 670 else{
gallonm 7:2dc81120c917 671 VL6180x_ErrLog("Invalid config mode param %d", (int)ConfigGpioInt);
gallonm 7:2dc81120c917 672 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 673 }
gallonm 7:2dc81120c917 674 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 675 return status;
gallonm 7:2dc81120c917 676 }
gallonm 7:2dc81120c917 677
gallonm 7:2dc81120c917 678
gallonm 7:2dc81120c917 679
gallonm 7:2dc81120c917 680 int VL6180X::VL6180x_AlsSetThresholds(VL6180xDev_t dev, uint8_t low, uint8_t high) {
gallonm 7:2dc81120c917 681 int status;
gallonm 7:2dc81120c917 682
gallonm 7:2dc81120c917 683 LOG_FUNCTION_START("%d %d", (int )low, (int)high);
gallonm 7:2dc81120c917 684
gallonm 7:2dc81120c917 685 status = VL6180x_WrByte(dev, SYSALS_THRESH_LOW, low);
gallonm 7:2dc81120c917 686 if(!status ){
gallonm 7:2dc81120c917 687 status = VL6180x_WrByte(dev, SYSALS_THRESH_HIGH, high);
gallonm 7:2dc81120c917 688 }
gallonm 7:2dc81120c917 689
gallonm 7:2dc81120c917 690 LOG_FUNCTION_END(status) ;
gallonm 7:2dc81120c917 691 return status;
gallonm 7:2dc81120c917 692 }
gallonm 7:2dc81120c917 693
gallonm 7:2dc81120c917 694
gallonm 7:2dc81120c917 695 int VL6180X::VL6180x_AlsSetAnalogueGain(VL6180xDev_t dev, uint8_t gain) {
gallonm 7:2dc81120c917 696 int status;
gallonm 7:2dc81120c917 697 uint8_t GainTotal;
gallonm 7:2dc81120c917 698
gallonm 7:2dc81120c917 699 LOG_FUNCTION_START("%d", (int )gain);
gallonm 7:2dc81120c917 700 gain&=~0x40;
gallonm 7:2dc81120c917 701 if (gain > 7) {
gallonm 7:2dc81120c917 702 gain = 7;
gallonm 7:2dc81120c917 703 }
gallonm 7:2dc81120c917 704 GainTotal = gain|0x40;
gallonm 7:2dc81120c917 705
gallonm 7:2dc81120c917 706 status = VL6180x_WrByte(dev, SYSALS_ANALOGUE_GAIN, GainTotal);
gallonm 7:2dc81120c917 707 if( !status){
gallonm 7:2dc81120c917 708 VL6180xDevDataSet(dev, AlsGainCode, gain);
gallonm 7:2dc81120c917 709 }
gallonm 7:2dc81120c917 710
gallonm 7:2dc81120c917 711 LOG_FUNCTION_END_FMT(status, "%d %d", (int ) gain, (int )GainTotal);
gallonm 7:2dc81120c917 712 return status;
gallonm 7:2dc81120c917 713 }
gallonm 7:2dc81120c917 714
gallonm 7:2dc81120c917 715 int VL6180X::VL6180x_AlsSetInterMeasurementPeriod(VL6180xDev_t dev, uint16_t intermeasurement_period_ms)
gallonm 7:2dc81120c917 716 {
gallonm 7:2dc81120c917 717 int status;
gallonm 7:2dc81120c917 718
gallonm 7:2dc81120c917 719 LOG_FUNCTION_START("%d",(int)intermeasurement_period_ms);
gallonm 7:2dc81120c917 720 /* clipping: range is 0-2550ms */
gallonm 7:2dc81120c917 721 if (intermeasurement_period_ms >= 255 *10)
gallonm 7:2dc81120c917 722 intermeasurement_period_ms = 255 *10;
gallonm 7:2dc81120c917 723 status=VL6180x_WrByte(dev, SYSALS_INTERMEASUREMENT_PERIOD, (uint8_t)(intermeasurement_period_ms/10));
gallonm 7:2dc81120c917 724
gallonm 7:2dc81120c917 725 LOG_FUNCTION_END_FMT(status, "%d", (int) intermeasurement_period_ms);
gallonm 7:2dc81120c917 726 return status;
gallonm 7:2dc81120c917 727 }
gallonm 7:2dc81120c917 728
gallonm 7:2dc81120c917 729
gallonm 7:2dc81120c917 730 int VL6180X::VL6180x_AlsSetIntegrationPeriod(VL6180xDev_t dev, uint16_t period_ms)
gallonm 7:2dc81120c917 731 {
gallonm 7:2dc81120c917 732 int status;
gallonm 7:2dc81120c917 733 uint16_t SetIntegrationPeriod;
gallonm 7:2dc81120c917 734
gallonm 7:2dc81120c917 735 LOG_FUNCTION_START("%d", (int)period_ms);
gallonm 7:2dc81120c917 736
gallonm 7:2dc81120c917 737 if( period_ms>=1 )
gallonm 7:2dc81120c917 738 SetIntegrationPeriod = period_ms - 1;
gallonm 7:2dc81120c917 739 else
gallonm 7:2dc81120c917 740 SetIntegrationPeriod = period_ms;
gallonm 7:2dc81120c917 741
gallonm 7:2dc81120c917 742 if (SetIntegrationPeriod > 464) {
gallonm 7:2dc81120c917 743 SetIntegrationPeriod = 464;
gallonm 7:2dc81120c917 744 }
gallonm 7:2dc81120c917 745 else if (SetIntegrationPeriod == 255) {
gallonm 7:2dc81120c917 746 SetIntegrationPeriod++; /* can't write 255 since this causes the device to lock out.*/
gallonm 7:2dc81120c917 747 }
gallonm 7:2dc81120c917 748
gallonm 7:2dc81120c917 749 status =VL6180x_WrWord(dev, SYSALS_INTEGRATION_PERIOD, SetIntegrationPeriod);
gallonm 7:2dc81120c917 750 if( !status ){
gallonm 7:2dc81120c917 751 VL6180xDevDataSet(dev, IntegrationPeriod, SetIntegrationPeriod) ;
gallonm 7:2dc81120c917 752 }
gallonm 7:2dc81120c917 753 LOG_FUNCTION_END_FMT(status, "%d", (int)SetIntegrationPeriod);
gallonm 7:2dc81120c917 754 return status;
gallonm 7:2dc81120c917 755 }
gallonm 7:2dc81120c917 756
gallonm 7:2dc81120c917 757 #endif /* HAVE_ALS_SUPPORT */
gallonm 7:2dc81120c917 758
gallonm 7:2dc81120c917 759
gallonm 7:2dc81120c917 760 int VL6180X::VL6180x_RangePollMeasurement(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData)
gallonm 7:2dc81120c917 761 {
gallonm 7:2dc81120c917 762 int status;
gallonm 7:2dc81120c917 763 int ClrStatus;
gallonm 7:2dc81120c917 764 IntrStatus_t IntStatus;
gallonm 7:2dc81120c917 765
gallonm 7:2dc81120c917 766 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 767 /* start single range measurement */
gallonm 7:2dc81120c917 768
gallonm 7:2dc81120c917 769
gallonm 7:2dc81120c917 770 #if VL6180X_SAFE_POLLING_ENTER
gallonm 7:2dc81120c917 771 /* if device get stopped with left interrupt uncleared , it is required to clear them now or poll for new condition will never occur*/
gallonm 7:2dc81120c917 772 status=VL6180x_RangeClearInterrupt(dev);
gallonm 7:2dc81120c917 773 if(status){
gallonm 7:2dc81120c917 774 VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
gallonm 7:2dc81120c917 775 goto done;
gallonm 7:2dc81120c917 776 }
gallonm 7:2dc81120c917 777 #endif
gallonm 7:2dc81120c917 778 /* //![single_shot_snipet] */
gallonm 7:2dc81120c917 779 status=VL6180x_RangeSetSystemMode(dev, MODE_START_STOP|MODE_SINGLESHOT);
gallonm 7:2dc81120c917 780 if( status ){
gallonm 7:2dc81120c917 781 VL6180x_ErrLog("VL6180x_RangeSetSystemMode fail");
gallonm 7:2dc81120c917 782 goto done;
gallonm 7:2dc81120c917 783 }
gallonm 7:2dc81120c917 784
gallonm 7:2dc81120c917 785
gallonm 7:2dc81120c917 786 /* poll for new sample ready */
gallonm 7:2dc81120c917 787 while(1 ){
gallonm 7:2dc81120c917 788 status=VL6180x_RangeGetInterruptStatus(dev, &IntStatus.val);
gallonm 7:2dc81120c917 789 if( status ){
gallonm 7:2dc81120c917 790 break;
gallonm 7:2dc81120c917 791 }
gallonm 7:2dc81120c917 792 if( IntStatus.status.Error !=0 ){
gallonm 7:2dc81120c917 793 VL6180x_ErrLog("GPIO int Error report %d",(int)IntStatus.val);
gallonm 7:2dc81120c917 794 status = RANGE_ERROR;
gallonm 7:2dc81120c917 795 break;
gallonm 7:2dc81120c917 796 }
gallonm 7:2dc81120c917 797 else
gallonm 7:2dc81120c917 798 if( IntStatus.status.Range == RES_INT_STAT_GPIO_NEW_SAMPLE_READY){
gallonm 7:2dc81120c917 799 break;
gallonm 7:2dc81120c917 800 }
gallonm 7:2dc81120c917 801
gallonm 7:2dc81120c917 802 VL6180x_PollDelay(dev);
gallonm 7:2dc81120c917 803 }
gallonm 7:2dc81120c917 804 /* //![single_shot_snipet] */
gallonm 7:2dc81120c917 805
gallonm 7:2dc81120c917 806 if ( !status ){
gallonm 7:2dc81120c917 807 status = VL6180x_RangeGetMeasurement(dev, pRangeData);
gallonm 7:2dc81120c917 808 }
gallonm 7:2dc81120c917 809
gallonm 7:2dc81120c917 810 /* clear range interrupt source */
gallonm 7:2dc81120c917 811 ClrStatus = VL6180x_RangeClearInterrupt(dev);
gallonm 7:2dc81120c917 812 if( ClrStatus ){
gallonm 7:2dc81120c917 813 VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
gallonm 7:2dc81120c917 814 /* leave initial status if already in error */
gallonm 7:2dc81120c917 815 if( !status ){
gallonm 7:2dc81120c917 816 status=ClrStatus;
gallonm 7:2dc81120c917 817 }
gallonm 7:2dc81120c917 818 }
gallonm 7:2dc81120c917 819 done:
gallonm 7:2dc81120c917 820 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 821 return status;
gallonm 7:2dc81120c917 822 }
gallonm 7:2dc81120c917 823
gallonm 7:2dc81120c917 824
gallonm 7:2dc81120c917 825
gallonm 7:2dc81120c917 826 int VL6180X::VL6180x_RangeGetMeasurement(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData)
gallonm 7:2dc81120c917 827 {
gallonm 7:2dc81120c917 828 int status;
gallonm 7:2dc81120c917 829 uint16_t RawRate;
gallonm 7:2dc81120c917 830 uint8_t RawStatus;
gallonm 7:2dc81120c917 831
gallonm 7:2dc81120c917 832 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 833
gallonm 7:2dc81120c917 834 status = VL6180x_RangeGetResult(dev, &pRangeData->range_mm);
gallonm 7:2dc81120c917 835 if( !status ){
gallonm 7:2dc81120c917 836 status = VL6180x_RdWord(dev,RESULT_RANGE_SIGNAL_RATE, &RawRate );
gallonm 7:2dc81120c917 837 if( !status ){
gallonm 7:2dc81120c917 838 pRangeData->signalRate_mcps = VL6180x_9to7Conv(RawRate);
gallonm 7:2dc81120c917 839 status = VL6180x_RdByte(dev, RESULT_RANGE_STATUS, &RawStatus);
gallonm 7:2dc81120c917 840 if( !status ){
gallonm 7:2dc81120c917 841 pRangeData->errorStatus = RawStatus >>4;
gallonm 7:2dc81120c917 842 }
gallonm 7:2dc81120c917 843 else{
gallonm 7:2dc81120c917 844 VL6180x_ErrLog("Rd RESULT_RANGE_STATUS fail");
gallonm 7:2dc81120c917 845 }
gallonm 7:2dc81120c917 846 #if VL6180x_WRAP_AROUND_FILTER_SUPPORT || VL6180x_HAVE_DMAX_RANGING
gallonm 7:2dc81120c917 847 status = _GetRateResult(dev, pRangeData);
gallonm 7:2dc81120c917 848 if( status )
gallonm 7:2dc81120c917 849 goto error;
gallonm 7:2dc81120c917 850 #endif
gallonm 7:2dc81120c917 851 #if VL6180x_WRAP_AROUND_FILTER_SUPPORT
gallonm 7:2dc81120c917 852 /* if enabled run filter */
gallonm 7:2dc81120c917 853 if( _IsWrapArroundActive(dev) ){
gallonm 7:2dc81120c917 854 status=_filter_GetResult(dev, pRangeData);
gallonm 7:2dc81120c917 855 if( !status){
gallonm 7:2dc81120c917 856 /* patch the range status and measure if it is filtered */
gallonm 7:2dc81120c917 857 if( pRangeData->range_mm != pRangeData->FilteredData.range_mm) {
gallonm 7:2dc81120c917 858 pRangeData->errorStatus=RangingFiltered;
gallonm 7:2dc81120c917 859 pRangeData->range_mm = pRangeData->FilteredData.range_mm;
gallonm 7:2dc81120c917 860 }
gallonm 7:2dc81120c917 861 }
gallonm 7:2dc81120c917 862 }
gallonm 7:2dc81120c917 863 #endif
gallonm 7:2dc81120c917 864
gallonm 7:2dc81120c917 865 #if VL6180x_HAVE_DMAX_RANGING
gallonm 7:2dc81120c917 866 if(_IsDMaxActive(dev) ){
gallonm 7:2dc81120c917 867 _DMax_Compute(dev, pRangeData);
gallonm 7:2dc81120c917 868 }
gallonm 7:2dc81120c917 869 #endif
gallonm 7:2dc81120c917 870 }
gallonm 7:2dc81120c917 871 else{
gallonm 7:2dc81120c917 872 VL6180x_ErrLog("Rd RESULT_RANGE_SIGNAL_RATE fail");
gallonm 7:2dc81120c917 873 }
gallonm 7:2dc81120c917 874 }
gallonm 7:2dc81120c917 875 else{
gallonm 7:2dc81120c917 876 VL6180x_ErrLog("VL6180x_GetRangeResult fail");
gallonm 7:2dc81120c917 877 }
gallonm 7:2dc81120c917 878 error:
gallonm 7:2dc81120c917 879 LOG_FUNCTION_END_FMT(status, "%d %d %d", (int)pRangeData->range_mm, (int)pRangeData->signalRate_mcps, (int)pRangeData->errorStatus) ;
gallonm 7:2dc81120c917 880 return status;
gallonm 7:2dc81120c917 881 }
gallonm 7:2dc81120c917 882
gallonm 7:2dc81120c917 883
gallonm 7:2dc81120c917 884 int VL6180X::VL6180x_RangeGetMeasurementIfReady(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData)
gallonm 7:2dc81120c917 885 {
gallonm 7:2dc81120c917 886 int status;
gallonm 7:2dc81120c917 887 IntrStatus_t IntStatus;
gallonm 7:2dc81120c917 888
gallonm 7:2dc81120c917 889 LOG_FUNCTION_START();
gallonm 7:2dc81120c917 890
gallonm 7:2dc81120c917 891 status = VL6180x_RangeGetInterruptStatus(dev, &IntStatus.val);
gallonm 7:2dc81120c917 892 if( status ==0 ){
gallonm 7:2dc81120c917 893 if( IntStatus.status.Error !=0 ){
gallonm 7:2dc81120c917 894 VL6180x_ErrLog("GPIO int Error report %d",(int)IntStatus.val);
gallonm 7:2dc81120c917 895 status = RANGE_ERROR;
gallonm 7:2dc81120c917 896 }
gallonm 7:2dc81120c917 897 else
gallonm 7:2dc81120c917 898 if( IntStatus.status.Range == RES_INT_STAT_GPIO_NEW_SAMPLE_READY){
gallonm 7:2dc81120c917 899 status = VL6180x_RangeGetMeasurement(dev,pRangeData );
gallonm 7:2dc81120c917 900 if( status == 0){
gallonm 7:2dc81120c917 901 /* clear range interrupt source */
gallonm 7:2dc81120c917 902 status = VL6180x_RangeClearInterrupt(dev);
gallonm 7:2dc81120c917 903 if( status ){
gallonm 7:2dc81120c917 904 VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
gallonm 7:2dc81120c917 905 }
gallonm 7:2dc81120c917 906 }
gallonm 7:2dc81120c917 907 }
gallonm 7:2dc81120c917 908 else{
gallonm 7:2dc81120c917 909 status = NOT_READY;
gallonm 7:2dc81120c917 910 }
gallonm 7:2dc81120c917 911 }
gallonm 7:2dc81120c917 912 else{
gallonm 7:2dc81120c917 913 VL6180x_ErrLog("fail to get interrupt status");
gallonm 7:2dc81120c917 914 }
gallonm 7:2dc81120c917 915 LOG_FUNCTION_END(status) ;
gallonm 7:2dc81120c917 916 return status;
gallonm 7:2dc81120c917 917 }
gallonm 7:2dc81120c917 918
gallonm 7:2dc81120c917 919 int VL6180X::VL6180x_FilterSetState(VL6180xDev_t dev, int state){
gallonm 7:2dc81120c917 920 int status;
gallonm 7:2dc81120c917 921 LOG_FUNCTION_START("%d", state);
gallonm 7:2dc81120c917 922 #if VL6180x_WRAP_AROUND_FILTER_SUPPORT
gallonm 7:2dc81120c917 923 VL6180xDevDataSet(dev,WrapAroundFilterActive, state);
gallonm 7:2dc81120c917 924 status = 0;
gallonm 7:2dc81120c917 925 #else
gallonm 7:2dc81120c917 926 status = NOT_SUPPORTED;
gallonm 7:2dc81120c917 927 #endif
gallonm 7:2dc81120c917 928 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 929 return status;
gallonm 7:2dc81120c917 930 }
gallonm 7:2dc81120c917 931
gallonm 7:2dc81120c917 932 int VL6180X::VL6180x_FilterGetState(VL6180xDev_t dev){
gallonm 7:2dc81120c917 933 int status;
gallonm 7:2dc81120c917 934 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 935 #if VL6180x_WRAP_AROUND_FILTER_SUPPORT
gallonm 7:2dc81120c917 936 status = VL6180xDevDataGet(dev,WrapAroundFilterActive);
gallonm 7:2dc81120c917 937 #else
gallonm 7:2dc81120c917 938 status = 0;
gallonm 7:2dc81120c917 939 #endif
gallonm 7:2dc81120c917 940 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 941 return status;
gallonm 7:2dc81120c917 942 }
gallonm 7:2dc81120c917 943
gallonm 7:2dc81120c917 944 int VL6180X::VL6180x_RangeGetResult(VL6180xDev_t dev, int32_t *pRange_mm) {
gallonm 7:2dc81120c917 945 int status;
gallonm 7:2dc81120c917 946 uint8_t RawRange;
gallonm 7:2dc81120c917 947 int32_t Upscale;
gallonm 7:2dc81120c917 948
gallonm 7:2dc81120c917 949 LOG_FUNCTION_START("%p",pRange_mm);
gallonm 7:2dc81120c917 950
gallonm 7:2dc81120c917 951 status = VL6180x_RdByte(dev, RESULT_RANGE_VAL, &RawRange);
gallonm 7:2dc81120c917 952 if( !status ){
gallonm 7:2dc81120c917 953 Upscale = _GetUpscale(dev);
gallonm 7:2dc81120c917 954 *pRange_mm= Upscale*(int32_t)RawRange;
gallonm 7:2dc81120c917 955 }
gallonm 7:2dc81120c917 956 LOG_FUNCTION_END_FMT(status, "%d", (int)*pRange_mm);
gallonm 7:2dc81120c917 957 return status;
gallonm 7:2dc81120c917 958 }
gallonm 7:2dc81120c917 959
gallonm 7:2dc81120c917 960 int VL6180X::VL6180x_RangeSetRawThresholds(VL6180xDev_t dev, uint8_t low, uint8_t high)
gallonm 7:2dc81120c917 961 {
gallonm 7:2dc81120c917 962 int status;
gallonm 7:2dc81120c917 963 LOG_FUNCTION_START("%d %d", (int) low, (int)high);
gallonm 7:2dc81120c917 964 /* TODO we can optimize here grouping high/low in a word but that's cpu endianness dependent */
gallonm 7:2dc81120c917 965 status=VL6180x_WrByte(dev, SYSRANGE_THRESH_HIGH,high);
gallonm 7:2dc81120c917 966 if( !status){
gallonm 7:2dc81120c917 967 status=VL6180x_WrByte(dev, SYSRANGE_THRESH_LOW, low);
gallonm 7:2dc81120c917 968 }
gallonm 7:2dc81120c917 969
gallonm 7:2dc81120c917 970 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 971 return status;
gallonm 7:2dc81120c917 972 }
gallonm 7:2dc81120c917 973
gallonm 7:2dc81120c917 974 int VL6180X::VL6180x_RangeSetThresholds(VL6180xDev_t dev, uint16_t low, uint16_t high, int UseSafeParamHold)
gallonm 7:2dc81120c917 975 {
gallonm 7:2dc81120c917 976 int status;
gallonm 7:2dc81120c917 977 int scale;
gallonm 7:2dc81120c917 978 LOG_FUNCTION_START("%d %d", (int) low, (int)high);
gallonm 7:2dc81120c917 979 scale=_GetUpscale(dev,UpscaleFactor);
gallonm 7:2dc81120c917 980 if( low>scale*255 || high >scale*255){
gallonm 7:2dc81120c917 981 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 982 }
gallonm 7:2dc81120c917 983 else{
gallonm 7:2dc81120c917 984 do{
gallonm 7:2dc81120c917 985 if( UseSafeParamHold ){
gallonm 7:2dc81120c917 986 status=VL6180x_SetGroupParamHold(dev, 1);
gallonm 7:2dc81120c917 987 if( status )
gallonm 7:2dc81120c917 988 break;
gallonm 7:2dc81120c917 989 }
gallonm 7:2dc81120c917 990 status=VL6180x_RangeSetRawThresholds(dev, (uint8_t)(low/scale), (uint8_t)(high/scale));
gallonm 7:2dc81120c917 991 if( status ){
gallonm 7:2dc81120c917 992 VL6180x_ErrLog("VL6180x_RangeSetRawThresholds fail");
gallonm 7:2dc81120c917 993 }
gallonm 7:2dc81120c917 994 if( UseSafeParamHold ){
gallonm 7:2dc81120c917 995 int HoldStatus;
gallonm 7:2dc81120c917 996 /* tryt to unset param hold vene if previous fail */
gallonm 7:2dc81120c917 997 HoldStatus=VL6180x_SetGroupParamHold(dev, 0);
gallonm 7:2dc81120c917 998 if( !status)
gallonm 7:2dc81120c917 999 status=HoldStatus;
gallonm 7:2dc81120c917 1000 }
gallonm 7:2dc81120c917 1001 }
gallonm 7:2dc81120c917 1002 while(0);
gallonm 7:2dc81120c917 1003 }
gallonm 7:2dc81120c917 1004
gallonm 7:2dc81120c917 1005 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1006 return status;
gallonm 7:2dc81120c917 1007 }
gallonm 7:2dc81120c917 1008
gallonm 7:2dc81120c917 1009
gallonm 7:2dc81120c917 1010 int VL6180X::VL6180x_RangeGetThresholds(VL6180xDev_t dev, uint16_t *low, uint16_t *high)
gallonm 7:2dc81120c917 1011 {
gallonm 7:2dc81120c917 1012 int status;
gallonm 7:2dc81120c917 1013 uint8_t RawLow, RawHigh;
gallonm 7:2dc81120c917 1014 int scale;
gallonm 7:2dc81120c917 1015
gallonm 7:2dc81120c917 1016 LOG_FUNCTION_START("%p %p", low , high);
gallonm 7:2dc81120c917 1017
gallonm 7:2dc81120c917 1018 scale=_GetUpscale(dev,UpscaleFactor);
gallonm 7:2dc81120c917 1019 do{
gallonm 7:2dc81120c917 1020 if( high != NULL ){
gallonm 7:2dc81120c917 1021 status=VL6180x_RdByte(dev, SYSRANGE_THRESH_HIGH,&RawHigh);
gallonm 7:2dc81120c917 1022 if( status ){
gallonm 7:2dc81120c917 1023 VL6180x_ErrLog("rd SYSRANGE_THRESH_HIGH fail");
gallonm 7:2dc81120c917 1024 break;
gallonm 7:2dc81120c917 1025 }
gallonm 7:2dc81120c917 1026 *high=(uint16_t)RawHigh*scale;
gallonm 7:2dc81120c917 1027 }
gallonm 7:2dc81120c917 1028 if( low != NULL ) {
gallonm 7:2dc81120c917 1029 status=VL6180x_RdByte(dev, SYSRANGE_THRESH_LOW, &RawLow);
gallonm 7:2dc81120c917 1030 if( status ){
gallonm 7:2dc81120c917 1031 VL6180x_ErrLog("rd SYSRANGE_THRESH_LOW fail");
gallonm 7:2dc81120c917 1032 break;
gallonm 7:2dc81120c917 1033 }
gallonm 7:2dc81120c917 1034 *low=(uint16_t)RawLow*scale;
gallonm 7:2dc81120c917 1035 }
gallonm 7:2dc81120c917 1036 }
gallonm 7:2dc81120c917 1037 while(0);
gallonm 7:2dc81120c917 1038 LOG_FUNCTION_END_FMT(status, "%d %d",(int)*low ,(int)*high);
gallonm 7:2dc81120c917 1039 return status;
gallonm 7:2dc81120c917 1040 }
gallonm 7:2dc81120c917 1041
gallonm 7:2dc81120c917 1042
gallonm 7:2dc81120c917 1043 int VL6180X::VL6180x_RangeGetInterruptStatus(VL6180xDev_t dev, uint8_t *pIntStatus) {
gallonm 7:2dc81120c917 1044 int status;
gallonm 7:2dc81120c917 1045 uint8_t IntStatus;
gallonm 7:2dc81120c917 1046 LOG_FUNCTION_START("%p", pIntStatus);
gallonm 7:2dc81120c917 1047 /* FIXME we are grouping "error" with over status the user must check implicitly for it
gallonm 7:2dc81120c917 1048 * not just new sample or over status , that will nevr show up in case of error*/
gallonm 7:2dc81120c917 1049 status = VL6180x_RdByte(dev, RESULT_INTERRUPT_STATUS_GPIO, &IntStatus);
gallonm 7:2dc81120c917 1050 *pIntStatus= IntStatus&0xC7;
gallonm 7:2dc81120c917 1051
gallonm 7:2dc81120c917 1052 LOG_FUNCTION_END_FMT(status, "%d", (int)*pIntStatus);
gallonm 7:2dc81120c917 1053 return status;
gallonm 7:2dc81120c917 1054 }
gallonm 7:2dc81120c917 1055
gallonm 7:2dc81120c917 1056
gallonm 7:2dc81120c917 1057 int VL6180X::VL6180x_GetInterruptStatus(VL6180xDev_t dev, uint8_t *IntStatus)
gallonm 7:2dc81120c917 1058 {
gallonm 7:2dc81120c917 1059 int status;
gallonm 7:2dc81120c917 1060 LOG_FUNCTION_START("%p" , IntStatus);
gallonm 7:2dc81120c917 1061 status = VL6180x_RdByte(dev, RESULT_INTERRUPT_STATUS_GPIO, IntStatus);
gallonm 7:2dc81120c917 1062 LOG_FUNCTION_END_FMT(status, "%d", (int)*IntStatus);
gallonm 7:2dc81120c917 1063 return status;
gallonm 7:2dc81120c917 1064 }
gallonm 7:2dc81120c917 1065
gallonm 7:2dc81120c917 1066 int VL6180X::VL6180x_ClearInterrupt(VL6180xDev_t dev, uint8_t IntClear )
gallonm 7:2dc81120c917 1067 {
gallonm 7:2dc81120c917 1068 int status;
gallonm 7:2dc81120c917 1069 LOG_FUNCTION_START("%d" ,(int)IntClear);
gallonm 7:2dc81120c917 1070 if( IntClear <= 7 ){
gallonm 7:2dc81120c917 1071 status=VL6180x_WrByte( dev, SYSTEM_INTERRUPT_CLEAR, IntClear);
gallonm 7:2dc81120c917 1072 }
gallonm 7:2dc81120c917 1073 else{
gallonm 7:2dc81120c917 1074 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1075 }
gallonm 7:2dc81120c917 1076 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1077 return status;
gallonm 7:2dc81120c917 1078 }
gallonm 7:2dc81120c917 1079
gallonm 7:2dc81120c917 1080
gallonm 7:2dc81120c917 1081 int VL6180X::VL6180x_RangeStaticInit(VL6180xDev_t dev)
gallonm 7:2dc81120c917 1082 {
gallonm 7:2dc81120c917 1083 int status;
gallonm 7:2dc81120c917 1084 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 1085
gallonm 7:2dc81120c917 1086 /* REGISTER_TUNING_SR03_270514_CustomerView.txt */
gallonm 7:2dc81120c917 1087 VL6180x_WrByte( dev, 0x0207, 0x01);
gallonm 7:2dc81120c917 1088 VL6180x_WrByte( dev, 0x0208, 0x01);
gallonm 7:2dc81120c917 1089 VL6180x_WrByte( dev, 0x0096, 0x00);
gallonm 7:2dc81120c917 1090 VL6180x_WrByte( dev, 0x0097, 0xfd);
gallonm 7:2dc81120c917 1091 VL6180x_WrByte( dev, 0x00e3, 0x00);
gallonm 7:2dc81120c917 1092 VL6180x_WrByte( dev, 0x00e4, 0x04);
gallonm 7:2dc81120c917 1093 VL6180x_WrByte( dev, 0x00e5, 0x02);
gallonm 7:2dc81120c917 1094 VL6180x_WrByte( dev, 0x00e6, 0x01);
gallonm 7:2dc81120c917 1095 VL6180x_WrByte( dev, 0x00e7, 0x03);
gallonm 7:2dc81120c917 1096 VL6180x_WrByte( dev, 0x00f5, 0x02);
gallonm 7:2dc81120c917 1097 VL6180x_WrByte( dev, 0x00d9, 0x05);
gallonm 7:2dc81120c917 1098 VL6180x_WrByte( dev, 0x00db, 0xce);
gallonm 7:2dc81120c917 1099 VL6180x_WrByte( dev, 0x00dc, 0x03);
gallonm 7:2dc81120c917 1100 VL6180x_WrByte( dev, 0x00dd, 0xf8);
gallonm 7:2dc81120c917 1101 VL6180x_WrByte( dev, 0x009f, 0x00);
gallonm 7:2dc81120c917 1102 VL6180x_WrByte( dev, 0x00a3, 0x3c);
gallonm 7:2dc81120c917 1103 VL6180x_WrByte( dev, 0x00b7, 0x00);
gallonm 7:2dc81120c917 1104 VL6180x_WrByte( dev, 0x00bb, 0x3c);
gallonm 7:2dc81120c917 1105 VL6180x_WrByte( dev, 0x00b2, 0x09);
gallonm 7:2dc81120c917 1106 VL6180x_WrByte( dev, 0x00ca, 0x09);
gallonm 7:2dc81120c917 1107 VL6180x_WrByte( dev, 0x0198, 0x01);
gallonm 7:2dc81120c917 1108 VL6180x_WrByte( dev, 0x01b0, 0x17);
gallonm 7:2dc81120c917 1109 VL6180x_WrByte( dev, 0x01ad, 0x00);
gallonm 7:2dc81120c917 1110 VL6180x_WrByte( dev, 0x00ff, 0x05);
gallonm 7:2dc81120c917 1111 VL6180x_WrByte( dev, 0x0100, 0x05);
gallonm 7:2dc81120c917 1112 VL6180x_WrByte( dev, 0x0199, 0x05);
gallonm 7:2dc81120c917 1113 VL6180x_WrByte( dev, 0x01a6, 0x1b);
gallonm 7:2dc81120c917 1114 VL6180x_WrByte( dev, 0x01ac, 0x3e);
gallonm 7:2dc81120c917 1115 VL6180x_WrByte( dev, 0x01a7, 0x1f);
gallonm 7:2dc81120c917 1116 VL6180x_WrByte( dev, 0x0030, 0x00);
gallonm 7:2dc81120c917 1117
gallonm 7:2dc81120c917 1118 /* Recommended : Public registers - See data sheet for more detail */
gallonm 7:2dc81120c917 1119 VL6180x_WrByte( dev, 0x0011, 0x10); /* Enables polling for New Sample ready when measurement completes */
gallonm 7:2dc81120c917 1120 VL6180x_WrByte( dev, 0x010a, 0x30); /* Set the averaging sample period (compromise between lower noise and increased execution time) */
gallonm 7:2dc81120c917 1121 VL6180x_WrByte( dev, 0x003f, 0x46); /* Sets the light and dark gain (upper nibble). Dark gain should not be changed.*/
gallonm 7:2dc81120c917 1122 VL6180x_WrByte( dev, 0x0031, 0xFF); /* sets the # of range measurements after which auto calibration of system is performed */
gallonm 7:2dc81120c917 1123 VL6180x_WrByte( dev, 0x0040, 0x63); /* Set ALS integration time to 100ms */
gallonm 7:2dc81120c917 1124 VL6180x_WrByte( dev, 0x002e, 0x01); /* perform a single temperature calibration of the ranging sensor */
gallonm 7:2dc81120c917 1125
gallonm 7:2dc81120c917 1126 /* Optional: Public registers - See data sheet for more detail */
gallonm 7:2dc81120c917 1127 VL6180x_WrByte( dev, 0x001b, 0x09); /* Set default ranging inter-measurement period to 100ms */
gallonm 7:2dc81120c917 1128 VL6180x_WrByte( dev, 0x003e, 0x31); /* Set default ALS inter-measurement period to 500ms */
gallonm 7:2dc81120c917 1129 VL6180x_WrByte( dev, 0x0014, 0x24); /* Configures interrupt on New sample ready */
gallonm 7:2dc81120c917 1130
gallonm 7:2dc81120c917 1131
gallonm 7:2dc81120c917 1132 status=VL6180x_RangeSetMaxConvergenceTime(dev, 50); /* Calculate ece value on initialization (use max conv) */
gallonm 7:2dc81120c917 1133 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1134
gallonm 7:2dc81120c917 1135 return status;
gallonm 7:2dc81120c917 1136 }
gallonm 7:2dc81120c917 1137
gallonm 7:2dc81120c917 1138 #if VL6180x_UPSCALE_SUPPORT != 1
gallonm 7:2dc81120c917 1139
gallonm 7:2dc81120c917 1140 int VL6180X::_UpscaleInitPatch0(VL6180xDev_t dev){
gallonm 7:2dc81120c917 1141 int status;
gallonm 7:2dc81120c917 1142 uint32_t CalValue=0;
gallonm 7:2dc81120c917 1143 CalValue= VL6180xDevDataGet(dev, Part2PartAmbNVM);
gallonm 7:2dc81120c917 1144 status=VL6180x_WrDWord( dev, 0xDA, CalValue);
gallonm 7:2dc81120c917 1145 return status;
gallonm 7:2dc81120c917 1146 }
gallonm 7:2dc81120c917 1147
gallonm 7:2dc81120c917 1148 /* only include up-scaling register setting when up-scale support is configured in */
gallonm 7:2dc81120c917 1149 int VL6180X::VL6180x_UpscaleRegInit(VL6180xDev_t dev)
gallonm 7:2dc81120c917 1150 {
gallonm 7:2dc81120c917 1151 /* apply REGISTER_TUNING_ER02_100614_CustomerView.txt */
gallonm 7:2dc81120c917 1152 VL6180x_WrByte( dev, 0x0207, 0x01);
gallonm 7:2dc81120c917 1153 VL6180x_WrByte( dev, 0x0208, 0x01);
gallonm 7:2dc81120c917 1154 VL6180x_WrByte( dev, 0x0096, 0x00);
gallonm 7:2dc81120c917 1155 VL6180x_WrByte( dev, 0x0097, 0x54);
gallonm 7:2dc81120c917 1156 VL6180x_WrByte( dev, 0x00e3, 0x00);
gallonm 7:2dc81120c917 1157 VL6180x_WrByte( dev, 0x00e4, 0x04);
gallonm 7:2dc81120c917 1158 VL6180x_WrByte( dev, 0x00e5, 0x02);
gallonm 7:2dc81120c917 1159 VL6180x_WrByte( dev, 0x00e6, 0x01);
gallonm 7:2dc81120c917 1160 VL6180x_WrByte( dev, 0x00e7, 0x03);
gallonm 7:2dc81120c917 1161 VL6180x_WrByte( dev, 0x00f5, 0x02);
gallonm 7:2dc81120c917 1162 VL6180x_WrByte( dev, 0x00d9, 0x05);
gallonm 7:2dc81120c917 1163
gallonm 7:2dc81120c917 1164 _UpscaleInitPatch0(dev);
gallonm 7:2dc81120c917 1165
gallonm 7:2dc81120c917 1166 VL6180x_WrByte( dev, 0x009f, 0x00);
gallonm 7:2dc81120c917 1167 VL6180x_WrByte( dev, 0x00a3, 0x28);
gallonm 7:2dc81120c917 1168 VL6180x_WrByte( dev, 0x00b7, 0x00);
gallonm 7:2dc81120c917 1169 VL6180x_WrByte( dev, 0x00bb, 0x28);
gallonm 7:2dc81120c917 1170 VL6180x_WrByte( dev, 0x00b2, 0x09);
gallonm 7:2dc81120c917 1171 VL6180x_WrByte( dev, 0x00ca, 0x09);
gallonm 7:2dc81120c917 1172 VL6180x_WrByte( dev, 0x0198, 0x01);
gallonm 7:2dc81120c917 1173 VL6180x_WrByte( dev, 0x01b0, 0x17);
gallonm 7:2dc81120c917 1174 VL6180x_WrByte( dev, 0x01ad, 0x00);
gallonm 7:2dc81120c917 1175 VL6180x_WrByte( dev, 0x00ff, 0x05);
gallonm 7:2dc81120c917 1176 VL6180x_WrByte( dev, 0x0100, 0x05);
gallonm 7:2dc81120c917 1177 VL6180x_WrByte( dev, 0x0199, 0x05);
gallonm 7:2dc81120c917 1178 VL6180x_WrByte( dev, 0x01a6, 0x1b);
gallonm 7:2dc81120c917 1179 VL6180x_WrByte( dev, 0x01ac, 0x3e);
gallonm 7:2dc81120c917 1180 VL6180x_WrByte( dev, 0x01a7, 0x1f);
gallonm 7:2dc81120c917 1181 VL6180x_WrByte( dev, 0x0030, 0x00);
gallonm 7:2dc81120c917 1182 VL6180x_WrByte( dev, 0x0011, 0x10);
gallonm 7:2dc81120c917 1183 VL6180x_WrByte( dev, 0x010a, 0x30);
gallonm 7:2dc81120c917 1184 VL6180x_WrByte( dev, 0x003f, 0x46);
gallonm 7:2dc81120c917 1185 VL6180x_WrByte( dev, 0x0031, 0xFF);
gallonm 7:2dc81120c917 1186 VL6180x_WrByte( dev, 0x0040, 0x63);
gallonm 7:2dc81120c917 1187 VL6180x_WrByte( dev, 0x002e, 0x01);
gallonm 7:2dc81120c917 1188 VL6180x_WrByte( dev, 0x002c, 0xff);
gallonm 7:2dc81120c917 1189 VL6180x_WrByte( dev, 0x001b, 0x09);
gallonm 7:2dc81120c917 1190 VL6180x_WrByte( dev, 0x003e, 0x31);
gallonm 7:2dc81120c917 1191 VL6180x_WrByte( dev, 0x0014, 0x24);
gallonm 7:2dc81120c917 1192 #if VL6180x_EXTENDED_RANGE
gallonm 7:2dc81120c917 1193 VL6180x_RangeSetMaxConvergenceTime(dev, 63);
gallonm 7:2dc81120c917 1194 #else
gallonm 7:2dc81120c917 1195 VL6180x_RangeSetMaxConvergenceTime(dev, 50);
gallonm 7:2dc81120c917 1196 #endif
gallonm 7:2dc81120c917 1197 return 0;
gallonm 7:2dc81120c917 1198 }
gallonm 7:2dc81120c917 1199 #else
gallonm 7:2dc81120c917 1200 #define VL6180x_UpscaleRegInit(...) -1
gallonm 7:2dc81120c917 1201 #endif
gallonm 7:2dc81120c917 1202
gallonm 7:2dc81120c917 1203 int VL6180X::VL6180x_UpscaleSetScaling(VL6180xDev_t dev, uint8_t scaling)
gallonm 7:2dc81120c917 1204 {
gallonm 7:2dc81120c917 1205 int status;
gallonm 7:2dc81120c917 1206 uint16_t Scaler;
gallonm 7:2dc81120c917 1207 int8_t Offset;
gallonm 7:2dc81120c917 1208
gallonm 7:2dc81120c917 1209 LOG_FUNCTION_START("%d",(int) scaling);
gallonm 7:2dc81120c917 1210
gallonm 7:2dc81120c917 1211 #ifdef VL6180x_HAVE_UPSCALE_DATA
gallonm 7:2dc81120c917 1212 #define min_scaling 1
gallonm 7:2dc81120c917 1213 #define max_scaling sizeof(ScalerLookUP)/sizeof(ScalerLookUP[0])
gallonm 7:2dc81120c917 1214 #else
gallonm 7:2dc81120c917 1215 /* we are in fixed config so only allow configured factor */
gallonm 7:2dc81120c917 1216 #define min_scaling VL6180x_UPSCALE_SUPPORT
gallonm 7:2dc81120c917 1217 #define max_scaling VL6180x_UPSCALE_SUPPORT
gallonm 7:2dc81120c917 1218 #endif
gallonm 7:2dc81120c917 1219
gallonm 7:2dc81120c917 1220 if( scaling>=min_scaling && scaling<= max_scaling ){
gallonm 7:2dc81120c917 1221
gallonm 7:2dc81120c917 1222 Scaler = ScalerLookUP[scaling-1];
gallonm 7:2dc81120c917 1223 status = VL6180x_WrWord(dev, RANGE_SCALER, Scaler);
gallonm 7:2dc81120c917 1224 _SetUpscale(dev, scaling );
gallonm 7:2dc81120c917 1225
gallonm 7:2dc81120c917 1226 /* Apply scaling on part-2-part offset */
gallonm 7:2dc81120c917 1227 Offset = VL6180xDevDataGet(dev, Part2PartOffsetNVM)/scaling;
gallonm 7:2dc81120c917 1228 status = VL6180x_WrByte(dev, SYSRANGE_PART_TO_PART_RANGE_OFFSET, Offset);
gallonm 7:2dc81120c917 1229 #if ! VL6180x_EXTENDED_RANGE
gallonm 7:2dc81120c917 1230 if( status ==0 ){
gallonm 7:2dc81120c917 1231 status = VL6180x_RangeSetEceState(dev, scaling == 1); /* enable ece only at 1x scaling */
gallonm 7:2dc81120c917 1232 }
gallonm 7:2dc81120c917 1233 if( status == 0 && !VL6180x_EXTENDED_RANGE && scaling!=1 ){
gallonm 7:2dc81120c917 1234 status = NOT_GUARANTEED ;
gallonm 7:2dc81120c917 1235 }
gallonm 7:2dc81120c917 1236 #endif
gallonm 7:2dc81120c917 1237 }
gallonm 7:2dc81120c917 1238 else{
gallonm 7:2dc81120c917 1239 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1240 }
gallonm 7:2dc81120c917 1241 #undef min_scaling
gallonm 7:2dc81120c917 1242 #undef max_scaling
gallonm 7:2dc81120c917 1243 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1244 return status;
gallonm 7:2dc81120c917 1245 }
gallonm 7:2dc81120c917 1246
gallonm 7:2dc81120c917 1247
gallonm 7:2dc81120c917 1248 int VL6180X::VL6180x_UpscaleGetScaling(VL6180xDev_t dev)
gallonm 7:2dc81120c917 1249 {
gallonm 7:2dc81120c917 1250 int status;
gallonm 7:2dc81120c917 1251 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 1252 status=_GetUpscale(dev );
gallonm 7:2dc81120c917 1253 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1254
gallonm 7:2dc81120c917 1255 return status;
gallonm 7:2dc81120c917 1256 }
gallonm 7:2dc81120c917 1257
gallonm 7:2dc81120c917 1258
gallonm 7:2dc81120c917 1259 int VL6180X::VL6180x_UpscaleStaticInit(VL6180xDev_t dev)
gallonm 7:2dc81120c917 1260 {
gallonm 7:2dc81120c917 1261 /* todo make these a fail macro in case only 1x is suppoted */
gallonm 7:2dc81120c917 1262 int status;
gallonm 7:2dc81120c917 1263
gallonm 7:2dc81120c917 1264 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 1265 do{
gallonm 7:2dc81120c917 1266 status=VL6180x_UpscaleRegInit(dev);
gallonm 7:2dc81120c917 1267 if( status){
gallonm 7:2dc81120c917 1268 VL6180x_ErrLog("regInit fail");
gallonm 7:2dc81120c917 1269 break;
gallonm 7:2dc81120c917 1270 }
gallonm 7:2dc81120c917 1271 #if VL6180x_EXTENDED_RANGE
gallonm 7:2dc81120c917 1272 status = VL6180x_RangeSetEceState(dev, 0);
gallonm 7:2dc81120c917 1273 if( status){
gallonm 7:2dc81120c917 1274 VL6180x_ErrLog("VL6180x_RangeSetEceState fail");
gallonm 7:2dc81120c917 1275 break;
gallonm 7:2dc81120c917 1276 }
gallonm 7:2dc81120c917 1277 #endif
gallonm 7:2dc81120c917 1278 } while(0);
gallonm 7:2dc81120c917 1279 if( !status){
gallonm 7:2dc81120c917 1280 /* must write the scaler at least once to the device to ensure the scaler is in a known state. */
gallonm 7:2dc81120c917 1281 status=VL6180x_UpscaleSetScaling(dev, _GetUpscale(dev));
gallonm 7:2dc81120c917 1282 VL6180x_WrByte( dev, 0x016, 0x00); /* change fresh out of set status to 0 */
gallonm 7:2dc81120c917 1283 }
gallonm 7:2dc81120c917 1284 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1285 return status;
gallonm 7:2dc81120c917 1286 }
gallonm 7:2dc81120c917 1287
gallonm 7:2dc81120c917 1288
gallonm 7:2dc81120c917 1289 int VL6180X::VL6180x_SetGPIOxPolarity(VL6180xDev_t dev, int pin, int active_high)
gallonm 7:2dc81120c917 1290 {
gallonm 7:2dc81120c917 1291 int status;
gallonm 7:2dc81120c917 1292 LOG_FUNCTION_START("%d %d",(int) pin, (int)active_high);
gallonm 7:2dc81120c917 1293
gallonm 7:2dc81120c917 1294 if( pin ==0 || pin ==1 ){
gallonm 7:2dc81120c917 1295 uint16_t RegIndex;
gallonm 7:2dc81120c917 1296 uint8_t DataSet;
gallonm 7:2dc81120c917 1297 if( pin==0 )
gallonm 7:2dc81120c917 1298 RegIndex= SYSTEM_MODE_GPIO0;
gallonm 7:2dc81120c917 1299 else
gallonm 7:2dc81120c917 1300 RegIndex= SYSTEM_MODE_GPIO1;
gallonm 7:2dc81120c917 1301
gallonm 7:2dc81120c917 1302 if (active_high )
gallonm 7:2dc81120c917 1303 DataSet = GPIOx_POLARITY_SELECT_MASK;
gallonm 7:2dc81120c917 1304 else
gallonm 7:2dc81120c917 1305 DataSet = 0;
gallonm 7:2dc81120c917 1306
gallonm 7:2dc81120c917 1307 status = VL6180x_UpdateByte(dev, RegIndex, (uint8_t)~GPIOx_POLARITY_SELECT_MASK, DataSet);
gallonm 7:2dc81120c917 1308 }
gallonm 7:2dc81120c917 1309 else{
gallonm 7:2dc81120c917 1310 VL6180x_ErrLog("Invalid pin param %d", (int)pin);
gallonm 7:2dc81120c917 1311 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1312 }
gallonm 7:2dc81120c917 1313
gallonm 7:2dc81120c917 1314 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1315
gallonm 7:2dc81120c917 1316 return status;
gallonm 7:2dc81120c917 1317 }
gallonm 7:2dc81120c917 1318
gallonm 7:2dc81120c917 1319 int VL6180X::VL6180x_SetGPIOxFunctionality(VL6180xDev_t dev, int pin, uint8_t functionality)
gallonm 7:2dc81120c917 1320 {
gallonm 7:2dc81120c917 1321 int status;
gallonm 7:2dc81120c917 1322
gallonm 7:2dc81120c917 1323 LOG_FUNCTION_START("%d %d",(int) pin, (int)functionality);
gallonm 7:2dc81120c917 1324
gallonm 7:2dc81120c917 1325 if( ((pin ==0) || (pin ==1)) && IsValidGPIOFunction(functionality) ){
gallonm 7:2dc81120c917 1326 uint16_t RegIndex;
gallonm 7:2dc81120c917 1327
gallonm 7:2dc81120c917 1328 if( pin==0 )
gallonm 7:2dc81120c917 1329 RegIndex= SYSTEM_MODE_GPIO0;
gallonm 7:2dc81120c917 1330 else
gallonm 7:2dc81120c917 1331 RegIndex= SYSTEM_MODE_GPIO1;
gallonm 7:2dc81120c917 1332
gallonm 7:2dc81120c917 1333 status = VL6180x_UpdateByte(dev, RegIndex, (uint8_t)~GPIOx_FUNCTIONALITY_SELECT_MASK, functionality<<GPIOx_FUNCTIONALITY_SELECT_SHIFT);
gallonm 7:2dc81120c917 1334 if( status){
gallonm 7:2dc81120c917 1335 VL6180x_ErrLog("Update SYSTEM_MODE_GPIO%d fail", (int)pin);
gallonm 7:2dc81120c917 1336 }
gallonm 7:2dc81120c917 1337 }
gallonm 7:2dc81120c917 1338 else{
gallonm 7:2dc81120c917 1339 VL6180x_ErrLog("Invalid pin %d or function %d", (int)pin, (int) functionality);
gallonm 7:2dc81120c917 1340 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1341 }
gallonm 7:2dc81120c917 1342
gallonm 7:2dc81120c917 1343 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1344 return status;
gallonm 7:2dc81120c917 1345 }
gallonm 7:2dc81120c917 1346
gallonm 7:2dc81120c917 1347
gallonm 7:2dc81120c917 1348 int VL6180X::VL6180x_SetupGPIOx(VL6180xDev_t dev, int pin, uint8_t IntFunction, int ActiveHigh)
gallonm 7:2dc81120c917 1349 {
gallonm 7:2dc81120c917 1350 int status;
gallonm 7:2dc81120c917 1351
gallonm 7:2dc81120c917 1352 LOG_FUNCTION_START("%d %d",(int) pin, (int)IntFunction);
gallonm 7:2dc81120c917 1353
gallonm 7:2dc81120c917 1354 if( ((pin ==0) || (pin ==1)) && IsValidGPIOFunction(IntFunction) ){
gallonm 7:2dc81120c917 1355 uint16_t RegIndex;
gallonm 7:2dc81120c917 1356 uint8_t value=0;
gallonm 7:2dc81120c917 1357
gallonm 7:2dc81120c917 1358 if( pin==0 )
gallonm 7:2dc81120c917 1359 RegIndex= SYSTEM_MODE_GPIO0;
gallonm 7:2dc81120c917 1360 else
gallonm 7:2dc81120c917 1361 RegIndex= SYSTEM_MODE_GPIO1;
gallonm 7:2dc81120c917 1362
gallonm 7:2dc81120c917 1363 if( ActiveHigh )
gallonm 7:2dc81120c917 1364 value|=GPIOx_POLARITY_SELECT_MASK;
gallonm 7:2dc81120c917 1365
gallonm 7:2dc81120c917 1366 value |= IntFunction<<GPIOx_FUNCTIONALITY_SELECT_SHIFT;
gallonm 7:2dc81120c917 1367 status = VL6180x_WrByte(dev, RegIndex, value);
gallonm 7:2dc81120c917 1368 if( status ){
gallonm 7:2dc81120c917 1369 VL6180x_ErrLog("SYSTEM_MODE_GPIO%d wr fail", (int)pin-SYSTEM_MODE_GPIO0);
gallonm 7:2dc81120c917 1370 }
gallonm 7:2dc81120c917 1371 }
gallonm 7:2dc81120c917 1372 else{
gallonm 7:2dc81120c917 1373 VL6180x_ErrLog("Invalid pin %d or function %d", (int)pin, (int) IntFunction);
gallonm 7:2dc81120c917 1374 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1375 }
gallonm 7:2dc81120c917 1376
gallonm 7:2dc81120c917 1377 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1378 return status;
gallonm 7:2dc81120c917 1379 }
gallonm 7:2dc81120c917 1380
gallonm 7:2dc81120c917 1381
gallonm 7:2dc81120c917 1382 int VL6180X::VL6180x_DisableGPIOxOut(VL6180xDev_t dev, int pin) {
gallonm 7:2dc81120c917 1383 int status;
gallonm 7:2dc81120c917 1384
gallonm 7:2dc81120c917 1385 LOG_FUNCTION_START("%d",(int)pin);
gallonm 7:2dc81120c917 1386
gallonm 7:2dc81120c917 1387 status=VL6180x_SetGPIOxFunctionality(dev, pin, GPIOx_SELECT_OFF);
gallonm 7:2dc81120c917 1388
gallonm 7:2dc81120c917 1389 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1390 return status;
gallonm 7:2dc81120c917 1391 }
gallonm 7:2dc81120c917 1392
gallonm 7:2dc81120c917 1393
gallonm 7:2dc81120c917 1394 int VL6180X::VL6180x_SetupGPIO1(VL6180xDev_t dev, uint8_t IntFunction, int ActiveHigh)
gallonm 7:2dc81120c917 1395 {
gallonm 7:2dc81120c917 1396 int status;
gallonm 7:2dc81120c917 1397 LOG_FUNCTION_START("%d %d",(int)IntFunction, (int)ActiveHigh );
gallonm 7:2dc81120c917 1398 status=VL6180x_SetupGPIOx(dev, 1 , IntFunction, ActiveHigh);
gallonm 7:2dc81120c917 1399 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1400 return status;
gallonm 7:2dc81120c917 1401 }
gallonm 7:2dc81120c917 1402
gallonm 7:2dc81120c917 1403 int VL6180X::VL6180x_RangeConfigInterrupt(VL6180xDev_t dev, uint8_t ConfigGpioInt)
gallonm 7:2dc81120c917 1404 {
gallonm 7:2dc81120c917 1405 int status;
gallonm 7:2dc81120c917 1406
gallonm 7:2dc81120c917 1407 if( ConfigGpioInt<= CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY){
gallonm 7:2dc81120c917 1408 status = VL6180x_UpdateByte(dev, SYSTEM_INTERRUPT_CONFIG_GPIO, (uint8_t)(~CONFIG_GPIO_RANGE_MASK), ConfigGpioInt);
gallonm 7:2dc81120c917 1409 }
gallonm 7:2dc81120c917 1410 else{
gallonm 7:2dc81120c917 1411 VL6180x_ErrLog("Invalid config mode param %d", (int)ConfigGpioInt);
gallonm 7:2dc81120c917 1412 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1413 }
gallonm 7:2dc81120c917 1414 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1415 return status;
gallonm 7:2dc81120c917 1416 }
gallonm 7:2dc81120c917 1417
gallonm 7:2dc81120c917 1418
gallonm 7:2dc81120c917 1419 int VL6180X::VL6180x_RangeSetEceFactor(VL6180xDev_t dev, uint16_t FactorM, uint16_t FactorD){
gallonm 7:2dc81120c917 1420 int status;
gallonm 7:2dc81120c917 1421 uint8_t u8;
gallonm 7:2dc81120c917 1422
gallonm 7:2dc81120c917 1423 LOG_FUNCTION_START("%d %d", (int)FactorM, (int)FactorD );
gallonm 7:2dc81120c917 1424 do{
gallonm 7:2dc81120c917 1425 /* D cannot be 0 M must be <=D and >= 0 */
gallonm 7:2dc81120c917 1426 if( FactorM <= FactorD && FactorD> 0){
gallonm 7:2dc81120c917 1427 VL6180xDevDataSet(dev, EceFactorM, FactorM);
gallonm 7:2dc81120c917 1428 VL6180xDevDataSet(dev, EceFactorD, FactorD);
gallonm 7:2dc81120c917 1429 /* read and re-apply max conv time to get new ece factor set */
gallonm 7:2dc81120c917 1430 status = VL6180x_RdByte(dev, SYSRANGE_MAX_CONVERGENCE_TIME, &u8);
gallonm 7:2dc81120c917 1431 if( status){
gallonm 7:2dc81120c917 1432 VL6180x_ErrLog("SYSRANGE_MAX_CONVERGENCE_TIME rd fail ");
gallonm 7:2dc81120c917 1433 break;
gallonm 7:2dc81120c917 1434 }
gallonm 7:2dc81120c917 1435 status = VL6180x_RangeSetMaxConvergenceTime(dev, u8);
gallonm 7:2dc81120c917 1436 if( status <0 ){
gallonm 7:2dc81120c917 1437 VL6180x_ErrLog("fail to apply time after ece m/d change");
gallonm 7:2dc81120c917 1438 break;
gallonm 7:2dc81120c917 1439 }
gallonm 7:2dc81120c917 1440 }
gallonm 7:2dc81120c917 1441 else{
gallonm 7:2dc81120c917 1442 VL6180x_ErrLog("invalid factor %d/%d", (int)FactorM, (int)FactorD );
gallonm 7:2dc81120c917 1443 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1444 }
gallonm 7:2dc81120c917 1445 }
gallonm 7:2dc81120c917 1446 while(0);
gallonm 7:2dc81120c917 1447 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1448 return status;
gallonm 7:2dc81120c917 1449 }
gallonm 7:2dc81120c917 1450
gallonm 7:2dc81120c917 1451 int VL6180X::VL6180x_RangeSetEceState(VL6180xDev_t dev, int enable ){
gallonm 7:2dc81120c917 1452 int status;
gallonm 7:2dc81120c917 1453 uint8_t or_mask;
gallonm 7:2dc81120c917 1454
gallonm 7:2dc81120c917 1455 LOG_FUNCTION_START("%d", (int)enable);
gallonm 7:2dc81120c917 1456 if( enable )
gallonm 7:2dc81120c917 1457 or_mask = RANGE_CHECK_ECE_ENABLE_MASK;
gallonm 7:2dc81120c917 1458 else
gallonm 7:2dc81120c917 1459 or_mask = 0;
gallonm 7:2dc81120c917 1460
gallonm 7:2dc81120c917 1461 status =VL6180x_UpdateByte(dev, SYSRANGE_RANGE_CHECK_ENABLES, ~RANGE_CHECK_ECE_ENABLE_MASK, or_mask);
gallonm 7:2dc81120c917 1462 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1463 return status;
gallonm 7:2dc81120c917 1464 }
gallonm 7:2dc81120c917 1465
gallonm 7:2dc81120c917 1466
gallonm 7:2dc81120c917 1467 int VL6180X::VL6180x_RangeSetMaxConvergenceTime(VL6180xDev_t dev, uint8_t MaxConTime_msec)
gallonm 7:2dc81120c917 1468 {
gallonm 7:2dc81120c917 1469 int status = 0;
gallonm 7:2dc81120c917 1470 LOG_FUNCTION_START("%d",(int)MaxConTime_msec);
gallonm 7:2dc81120c917 1471 do{
gallonm 7:2dc81120c917 1472 status=VL6180x_WrByte(dev, SYSRANGE_MAX_CONVERGENCE_TIME, MaxConTime_msec);
gallonm 7:2dc81120c917 1473 if( status ){
gallonm 7:2dc81120c917 1474 break;
gallonm 7:2dc81120c917 1475 }
gallonm 7:2dc81120c917 1476 status=VL6180x_RangeSetEarlyConvergenceEestimateThreshold(dev);
gallonm 7:2dc81120c917 1477 if( status){
gallonm 7:2dc81120c917 1478 break;
gallonm 7:2dc81120c917 1479 }
gallonm 7:2dc81120c917 1480 status = _DMax_InitData(dev);
gallonm 7:2dc81120c917 1481 }
gallonm 7:2dc81120c917 1482 while(0);
gallonm 7:2dc81120c917 1483 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1484 return status;
gallonm 7:2dc81120c917 1485 }
gallonm 7:2dc81120c917 1486
gallonm 7:2dc81120c917 1487 int VL6180X::VL6180x_RangeSetInterMeasPeriod(VL6180xDev_t dev, uint32_t InterMeasTime_msec){
gallonm 7:2dc81120c917 1488 uint8_t SetTime;
gallonm 7:2dc81120c917 1489 int status;
gallonm 7:2dc81120c917 1490
gallonm 7:2dc81120c917 1491 LOG_FUNCTION_START("%d",(int)InterMeasTime_msec);
gallonm 7:2dc81120c917 1492 do {
gallonm 7:2dc81120c917 1493 if( InterMeasTime_msec > 2550 ){
gallonm 7:2dc81120c917 1494 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1495 break;
gallonm 7:2dc81120c917 1496 }
gallonm 7:2dc81120c917 1497 /* doc in not 100% clear and confusing about the limit practically all value are OK but 0
gallonm 7:2dc81120c917 1498 * that can hang device in continuous mode */
gallonm 7:2dc81120c917 1499 if( InterMeasTime_msec < 10 ) {
gallonm 7:2dc81120c917 1500 InterMeasTime_msec=10;
gallonm 7:2dc81120c917 1501 }
gallonm 7:2dc81120c917 1502 SetTime=(uint8_t)(InterMeasTime_msec/10);
gallonm 7:2dc81120c917 1503 status=VL6180x_WrByte(dev, SYSRANGE_INTERMEASUREMENT_PERIOD, SetTime);
gallonm 7:2dc81120c917 1504 if( status ){
gallonm 7:2dc81120c917 1505 VL6180x_ErrLog("SYSRANGE_INTERMEASUREMENT_PERIOD wr fail");
gallonm 7:2dc81120c917 1506 }
gallonm 7:2dc81120c917 1507 else
gallonm 7:2dc81120c917 1508 if( SetTime != InterMeasTime_msec /10 ) {
gallonm 7:2dc81120c917 1509 status = MIN_CLIPED; /* on success change status to clip if it did */
gallonm 7:2dc81120c917 1510 }
gallonm 7:2dc81120c917 1511 }while(0);
gallonm 7:2dc81120c917 1512 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1513 return status;
gallonm 7:2dc81120c917 1514 }
gallonm 7:2dc81120c917 1515
gallonm 7:2dc81120c917 1516
gallonm 7:2dc81120c917 1517 int VL6180X::VL6180x_RangeGetDeviceReady(VL6180xDev_t dev, int * Ready){
gallonm 7:2dc81120c917 1518 int status;
gallonm 7:2dc81120c917 1519 uint8_t u8;
gallonm 7:2dc81120c917 1520 LOG_FUNCTION_START("%p", (int)Ready);
gallonm 7:2dc81120c917 1521 status=VL6180x_RdByte(dev, RESULT_RANGE_STATUS, &u8);
gallonm 7:2dc81120c917 1522 if( !status)
gallonm 7:2dc81120c917 1523 *Ready = u8&RANGE_DEVICE_READY_MASK;
gallonm 7:2dc81120c917 1524 LOG_FUNCTION_END_FMT(status,"%d", *Ready);
gallonm 7:2dc81120c917 1525 return status;
gallonm 7:2dc81120c917 1526 }
gallonm 7:2dc81120c917 1527
gallonm 7:2dc81120c917 1528
gallonm 7:2dc81120c917 1529 int VL6180X::VL6180x_RangeWaitDeviceReady(VL6180xDev_t dev, int MaxLoop ){
gallonm 7:2dc81120c917 1530 int status; /* if user specify an invalid <=0 loop count we'll return error */
gallonm 7:2dc81120c917 1531 int n;
gallonm 7:2dc81120c917 1532 uint8_t u8;
gallonm 7:2dc81120c917 1533 LOG_FUNCTION_START("%d", (int)MaxLoop);
gallonm 7:2dc81120c917 1534 if( MaxLoop<1){
gallonm 7:2dc81120c917 1535 status=INVALID_PARAMS;
gallonm 7:2dc81120c917 1536 }
gallonm 7:2dc81120c917 1537 else{
gallonm 7:2dc81120c917 1538 for( n=0; n < MaxLoop ; n++){
gallonm 7:2dc81120c917 1539 status=VL6180x_RdByte(dev, RESULT_RANGE_STATUS, &u8);
gallonm 7:2dc81120c917 1540 if( status)
gallonm 7:2dc81120c917 1541 break;
gallonm 7:2dc81120c917 1542 u8 = u8 & RANGE_DEVICE_READY_MASK;
gallonm 7:2dc81120c917 1543 if( u8 )
gallonm 7:2dc81120c917 1544 break;
gallonm 7:2dc81120c917 1545
gallonm 7:2dc81120c917 1546 }
gallonm 7:2dc81120c917 1547 if( !status && !u8 ){
gallonm 7:2dc81120c917 1548 status = TIME_OUT;
gallonm 7:2dc81120c917 1549 }
gallonm 7:2dc81120c917 1550 }
gallonm 7:2dc81120c917 1551 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1552 return status;
gallonm 7:2dc81120c917 1553 }
gallonm 7:2dc81120c917 1554
gallonm 7:2dc81120c917 1555 int VL6180X::VL6180x_RangeSetSystemMode(VL6180xDev_t dev, uint8_t mode)
gallonm 7:2dc81120c917 1556 {
gallonm 7:2dc81120c917 1557 int status;
gallonm 7:2dc81120c917 1558 LOG_FUNCTION_START("%d", (int)mode);
gallonm 7:2dc81120c917 1559 /* FIXME we are not checking device is ready via @a VL6180x_RangeWaitDeviceReady
gallonm 7:2dc81120c917 1560 * so if called back to back real fast we are not checking
gallonm 7:2dc81120c917 1561 * if previous mode "set" got absorbed => bit 0 must be 0 so that it work
gallonm 7:2dc81120c917 1562 */
gallonm 7:2dc81120c917 1563 if( mode <= 3){
gallonm 7:2dc81120c917 1564 status=VL6180x_WrByte(dev, SYSRANGE_START, mode);
gallonm 7:2dc81120c917 1565 if( status ){
gallonm 7:2dc81120c917 1566 VL6180x_ErrLog("SYSRANGE_START wr fail");
gallonm 7:2dc81120c917 1567 }
gallonm 7:2dc81120c917 1568 }
gallonm 7:2dc81120c917 1569 else{
gallonm 7:2dc81120c917 1570 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1571 }
gallonm 7:2dc81120c917 1572 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1573 return status;
gallonm 7:2dc81120c917 1574 }
gallonm 7:2dc81120c917 1575
gallonm 7:2dc81120c917 1576
gallonm 7:2dc81120c917 1577 int VL6180X::VL6180x_RangeStartContinuousMode(VL6180xDev_t dev)
gallonm 7:2dc81120c917 1578 {
gallonm 7:2dc81120c917 1579 int status;
gallonm 7:2dc81120c917 1580 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 1581 status= VL6180x_RangeSetSystemMode(dev, MODE_START_STOP | MODE_CONTINUOUS);
gallonm 7:2dc81120c917 1582 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1583 return status;
gallonm 7:2dc81120c917 1584 }
gallonm 7:2dc81120c917 1585
gallonm 7:2dc81120c917 1586 int VL6180X::VL6180x_RangeStartSingleShot(VL6180xDev_t dev) {
gallonm 7:2dc81120c917 1587 int status;
gallonm 7:2dc81120c917 1588 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 1589 status = VL6180x_RangeSetSystemMode(dev, MODE_START_STOP|MODE_SINGLESHOT);
gallonm 7:2dc81120c917 1590 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1591 return status;
gallonm 7:2dc81120c917 1592 }
gallonm 7:2dc81120c917 1593
gallonm 7:2dc81120c917 1594
gallonm 7:2dc81120c917 1595 int VL6180X::VL6180x_RangeSetEarlyConvergenceEestimateThreshold(VL6180xDev_t dev)
gallonm 7:2dc81120c917 1596 {
gallonm 7:2dc81120c917 1597 int status;
gallonm 7:2dc81120c917 1598
gallonm 7:2dc81120c917 1599 const uint32_t cMicroSecPerMilliSec = 1000;
gallonm 7:2dc81120c917 1600 const uint32_t cEceSampleTime_us = 500;
gallonm 7:2dc81120c917 1601 uint32_t ece_factor_m = VL6180xDevDataGet(dev, EceFactorM);
gallonm 7:2dc81120c917 1602 uint32_t ece_factor_d = VL6180xDevDataGet(dev, EceFactorD);
gallonm 7:2dc81120c917 1603 uint32_t convergTime_us;
gallonm 7:2dc81120c917 1604 uint32_t fineThresh;
gallonm 7:2dc81120c917 1605 uint32_t eceThresh;
gallonm 7:2dc81120c917 1606 uint8_t u8;
gallonm 7:2dc81120c917 1607 uint32_t maxConv_ms;
gallonm 7:2dc81120c917 1608 int32_t AveTime;
gallonm 7:2dc81120c917 1609
gallonm 7:2dc81120c917 1610 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 1611
gallonm 7:2dc81120c917 1612 do{
gallonm 7:2dc81120c917 1613 status = VL6180x_RdByte(dev, SYSRANGE_MAX_CONVERGENCE_TIME, &u8);
gallonm 7:2dc81120c917 1614 if( status ){
gallonm 7:2dc81120c917 1615 VL6180x_ErrLog("SYSRANGE_MAX_CONVERGENCE_TIME rd fail");
gallonm 7:2dc81120c917 1616 break;
gallonm 7:2dc81120c917 1617 }
gallonm 7:2dc81120c917 1618 maxConv_ms = u8;
gallonm 7:2dc81120c917 1619 AveTime = _GetAveTotalTime(dev);
gallonm 7:2dc81120c917 1620 if( AveTime <0 ){
gallonm 7:2dc81120c917 1621 status=-1;
gallonm 7:2dc81120c917 1622 break;
gallonm 7:2dc81120c917 1623 }
gallonm 7:2dc81120c917 1624
gallonm 7:2dc81120c917 1625 convergTime_us = maxConv_ms * cMicroSecPerMilliSec - AveTime;
gallonm 7:2dc81120c917 1626 status = VL6180x_RdDWord(dev, 0xB8, &fineThresh);
gallonm 7:2dc81120c917 1627 if( status ) {
gallonm 7:2dc81120c917 1628 VL6180x_ErrLog("reg 0xB8 rd fail");
gallonm 7:2dc81120c917 1629 break;
gallonm 7:2dc81120c917 1630 }
gallonm 7:2dc81120c917 1631 fineThresh*=256;
gallonm 7:2dc81120c917 1632 eceThresh = ece_factor_m * cEceSampleTime_us * fineThresh/(convergTime_us * ece_factor_d);
gallonm 7:2dc81120c917 1633
gallonm 7:2dc81120c917 1634 status=VL6180x_WrWord(dev, SYSRANGE_EARLY_CONVERGENCE_ESTIMATE, (uint16_t)eceThresh);
gallonm 7:2dc81120c917 1635 }
gallonm 7:2dc81120c917 1636 while(0);
gallonm 7:2dc81120c917 1637
gallonm 7:2dc81120c917 1638 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1639 return status;
gallonm 7:2dc81120c917 1640 }
gallonm 7:2dc81120c917 1641
gallonm 7:2dc81120c917 1642 /*
gallonm 7:2dc81120c917 1643 * Return >0 = time
gallonm 7:2dc81120c917 1644 * <0 1 if fail to get read data from device to compute time
gallonm 7:2dc81120c917 1645 */
gallonm 7:2dc81120c917 1646 int32_t VL6180X::_GetAveTotalTime(VL6180xDev_t dev) {
gallonm 7:2dc81120c917 1647 uint32_t cFwOverhead_us = 24;
gallonm 7:2dc81120c917 1648 uint32_t cVcpSetupTime_us = 70;
gallonm 7:2dc81120c917 1649 uint32_t cPLL2_StartupDelay_us = 200;
gallonm 7:2dc81120c917 1650 uint8_t cMeasMask = 0x07;
gallonm 7:2dc81120c917 1651 uint32_t Samples;
gallonm 7:2dc81120c917 1652 uint32_t SamplePeriod;
gallonm 7:2dc81120c917 1653 uint32_t SingleTime_us;
gallonm 7:2dc81120c917 1654 int32_t TotalAveTime_us;
gallonm 7:2dc81120c917 1655 uint8_t u8;
gallonm 7:2dc81120c917 1656 int status;
gallonm 7:2dc81120c917 1657
gallonm 7:2dc81120c917 1658 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 1659
gallonm 7:2dc81120c917 1660 status = VL6180x_RdByte(dev, 0x109, &u8);
gallonm 7:2dc81120c917 1661 if (status) {
gallonm 7:2dc81120c917 1662 VL6180x_ErrLog("rd 0x109 fail");
gallonm 7:2dc81120c917 1663 return -1;
gallonm 7:2dc81120c917 1664 }
gallonm 7:2dc81120c917 1665 Samples = u8 & cMeasMask;
gallonm 7:2dc81120c917 1666 status = VL6180x_RdByte(dev, READOUT_AVERAGING_SAMPLE_PERIOD, &u8);
gallonm 7:2dc81120c917 1667 if (status) {
gallonm 7:2dc81120c917 1668 VL6180x_ErrLog("i2c READOUT_AVERAGING_SAMPLE_PERIOD fail");
gallonm 7:2dc81120c917 1669 return -1;
gallonm 7:2dc81120c917 1670 }
gallonm 7:2dc81120c917 1671 SamplePeriod = u8;
gallonm 7:2dc81120c917 1672 SingleTime_us = cFwOverhead_us + cVcpSetupTime_us + (SamplePeriod * 10);
gallonm 7:2dc81120c917 1673 TotalAveTime_us = (Samples + 1) * SingleTime_us + cPLL2_StartupDelay_us;
gallonm 7:2dc81120c917 1674
gallonm 7:2dc81120c917 1675 LOG_FUNCTION_END(TotalAveTime_us);
gallonm 7:2dc81120c917 1676 return TotalAveTime_us;
gallonm 7:2dc81120c917 1677 }
gallonm 7:2dc81120c917 1678
gallonm 7:2dc81120c917 1679 #if VL6180x_HAVE_DMAX_RANGING
gallonm 7:2dc81120c917 1680 #define _GetDMaxDataRetSignalAt400mm(dev) VL6180xDevDataGet(dev, DMaxData.retSignalAt400mm)
gallonm 7:2dc81120c917 1681 #else
gallonm 7:2dc81120c917 1682 #define _GetDMaxDataRetSignalAt400mm(dev) 375 // Use a default high value
gallonm 7:2dc81120c917 1683 #endif
gallonm 7:2dc81120c917 1684
gallonm 7:2dc81120c917 1685
gallonm 7:2dc81120c917 1686 #if VL6180x_WRAP_AROUND_FILTER_SUPPORT
gallonm 7:2dc81120c917 1687
gallonm 7:2dc81120c917 1688 #define FILTER_STDDEV_SAMPLES 6
gallonm 7:2dc81120c917 1689 #define MIN_FILTER_STDDEV_SAMPLES 3
gallonm 7:2dc81120c917 1690 #define MIN_FILTER_VALID_STDDEV_SAMPLES 3
gallonm 7:2dc81120c917 1691 #define FILTER_INVALID_DISTANCE 65535
gallonm 7:2dc81120c917 1692
gallonm 7:2dc81120c917 1693 #define _FilterData(field) VL6180xDevDataGet(dev, FilterData.field)
gallonm 7:2dc81120c917 1694 /*
gallonm 7:2dc81120c917 1695 * One time init
gallonm 7:2dc81120c917 1696 */
gallonm 7:2dc81120c917 1697 int _filter_Init( VL6180xDev_t dev) {
gallonm 7:2dc81120c917 1698 int i;
gallonm 7:2dc81120c917 1699 _FilterData(MeasurementIndex) = 0;
gallonm 7:2dc81120c917 1700
gallonm 7:2dc81120c917 1701 _FilterData(Default_ZeroVal) = 0;
gallonm 7:2dc81120c917 1702 _FilterData(Default_VAVGVal) = 0;
gallonm 7:2dc81120c917 1703 _FilterData(NoDelay_ZeroVal) = 0;
gallonm 7:2dc81120c917 1704 _FilterData(NoDelay_VAVGVal) = 0;
gallonm 7:2dc81120c917 1705 _FilterData(Previous_VAVGDiff) = 0;
gallonm 7:2dc81120c917 1706
gallonm 7:2dc81120c917 1707 _FilterData(StdFilteredReads) = 0;
gallonm 7:2dc81120c917 1708
gallonm 7:2dc81120c917 1709 for (i = 0; i < FILTER_NBOF_SAMPLES; i++) {
gallonm 7:2dc81120c917 1710 _FilterData(LastTrueRange)[i] = FILTER_INVALID_DISTANCE;
gallonm 7:2dc81120c917 1711 _FilterData(LastReturnRates)[i] = 0;
gallonm 7:2dc81120c917 1712 }
gallonm 7:2dc81120c917 1713 return 0;
gallonm 7:2dc81120c917 1714 }
gallonm 7:2dc81120c917 1715
gallonm 7:2dc81120c917 1716
gallonm 7:2dc81120c917 1717 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) {
gallonm 7:2dc81120c917 1718 uint32_t newStdDev;
gallonm 7:2dc81120c917 1719 uint16_t SNR;
gallonm 7:2dc81120c917 1720
gallonm 7:2dc81120c917 1721 if (AmbientRate > 0)
gallonm 7:2dc81120c917 1722 SNR = (uint16_t) ((100 * SignalRate) / AmbientRate);
gallonm 7:2dc81120c917 1723 else
gallonm 7:2dc81120c917 1724 SNR = 9999;
gallonm 7:2dc81120c917 1725
gallonm 7:2dc81120c917 1726 if (SNR >= StdDevLimitLowLightSNR) {
gallonm 7:2dc81120c917 1727 newStdDev = StdDevLimitLowLight;
gallonm 7:2dc81120c917 1728 } else {
gallonm 7:2dc81120c917 1729 if (SNR <= StdDevLimitHighLightSNR)
gallonm 7:2dc81120c917 1730 newStdDev = StdDevLimitHighLight;
gallonm 7:2dc81120c917 1731 else {
gallonm 7:2dc81120c917 1732 newStdDev = (uint32_t) (StdDevLimitHighLight + (SNR - StdDevLimitHighLightSNR) * (int) (StdDevLimitLowLight - StdDevLimitHighLight) / (StdDevLimitLowLightSNR - StdDevLimitHighLightSNR));
gallonm 7:2dc81120c917 1733 }
gallonm 7:2dc81120c917 1734 }
gallonm 7:2dc81120c917 1735
gallonm 7:2dc81120c917 1736 return newStdDev;
gallonm 7:2dc81120c917 1737 }
gallonm 7:2dc81120c917 1738
gallonm 7:2dc81120c917 1739
gallonm 7:2dc81120c917 1740 /*
gallonm 7:2dc81120c917 1741 * Return <0 on error
gallonm 7:2dc81120c917 1742 */
gallonm 7:2dc81120c917 1743 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) {
gallonm 7:2dc81120c917 1744 int status;
gallonm 7:2dc81120c917 1745 uint16_t m_newTrueRange_mm = 0;
gallonm 7:2dc81120c917 1746
gallonm 7:2dc81120c917 1747 uint16_t i;
gallonm 7:2dc81120c917 1748 uint16_t bypassFilter = 0;
gallonm 7:2dc81120c917 1749
gallonm 7:2dc81120c917 1750 uint16_t registerValue;
gallonm 7:2dc81120c917 1751
gallonm 7:2dc81120c917 1752 uint32_t register32BitsValue1;
gallonm 7:2dc81120c917 1753 uint32_t register32BitsValue2;
gallonm 7:2dc81120c917 1754
gallonm 7:2dc81120c917 1755 uint16_t ValidDistance = 0;
gallonm 7:2dc81120c917 1756
gallonm 7:2dc81120c917 1757 uint16_t WrapAroundFlag = 0;
gallonm 7:2dc81120c917 1758 uint16_t NoWrapAroundFlag = 0;
gallonm 7:2dc81120c917 1759 uint16_t NoWrapAroundHighConfidenceFlag = 0;
gallonm 7:2dc81120c917 1760
gallonm 7:2dc81120c917 1761 uint16_t FlushFilter = 0;
gallonm 7:2dc81120c917 1762 uint32_t RateChange = 0;
gallonm 7:2dc81120c917 1763
gallonm 7:2dc81120c917 1764 uint16_t StdDevSamples = 0;
gallonm 7:2dc81120c917 1765 uint32_t StdDevDistanceSum = 0;
gallonm 7:2dc81120c917 1766 uint32_t StdDevDistanceMean = 0;
gallonm 7:2dc81120c917 1767 uint32_t StdDevDistance = 0;
gallonm 7:2dc81120c917 1768 uint32_t StdDevRateSum = 0;
gallonm 7:2dc81120c917 1769 uint32_t StdDevRateMean = 0;
gallonm 7:2dc81120c917 1770 uint32_t StdDevRate = 0;
gallonm 7:2dc81120c917 1771 uint32_t StdDevLimitWithTargetMove = 0;
gallonm 7:2dc81120c917 1772
gallonm 7:2dc81120c917 1773 uint32_t VAVGDiff;
gallonm 7:2dc81120c917 1774 uint32_t IdealVAVGDiff;
gallonm 7:2dc81120c917 1775 uint32_t MinVAVGDiff;
gallonm 7:2dc81120c917 1776 uint32_t MaxVAVGDiff;
gallonm 7:2dc81120c917 1777
gallonm 7:2dc81120c917 1778 /* Filter Parameters */
gallonm 7:2dc81120c917 1779 static const uint16_t ROMABLE_DATA WrapAroundLowRawRangeLimit = 60;
gallonm 7:2dc81120c917 1780 static const uint32_t ROMABLE_DATA WrapAroundLowReturnRateLimit_ROM = 800; // Shall be adapted depending on crossTalk
gallonm 7:2dc81120c917 1781 static const uint16_t ROMABLE_DATA WrapAroundLowRawRangeLimit2 = 165;
gallonm 7:2dc81120c917 1782 static const uint32_t ROMABLE_DATA WrapAroundLowReturnRateLimit2_ROM = 180; // Shall be adapted depending on crossTalk and device sensitivity
gallonm 7:2dc81120c917 1783
gallonm 7:2dc81120c917 1784 static const uint32_t ROMABLE_DATA WrapAroundLowReturnRateFilterLimit_ROM = 850; // Shall be adapted depending on crossTalk and device sensitivity
gallonm 7:2dc81120c917 1785 static const uint16_t ROMABLE_DATA WrapAroundHighRawRangeFilterLimit = 350;
gallonm 7:2dc81120c917 1786 static const uint32_t ROMABLE_DATA WrapAroundHighReturnRateFilterLimit_ROM = 1400; // Shall be adapted depending on crossTalk and device sensitivity
gallonm 7:2dc81120c917 1787
gallonm 7:2dc81120c917 1788 static const uint32_t ROMABLE_DATA WrapAroundMaximumAmbientRateFilterLimit = 7500;
gallonm 7:2dc81120c917 1789
gallonm 7:2dc81120c917 1790 /* Temporal filter data and flush values */
gallonm 7:2dc81120c917 1791 static const uint32_t ROMABLE_DATA MinReturnRateFilterFlush = 75;
gallonm 7:2dc81120c917 1792 static const uint32_t ROMABLE_DATA MaxReturnRateChangeFilterFlush = 50;
gallonm 7:2dc81120c917 1793
gallonm 7:2dc81120c917 1794 /* STDDEV values and damper values */
gallonm 7:2dc81120c917 1795
gallonm 7:2dc81120c917 1796 static const uint32_t ROMABLE_DATA StdDevLimitLowLight = 300;
gallonm 7:2dc81120c917 1797 static const uint32_t ROMABLE_DATA StdDevLimitLowLightSNR = 30; /* 0.3 */
gallonm 7:2dc81120c917 1798 static const uint32_t ROMABLE_DATA StdDevLimitHighLight = 2500;
gallonm 7:2dc81120c917 1799 static const uint32_t ROMABLE_DATA StdDevLimitHighLightSNR = 5; /* 0.05 */
gallonm 7:2dc81120c917 1800
gallonm 7:2dc81120c917 1801 static const uint32_t ROMABLE_DATA StdDevHighConfidenceSNRLimit = 8;
gallonm 7:2dc81120c917 1802
gallonm 7:2dc81120c917 1803 static const uint32_t ROMABLE_DATA StdDevMovingTargetStdDevLimit = 90000;
gallonm 7:2dc81120c917 1804
gallonm 7:2dc81120c917 1805 static const uint32_t ROMABLE_DATA StdDevMovingTargetReturnRateLimit = 3500;
gallonm 7:2dc81120c917 1806 static const uint32_t ROMABLE_DATA StdDevMovingTargetStdDevForReturnRateLimit = 5000;
gallonm 7:2dc81120c917 1807
gallonm 7:2dc81120c917 1808 static const uint32_t ROMABLE_DATA MAX_VAVGDiff = 1800;
gallonm 7:2dc81120c917 1809
gallonm 7:2dc81120c917 1810 /* WrapAroundDetection variables */
gallonm 7:2dc81120c917 1811 static const uint16_t ROMABLE_DATA WrapAroundNoDelayCheckPeriod = 2;
gallonm 7:2dc81120c917 1812 static const uint16_t ROMABLE_DATA StdFilteredReadsIncrement = 2;
gallonm 7:2dc81120c917 1813 static const uint16_t ROMABLE_DATA StdMaxFilteredReads = 4;
gallonm 7:2dc81120c917 1814
gallonm 7:2dc81120c917 1815 uint32_t SignalRateDMax;
gallonm 7:2dc81120c917 1816 uint32_t WrapAroundLowReturnRateLimit;
gallonm 7:2dc81120c917 1817 uint32_t WrapAroundLowReturnRateLimit2;
gallonm 7:2dc81120c917 1818 uint32_t WrapAroundLowReturnRateFilterLimit;
gallonm 7:2dc81120c917 1819 uint32_t WrapAroundHighReturnRateFilterLimit;
gallonm 7:2dc81120c917 1820
gallonm 7:2dc81120c917 1821 uint8_t u8, u8_2;
gallonm 7:2dc81120c917 1822 uint32_t XTalkCompRate_KCps;
gallonm 7:2dc81120c917 1823 uint32_t StdDevLimit = 300;
gallonm 7:2dc81120c917 1824 uint32_t MaxOrInvalidDistance = 255*_GetUpscale(dev);
gallonm 7:2dc81120c917 1825 /* #define MaxOrInvalidDistance (uint16_t) (255 * 3) */
gallonm 7:2dc81120c917 1826
gallonm 7:2dc81120c917 1827 /* Check if distance is Valid or not */
gallonm 7:2dc81120c917 1828 switch (errorCode) {
gallonm 7:2dc81120c917 1829 case 0x0C:
gallonm 7:2dc81120c917 1830 m_trueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 1831 ValidDistance = 0;
gallonm 7:2dc81120c917 1832 break;
gallonm 7:2dc81120c917 1833 case 0x0D:
gallonm 7:2dc81120c917 1834 m_trueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 1835 ValidDistance = 1;
gallonm 7:2dc81120c917 1836 break;
gallonm 7:2dc81120c917 1837 case 0x0F:
gallonm 7:2dc81120c917 1838 m_trueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 1839 ValidDistance = 1;
gallonm 7:2dc81120c917 1840 break;
gallonm 7:2dc81120c917 1841 default:
gallonm 7:2dc81120c917 1842 if (m_rawRange_mm >= MaxOrInvalidDistance) {
gallonm 7:2dc81120c917 1843 ValidDistance = 0;
gallonm 7:2dc81120c917 1844 } else {
gallonm 7:2dc81120c917 1845 ValidDistance = 1;
gallonm 7:2dc81120c917 1846 }
gallonm 7:2dc81120c917 1847 break;
gallonm 7:2dc81120c917 1848 }
gallonm 7:2dc81120c917 1849 m_newTrueRange_mm = m_trueRange_mm;
gallonm 7:2dc81120c917 1850
gallonm 7:2dc81120c917 1851 XTalkCompRate_KCps = VL6180xDevDataGet(dev, XTalkCompRate_KCps );
gallonm 7:2dc81120c917 1852
gallonm 7:2dc81120c917 1853
gallonm 7:2dc81120c917 1854 //Update signal rate limits depending on crosstalk
gallonm 7:2dc81120c917 1855 SignalRateDMax = (uint32_t)_GetDMaxDataRetSignalAt400mm(dev) + XTalkCompRate_KCps;
gallonm 7:2dc81120c917 1856 WrapAroundLowReturnRateLimit = WrapAroundLowReturnRateLimit_ROM + XTalkCompRate_KCps;
gallonm 7:2dc81120c917 1857 WrapAroundLowReturnRateLimit2 = ((WrapAroundLowReturnRateLimit2_ROM * SignalRateDMax) / 312) + XTalkCompRate_KCps;
gallonm 7:2dc81120c917 1858 WrapAroundLowReturnRateFilterLimit = ((WrapAroundLowReturnRateFilterLimit_ROM * SignalRateDMax) / 312) + XTalkCompRate_KCps;
gallonm 7:2dc81120c917 1859 WrapAroundHighReturnRateFilterLimit = ((WrapAroundHighReturnRateFilterLimit_ROM * SignalRateDMax) / 312) + XTalkCompRate_KCps;
gallonm 7:2dc81120c917 1860
gallonm 7:2dc81120c917 1861
gallonm 7:2dc81120c917 1862 /* Checks on low range data */
gallonm 7:2dc81120c917 1863 if ((m_rawRange_mm < WrapAroundLowRawRangeLimit) && (m_rtnSignalRate < WrapAroundLowReturnRateLimit)) {
gallonm 7:2dc81120c917 1864 m_newTrueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 1865 bypassFilter = 1;
gallonm 7:2dc81120c917 1866 }
gallonm 7:2dc81120c917 1867 if ((m_rawRange_mm < WrapAroundLowRawRangeLimit2) && (m_rtnSignalRate < WrapAroundLowReturnRateLimit2)) {
gallonm 7:2dc81120c917 1868 m_newTrueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 1869 bypassFilter = 1;
gallonm 7:2dc81120c917 1870 }
gallonm 7:2dc81120c917 1871
gallonm 7:2dc81120c917 1872 /* Checks on Ambient rate level */
gallonm 7:2dc81120c917 1873 if (m_rtnAmbientRate > WrapAroundMaximumAmbientRateFilterLimit) {
gallonm 7:2dc81120c917 1874 /* Too high ambient rate */
gallonm 7:2dc81120c917 1875 FlushFilter = 1;
gallonm 7:2dc81120c917 1876 bypassFilter = 1;
gallonm 7:2dc81120c917 1877 }
gallonm 7:2dc81120c917 1878 /* Checks on Filter flush */
gallonm 7:2dc81120c917 1879 if (m_rtnSignalRate < MinReturnRateFilterFlush) {
gallonm 7:2dc81120c917 1880 /* Completely lost target, so flush the filter */
gallonm 7:2dc81120c917 1881 FlushFilter = 1;
gallonm 7:2dc81120c917 1882 bypassFilter = 1;
gallonm 7:2dc81120c917 1883 }
gallonm 7:2dc81120c917 1884 if (_FilterData(LastReturnRates)[0] != 0) {
gallonm 7:2dc81120c917 1885 if (m_rtnSignalRate > _FilterData(LastReturnRates)[0])
gallonm 7:2dc81120c917 1886 RateChange = (100 * (m_rtnSignalRate - _FilterData(LastReturnRates)[0])) / _FilterData(LastReturnRates)[0];
gallonm 7:2dc81120c917 1887 else
gallonm 7:2dc81120c917 1888 RateChange = (100 * (_FilterData(LastReturnRates)[0] - m_rtnSignalRate)) / _FilterData(LastReturnRates)[0];
gallonm 7:2dc81120c917 1889 } else
gallonm 7:2dc81120c917 1890 RateChange = 0;
gallonm 7:2dc81120c917 1891 if (RateChange > MaxReturnRateChangeFilterFlush) {
gallonm 7:2dc81120c917 1892 FlushFilter = 1;
gallonm 7:2dc81120c917 1893 }
gallonm 7:2dc81120c917 1894 /* TODO optimize filter using circular buffer */
gallonm 7:2dc81120c917 1895 if (FlushFilter == 1) {
gallonm 7:2dc81120c917 1896 _FilterData(MeasurementIndex) = 0;
gallonm 7:2dc81120c917 1897 for (i = 0; i < FILTER_NBOF_SAMPLES; i++) {
gallonm 7:2dc81120c917 1898 _FilterData(LastTrueRange)[i] = FILTER_INVALID_DISTANCE;
gallonm 7:2dc81120c917 1899 _FilterData(LastReturnRates)[i] = 0;
gallonm 7:2dc81120c917 1900 }
gallonm 7:2dc81120c917 1901 } else {
gallonm 7:2dc81120c917 1902 for (i = (uint16_t) (FILTER_NBOF_SAMPLES - 1); i > 0; i--) {
gallonm 7:2dc81120c917 1903 _FilterData(LastTrueRange)[i] = _FilterData(LastTrueRange)[i - 1];
gallonm 7:2dc81120c917 1904 _FilterData(LastReturnRates)[i] = _FilterData(LastReturnRates)[i - 1];
gallonm 7:2dc81120c917 1905 }
gallonm 7:2dc81120c917 1906 }
gallonm 7:2dc81120c917 1907 if (ValidDistance == 1)
gallonm 7:2dc81120c917 1908 _FilterData(LastTrueRange)[0] = m_trueRange_mm;
gallonm 7:2dc81120c917 1909 else
gallonm 7:2dc81120c917 1910 _FilterData(LastTrueRange)[0] = FILTER_INVALID_DISTANCE;
gallonm 7:2dc81120c917 1911 _FilterData(LastReturnRates)[0] = m_rtnSignalRate;
gallonm 7:2dc81120c917 1912
gallonm 7:2dc81120c917 1913 /* Check if we need to go through the filter or not */
gallonm 7:2dc81120c917 1914 if (!(((m_rawRange_mm < WrapAroundHighRawRangeFilterLimit) && (m_rtnSignalRate < WrapAroundLowReturnRateFilterLimit)) || ((m_rawRange_mm >= WrapAroundHighRawRangeFilterLimit) && (m_rtnSignalRate < WrapAroundHighReturnRateFilterLimit))))
gallonm 7:2dc81120c917 1915 bypassFilter = 1;
gallonm 7:2dc81120c917 1916
gallonm 7:2dc81120c917 1917 /* Check which kind of measurement has been made */
gallonm 7:2dc81120c917 1918 status = VL6180x_RdByte(dev, 0x01AC, &u8 );
gallonm 7:2dc81120c917 1919 if( status ){
gallonm 7:2dc81120c917 1920 VL6180x_ErrLog("0x01AC rd fail");
gallonm 7:2dc81120c917 1921 goto done_err;
gallonm 7:2dc81120c917 1922 }
gallonm 7:2dc81120c917 1923 registerValue =u8;
gallonm 7:2dc81120c917 1924
gallonm 7:2dc81120c917 1925 /* Read data for filtering */
gallonm 7:2dc81120c917 1926 status = VL6180x_RdByte(dev, 0x10C, &u8 ); /* read only 8 lsb bits */
gallonm 7:2dc81120c917 1927 if( status ){
gallonm 7:2dc81120c917 1928 VL6180x_ErrLog("0x010C rd fail");
gallonm 7:2dc81120c917 1929 goto done_err;
gallonm 7:2dc81120c917 1930 }
gallonm 7:2dc81120c917 1931 register32BitsValue1=u8;
gallonm 7:2dc81120c917 1932 status = VL6180x_RdByte(dev, 0x0110, &u8); /* read only 8 lsb bits */
gallonm 7:2dc81120c917 1933 if( status ){
gallonm 7:2dc81120c917 1934 VL6180x_ErrLog("0x0110 rd fail");
gallonm 7:2dc81120c917 1935 goto done_err;
gallonm 7:2dc81120c917 1936 }
gallonm 7:2dc81120c917 1937 register32BitsValue2 = u8;
gallonm 7:2dc81120c917 1938
gallonm 7:2dc81120c917 1939 if (registerValue == 0x3E) {
gallonm 7:2dc81120c917 1940 _FilterData(Default_ZeroVal) = register32BitsValue1;
gallonm 7:2dc81120c917 1941 _FilterData(Default_VAVGVal) = register32BitsValue2;
gallonm 7:2dc81120c917 1942 } else {
gallonm 7:2dc81120c917 1943 _FilterData(NoDelay_ZeroVal) = register32BitsValue1;
gallonm 7:2dc81120c917 1944 _FilterData(NoDelay_VAVGVal) = register32BitsValue2;
gallonm 7:2dc81120c917 1945 }
gallonm 7:2dc81120c917 1946
gallonm 7:2dc81120c917 1947 if (bypassFilter == 1) {
gallonm 7:2dc81120c917 1948 /* Do not go through the filter */
gallonm 7:2dc81120c917 1949 if (registerValue != 0x3E) {
gallonm 7:2dc81120c917 1950 status = VL6180x_WrByte(dev, 0x1AC, 0x3E);
gallonm 7:2dc81120c917 1951 if( status ){
gallonm 7:2dc81120c917 1952 VL6180x_ErrLog("0x01AC bypass wr fail");
gallonm 7:2dc81120c917 1953 goto done_err;
gallonm 7:2dc81120c917 1954 }
gallonm 7:2dc81120c917 1955 status = VL6180x_WrByte(dev, 0x0F2, 0x01);
gallonm 7:2dc81120c917 1956 if( status ){
gallonm 7:2dc81120c917 1957 VL6180x_ErrLog("0x0F2 bypass wr fail");
gallonm 7:2dc81120c917 1958 goto done_err;
gallonm 7:2dc81120c917 1959 }
gallonm 7:2dc81120c917 1960 }
gallonm 7:2dc81120c917 1961 /* Set both Default and NoDelay To same value */
gallonm 7:2dc81120c917 1962 _FilterData(Default_ZeroVal) = register32BitsValue1;
gallonm 7:2dc81120c917 1963 _FilterData(Default_VAVGVal) = register32BitsValue2;
gallonm 7:2dc81120c917 1964 _FilterData(NoDelay_ZeroVal) = register32BitsValue1;
gallonm 7:2dc81120c917 1965 _FilterData(NoDelay_VAVGVal) = register32BitsValue2;
gallonm 7:2dc81120c917 1966 _FilterData(MeasurementIndex) = 0;
gallonm 7:2dc81120c917 1967
gallonm 7:2dc81120c917 1968 return m_newTrueRange_mm;
gallonm 7:2dc81120c917 1969 }
gallonm 7:2dc81120c917 1970
gallonm 7:2dc81120c917 1971 if (_FilterData(MeasurementIndex) % WrapAroundNoDelayCheckPeriod == 0) {
gallonm 7:2dc81120c917 1972 u8=0x3C;
gallonm 7:2dc81120c917 1973 u8_2 = 0x05;
gallonm 7:2dc81120c917 1974 } else {
gallonm 7:2dc81120c917 1975 u8=0x3E;
gallonm 7:2dc81120c917 1976 u8_2 = 0x01;
gallonm 7:2dc81120c917 1977 }
gallonm 7:2dc81120c917 1978 status = VL6180x_WrByte(dev, 0x01AC, u8);
gallonm 7:2dc81120c917 1979 if( status ){
gallonm 7:2dc81120c917 1980 VL6180x_ErrLog("0x01AC wr fail");
gallonm 7:2dc81120c917 1981 goto done_err;
gallonm 7:2dc81120c917 1982 }
gallonm 7:2dc81120c917 1983 status = VL6180x_WrByte(dev, 0x0F2, u8_2);
gallonm 7:2dc81120c917 1984 if( status ){
gallonm 7:2dc81120c917 1985 VL6180x_ErrLog("0x0F2 wr fail");
gallonm 7:2dc81120c917 1986 goto done_err;
gallonm 7:2dc81120c917 1987 }
gallonm 7:2dc81120c917 1988
gallonm 7:2dc81120c917 1989
gallonm 7:2dc81120c917 1990 _FilterData(MeasurementIndex)++;
gallonm 7:2dc81120c917 1991
gallonm 7:2dc81120c917 1992 /* Computes current VAVGDiff */
gallonm 7:2dc81120c917 1993 if (_FilterData(Default_VAVGVal) > _FilterData(NoDelay_VAVGVal))
gallonm 7:2dc81120c917 1994 VAVGDiff = _FilterData(Default_VAVGVal) - _FilterData(NoDelay_VAVGVal);
gallonm 7:2dc81120c917 1995 else
gallonm 7:2dc81120c917 1996 VAVGDiff = 0;
gallonm 7:2dc81120c917 1997 _FilterData(Previous_VAVGDiff) = VAVGDiff;
gallonm 7:2dc81120c917 1998
gallonm 7:2dc81120c917 1999 /* Check the VAVGDiff */
gallonm 7:2dc81120c917 2000 if (_FilterData(Default_ZeroVal) > _FilterData(NoDelay_ZeroVal))
gallonm 7:2dc81120c917 2001 IdealVAVGDiff = _FilterData(Default_ZeroVal) - _FilterData(NoDelay_ZeroVal);
gallonm 7:2dc81120c917 2002 else
gallonm 7:2dc81120c917 2003 IdealVAVGDiff = _FilterData(NoDelay_ZeroVal) - _FilterData(Default_ZeroVal);
gallonm 7:2dc81120c917 2004 if (IdealVAVGDiff > MAX_VAVGDiff)
gallonm 7:2dc81120c917 2005 MinVAVGDiff = IdealVAVGDiff - MAX_VAVGDiff;
gallonm 7:2dc81120c917 2006 else
gallonm 7:2dc81120c917 2007 MinVAVGDiff = 0;
gallonm 7:2dc81120c917 2008 MaxVAVGDiff = IdealVAVGDiff + MAX_VAVGDiff;
gallonm 7:2dc81120c917 2009 if (VAVGDiff < MinVAVGDiff || VAVGDiff > MaxVAVGDiff) {
gallonm 7:2dc81120c917 2010 WrapAroundFlag = 1;
gallonm 7:2dc81120c917 2011 } else {
gallonm 7:2dc81120c917 2012 /* Go through filtering check */
gallonm 7:2dc81120c917 2013
gallonm 7:2dc81120c917 2014 /* StdDevLimit Damper on SNR */
gallonm 7:2dc81120c917 2015 StdDevLimit = _filter_StdDevDamper(m_rtnAmbientRate, m_rtnSignalRate, StdDevLimitLowLight, StdDevLimitLowLightSNR, StdDevLimitHighLight, StdDevLimitHighLightSNR);
gallonm 7:2dc81120c917 2016
gallonm 7:2dc81120c917 2017 /* Standard deviations computations */
gallonm 7:2dc81120c917 2018 StdDevSamples = 0;
gallonm 7:2dc81120c917 2019 StdDevDistanceSum = 0;
gallonm 7:2dc81120c917 2020 StdDevDistanceMean = 0;
gallonm 7:2dc81120c917 2021 StdDevDistance = 0;
gallonm 7:2dc81120c917 2022 StdDevRateSum = 0;
gallonm 7:2dc81120c917 2023 StdDevRateMean = 0;
gallonm 7:2dc81120c917 2024 StdDevRate = 0;
gallonm 7:2dc81120c917 2025 for (i = 0; (i < FILTER_NBOF_SAMPLES) && (StdDevSamples < FILTER_STDDEV_SAMPLES); i++) {
gallonm 7:2dc81120c917 2026 if (_FilterData(LastTrueRange)[i] != FILTER_INVALID_DISTANCE) {
gallonm 7:2dc81120c917 2027 StdDevSamples = (uint16_t) (StdDevSamples + 1);
gallonm 7:2dc81120c917 2028 StdDevDistanceSum = (uint32_t) (StdDevDistanceSum + _FilterData(LastTrueRange)[i]);
gallonm 7:2dc81120c917 2029 StdDevRateSum = (uint32_t) (StdDevRateSum + _FilterData(LastReturnRates)[i]);
gallonm 7:2dc81120c917 2030 }
gallonm 7:2dc81120c917 2031 }
gallonm 7:2dc81120c917 2032 if (StdDevSamples > 0) {
gallonm 7:2dc81120c917 2033 StdDevDistanceMean = (uint32_t) (StdDevDistanceSum / StdDevSamples);
gallonm 7:2dc81120c917 2034 StdDevRateMean = (uint32_t) (StdDevRateSum / StdDevSamples);
gallonm 7:2dc81120c917 2035 }
gallonm 7:2dc81120c917 2036 /* TODO optimize shorten Std dev in aisngle loop computation using sum of x2 - (sum of x)2 */
gallonm 7:2dc81120c917 2037 StdDevSamples = 0;
gallonm 7:2dc81120c917 2038 StdDevDistanceSum = 0;
gallonm 7:2dc81120c917 2039 StdDevRateSum = 0;
gallonm 7:2dc81120c917 2040 for (i = 0; (i < FILTER_NBOF_SAMPLES) && (StdDevSamples < FILTER_STDDEV_SAMPLES); i++) {
gallonm 7:2dc81120c917 2041 if (_FilterData(LastTrueRange)[i] != FILTER_INVALID_DISTANCE) {
gallonm 7:2dc81120c917 2042 StdDevSamples = (uint16_t) (StdDevSamples + 1);
gallonm 7:2dc81120c917 2043 StdDevDistanceSum = (uint32_t) (StdDevDistanceSum + (int) (_FilterData(LastTrueRange)[i] - StdDevDistanceMean) * (int) (_FilterData(LastTrueRange)[i] - StdDevDistanceMean));
gallonm 7:2dc81120c917 2044 StdDevRateSum = (uint32_t) (StdDevRateSum + (int) (_FilterData(LastReturnRates)[i] - StdDevRateMean) * (int) (_FilterData(LastReturnRates)[i] - StdDevRateMean));
gallonm 7:2dc81120c917 2045 }
gallonm 7:2dc81120c917 2046 }
gallonm 7:2dc81120c917 2047 if (StdDevSamples >= MIN_FILTER_STDDEV_SAMPLES) {
gallonm 7:2dc81120c917 2048 StdDevDistance = (uint16_t) (StdDevDistanceSum / StdDevSamples);
gallonm 7:2dc81120c917 2049 StdDevRate = (uint16_t) (StdDevRateSum / StdDevSamples);
gallonm 7:2dc81120c917 2050 } else {
gallonm 7:2dc81120c917 2051 StdDevDistance = 0;
gallonm 7:2dc81120c917 2052 StdDevRate = 0;
gallonm 7:2dc81120c917 2053 }
gallonm 7:2dc81120c917 2054
gallonm 7:2dc81120c917 2055 /* Check Return rate standard deviation */
gallonm 7:2dc81120c917 2056 if (StdDevRate < StdDevMovingTargetStdDevLimit) {
gallonm 7:2dc81120c917 2057 if (StdDevSamples < MIN_FILTER_VALID_STDDEV_SAMPLES) {
gallonm 7:2dc81120c917 2058 m_newTrueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 2059 } else {
gallonm 7:2dc81120c917 2060 /* Check distance standard deviation */
gallonm 7:2dc81120c917 2061 if (StdDevRate < StdDevMovingTargetReturnRateLimit)
gallonm 7:2dc81120c917 2062 StdDevLimitWithTargetMove = StdDevLimit + (((StdDevMovingTargetStdDevForReturnRateLimit - StdDevLimit) * StdDevRate) / StdDevMovingTargetReturnRateLimit);
gallonm 7:2dc81120c917 2063 else
gallonm 7:2dc81120c917 2064 StdDevLimitWithTargetMove = StdDevMovingTargetStdDevForReturnRateLimit;
gallonm 7:2dc81120c917 2065
gallonm 7:2dc81120c917 2066 if ((StdDevDistance * StdDevHighConfidenceSNRLimit) < StdDevLimitWithTargetMove) {
gallonm 7:2dc81120c917 2067 NoWrapAroundHighConfidenceFlag = 1;
gallonm 7:2dc81120c917 2068 } else {
gallonm 7:2dc81120c917 2069 if (StdDevDistance < StdDevLimitWithTargetMove) {
gallonm 7:2dc81120c917 2070 if (StdDevSamples >= MIN_FILTER_VALID_STDDEV_SAMPLES) {
gallonm 7:2dc81120c917 2071 NoWrapAroundFlag = 1;
gallonm 7:2dc81120c917 2072 } else {
gallonm 7:2dc81120c917 2073 m_newTrueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 2074 }
gallonm 7:2dc81120c917 2075 } else {
gallonm 7:2dc81120c917 2076 WrapAroundFlag = 1;
gallonm 7:2dc81120c917 2077 }
gallonm 7:2dc81120c917 2078 }
gallonm 7:2dc81120c917 2079 }
gallonm 7:2dc81120c917 2080 } else {
gallonm 7:2dc81120c917 2081 WrapAroundFlag = 1;
gallonm 7:2dc81120c917 2082 }
gallonm 7:2dc81120c917 2083 }
gallonm 7:2dc81120c917 2084
gallonm 7:2dc81120c917 2085 if (m_newTrueRange_mm == MaxOrInvalidDistance) {
gallonm 7:2dc81120c917 2086 if (_FilterData(StdFilteredReads) > 0)
gallonm 7:2dc81120c917 2087 _FilterData(StdFilteredReads) = (uint16_t) (_FilterData(StdFilteredReads) - 1);
gallonm 7:2dc81120c917 2088 } else {
gallonm 7:2dc81120c917 2089 if (WrapAroundFlag == 1) {
gallonm 7:2dc81120c917 2090 m_newTrueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 2091 _FilterData(StdFilteredReads) = (uint16_t) (_FilterData(StdFilteredReads) + StdFilteredReadsIncrement);
gallonm 7:2dc81120c917 2092 if (_FilterData(StdFilteredReads) > StdMaxFilteredReads)
gallonm 7:2dc81120c917 2093 _FilterData(StdFilteredReads) = StdMaxFilteredReads;
gallonm 7:2dc81120c917 2094 } else {
gallonm 7:2dc81120c917 2095 if (NoWrapAroundFlag == 1) {
gallonm 7:2dc81120c917 2096 if (_FilterData(StdFilteredReads) > 0) {
gallonm 7:2dc81120c917 2097 m_newTrueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 2098 if (_FilterData(StdFilteredReads) > StdFilteredReadsIncrement)
gallonm 7:2dc81120c917 2099 _FilterData(StdFilteredReads) = (uint16_t) (_FilterData(StdFilteredReads) - StdFilteredReadsIncrement);
gallonm 7:2dc81120c917 2100 else
gallonm 7:2dc81120c917 2101 _FilterData(StdFilteredReads) = 0;
gallonm 7:2dc81120c917 2102 }
gallonm 7:2dc81120c917 2103 } else {
gallonm 7:2dc81120c917 2104 if (NoWrapAroundHighConfidenceFlag == 1) {
gallonm 7:2dc81120c917 2105 _FilterData(StdFilteredReads) = 0;
gallonm 7:2dc81120c917 2106 }
gallonm 7:2dc81120c917 2107 }
gallonm 7:2dc81120c917 2108 }
gallonm 7:2dc81120c917 2109 }
gallonm 7:2dc81120c917 2110
gallonm 7:2dc81120c917 2111 return m_newTrueRange_mm;
gallonm 7:2dc81120c917 2112 done_err:
gallonm 7:2dc81120c917 2113 return -1;
gallonm 7:2dc81120c917 2114
gallonm 7:2dc81120c917 2115 #undef MaxOrInvalidDistance
gallonm 7:2dc81120c917 2116 }
gallonm 7:2dc81120c917 2117
gallonm 7:2dc81120c917 2118
gallonm 7:2dc81120c917 2119 int VL6180X::_filter_GetResult(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData) {
gallonm 7:2dc81120c917 2120 uint32_t m_rawRange_mm = 0;
gallonm 7:2dc81120c917 2121 int32_t FilteredRange;
gallonm 7:2dc81120c917 2122 const uint8_t scaler = _GetUpscale(dev);
gallonm 7:2dc81120c917 2123 uint8_t u8;
gallonm 7:2dc81120c917 2124 int status;
gallonm 7:2dc81120c917 2125
gallonm 7:2dc81120c917 2126 do {
gallonm 7:2dc81120c917 2127 status = VL6180x_RdByte(dev, RESULT_RANGE_RAW, &u8);
gallonm 7:2dc81120c917 2128 if (status) {
gallonm 7:2dc81120c917 2129 VL6180x_ErrLog("RESULT_RANGE_RAW rd fail");
gallonm 7:2dc81120c917 2130 break;
gallonm 7:2dc81120c917 2131 }
gallonm 7:2dc81120c917 2132 m_rawRange_mm = u8;
gallonm 7:2dc81120c917 2133
gallonm 7:2dc81120c917 2134 FilteredRange = _filter_Start(dev, pRangeData->range_mm, (m_rawRange_mm * scaler), pRangeData->rtnRate, pRangeData->rtnAmbRate, pRangeData->errorStatus);
gallonm 7:2dc81120c917 2135 if( FilteredRange<0 ){
gallonm 7:2dc81120c917 2136 status = -1;
gallonm 7:2dc81120c917 2137 break;
gallonm 7:2dc81120c917 2138 }
gallonm 7:2dc81120c917 2139 pRangeData->FilteredData.range_mm= FilteredRange;
gallonm 7:2dc81120c917 2140 pRangeData->FilteredData.rawRange_mm = m_rawRange_mm * scaler;
gallonm 7:2dc81120c917 2141 } while (0);
gallonm 7:2dc81120c917 2142 return status;
gallonm 7:2dc81120c917 2143 }
gallonm 7:2dc81120c917 2144
gallonm 7:2dc81120c917 2145 #undef _FilterData
gallonm 7:2dc81120c917 2146 #undef FILTER_STDDEV_SAMPLES
gallonm 7:2dc81120c917 2147 #undef MIN_FILTER_STDDEV_SAMPLES
gallonm 7:2dc81120c917 2148 #undef MIN_FILTER_VALID_STDDEV_SAMPLES
gallonm 7:2dc81120c917 2149 #undef FILTER_INVALID_DISTANCE
gallonm 7:2dc81120c917 2150
gallonm 7:2dc81120c917 2151 #endif /* VL6180x_WRAP_AROUND_FILTER_SUPPORT */
gallonm 7:2dc81120c917 2152
gallonm 7:2dc81120c917 2153 #ifdef VL6180x_HAVE_RATE_DATA
gallonm 7:2dc81120c917 2154
gallonm 7:2dc81120c917 2155 int VL6180X::_GetRateResult(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData) {
gallonm 7:2dc81120c917 2156 uint32_t m_rtnConvTime = 0;
gallonm 7:2dc81120c917 2157 uint32_t m_rtnSignalRate = 0;
gallonm 7:2dc81120c917 2158 uint32_t m_rtnAmbientRate = 0;
gallonm 7:2dc81120c917 2159 uint32_t m_rtnSignalCount = 0;
gallonm 7:2dc81120c917 2160 uint32_t m_rtnAmbientCount = 0;
gallonm 7:2dc81120c917 2161 uint32_t m_refConvTime = 0;
gallonm 7:2dc81120c917 2162 uint32_t cRtnSignalCountMax = 0x7FFFFFFF;
gallonm 7:2dc81120c917 2163 uint32_t cDllPeriods = 6;
gallonm 7:2dc81120c917 2164 uint32_t calcConvTime = 0;
gallonm 7:2dc81120c917 2165
gallonm 7:2dc81120c917 2166 int status;
gallonm 7:2dc81120c917 2167
gallonm 7:2dc81120c917 2168 do {
gallonm 7:2dc81120c917 2169
gallonm 7:2dc81120c917 2170 status = VL6180x_RdDWord(dev, RESULT_RANGE_RETURN_SIGNAL_COUNT, &m_rtnSignalCount);
gallonm 7:2dc81120c917 2171 if (status) {
gallonm 7:2dc81120c917 2172 VL6180x_ErrLog("RESULT_RANGE_RETURN_SIGNAL_COUNT rd fail");
gallonm 7:2dc81120c917 2173 break;
gallonm 7:2dc81120c917 2174 }
gallonm 7:2dc81120c917 2175 if (m_rtnSignalCount > cRtnSignalCountMax) {
gallonm 7:2dc81120c917 2176 m_rtnSignalCount = 0;
gallonm 7:2dc81120c917 2177 }
gallonm 7:2dc81120c917 2178
gallonm 7:2dc81120c917 2179 status = VL6180x_RdDWord(dev, RESULT_RANGE_RETURN_AMB_COUNT, &m_rtnAmbientCount);
gallonm 7:2dc81120c917 2180 if (status) {
gallonm 7:2dc81120c917 2181 VL6180x_ErrLog("RESULT_RANGE_RETURN_AMB_COUNTrd fail");
gallonm 7:2dc81120c917 2182 break;
gallonm 7:2dc81120c917 2183 }
gallonm 7:2dc81120c917 2184
gallonm 7:2dc81120c917 2185
gallonm 7:2dc81120c917 2186 status = VL6180x_RdDWord(dev, RESULT_RANGE_RETURN_CONV_TIME, &m_rtnConvTime);
gallonm 7:2dc81120c917 2187 if (status) {
gallonm 7:2dc81120c917 2188 VL6180x_ErrLog("RESULT_RANGE_RETURN_CONV_TIME rd fail");
gallonm 7:2dc81120c917 2189 break;
gallonm 7:2dc81120c917 2190 }
gallonm 7:2dc81120c917 2191
gallonm 7:2dc81120c917 2192 status = VL6180x_RdDWord(dev, RESULT_RANGE_REFERENCE_CONV_TIME, &m_refConvTime);
gallonm 7:2dc81120c917 2193 if (status) {
gallonm 7:2dc81120c917 2194 VL6180x_ErrLog("RESULT_RANGE_REFERENCE_CONV_TIME rd fail");
gallonm 7:2dc81120c917 2195 break;
gallonm 7:2dc81120c917 2196 }
gallonm 7:2dc81120c917 2197
gallonm 7:2dc81120c917 2198 pRangeData->rtnConvTime = m_rtnConvTime;
gallonm 7:2dc81120c917 2199 pRangeData->refConvTime = m_refConvTime;
gallonm 7:2dc81120c917 2200
gallonm 7:2dc81120c917 2201 calcConvTime = m_refConvTime;
gallonm 7:2dc81120c917 2202 if (m_rtnConvTime > m_refConvTime) {
gallonm 7:2dc81120c917 2203 calcConvTime = m_rtnConvTime;
gallonm 7:2dc81120c917 2204 }
gallonm 7:2dc81120c917 2205 if (calcConvTime == 0)
gallonm 7:2dc81120c917 2206 calcConvTime = 63000;
gallonm 7:2dc81120c917 2207
gallonm 7:2dc81120c917 2208 m_rtnSignalRate = (m_rtnSignalCount * 1000) / calcConvTime;
gallonm 7:2dc81120c917 2209 m_rtnAmbientRate = (m_rtnAmbientCount * cDllPeriods * 1000) / calcConvTime;
gallonm 7:2dc81120c917 2210
gallonm 7:2dc81120c917 2211 pRangeData->rtnRate = m_rtnSignalRate;
gallonm 7:2dc81120c917 2212 pRangeData->rtnAmbRate = m_rtnAmbientRate;
gallonm 7:2dc81120c917 2213
gallonm 7:2dc81120c917 2214
gallonm 7:2dc81120c917 2215 } while (0);
gallonm 7:2dc81120c917 2216 return status;
gallonm 7:2dc81120c917 2217 }
gallonm 7:2dc81120c917 2218 #endif /* VL6180x_HAVE_RATE_DATA */
gallonm 7:2dc81120c917 2219
gallonm 7:2dc81120c917 2220
gallonm 7:2dc81120c917 2221 int VL6180X::VL6180x_DMaxSetState(VL6180xDev_t dev, int state){
gallonm 7:2dc81120c917 2222 int status;
gallonm 7:2dc81120c917 2223 LOG_FUNCTION_START("%d", state);
gallonm 7:2dc81120c917 2224 #if VL6180x_HAVE_DMAX_RANGING
gallonm 7:2dc81120c917 2225 VL6180xDevDataSet(dev,DMaxEnable, state);
gallonm 7:2dc81120c917 2226 if( state ){
gallonm 7:2dc81120c917 2227 status = _DMax_InitData(dev);
gallonm 7:2dc81120c917 2228 }
gallonm 7:2dc81120c917 2229 else {
gallonm 7:2dc81120c917 2230 status = 0;
gallonm 7:2dc81120c917 2231 }
gallonm 7:2dc81120c917 2232 #else
gallonm 7:2dc81120c917 2233 status = NOT_SUPPORTED;
gallonm 7:2dc81120c917 2234 #endif
gallonm 7:2dc81120c917 2235 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 2236 return status;
gallonm 7:2dc81120c917 2237 }
gallonm 7:2dc81120c917 2238
gallonm 7:2dc81120c917 2239 int VL6180X::VL6180x_DMaxGetState(VL6180xDev_t dev){
gallonm 7:2dc81120c917 2240 int status;
gallonm 7:2dc81120c917 2241 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 2242 #if VL6180x_HAVE_DMAX_RANGING
gallonm 7:2dc81120c917 2243 status = VL6180xDevDataGet(dev,DMaxEnable);
gallonm 7:2dc81120c917 2244 #else
gallonm 7:2dc81120c917 2245 status = 0;
gallonm 7:2dc81120c917 2246 #endif
gallonm 7:2dc81120c917 2247 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 2248 return status;
gallonm 7:2dc81120c917 2249 }
gallonm 7:2dc81120c917 2250
gallonm 7:2dc81120c917 2251
gallonm 7:2dc81120c917 2252 #if VL6180x_HAVE_DMAX_RANGING
gallonm 1:1de1ea2994d9 2253
gallonm 4:a5abf7757947 2254 #define _DMaxData(field) VL6180xDevDataGet(dev, DMaxData.field)
gallonm 7:2dc81120c917 2255 /*
gallonm 7:2dc81120c917 2256 * Convert fix point x.7 to KCpount per sec
gallonm 7:2dc81120c917 2257 */
gallonm 4:a5abf7757947 2258
gallonm 4:a5abf7757947 2259 #ifndef VL6180x_PLATFORM_PROVIDE_SQRT
gallonm 4:a5abf7757947 2260
gallonm 7:2dc81120c917 2261 /*
gallonm 7:2dc81120c917 2262 * 32 bit integer square root with not so bad precision (integer result) and is quite fast
gallonm 7:2dc81120c917 2263 * see http://en.wikipedia.org/wiki/Methods_of_computing_square_roots
gallonm 7:2dc81120c917 2264 */
gallonm 7:2dc81120c917 2265 uint32_t VL6180x_SqrtUint32(uint32_t num) {
gallonm 4:a5abf7757947 2266 uint32_t res = 0;
gallonm 4:a5abf7757947 2267 uint32_t bit = 1 << 30; /* The second-to-top bit is set: 1 << 30 for 32 bits */
gallonm 4:a5abf7757947 2268
gallonm 4:a5abf7757947 2269 /* "bit" starts at the highest power of four <= the argument. */
gallonm 4:a5abf7757947 2270 while (bit > num)
gallonm 4:a5abf7757947 2271 bit >>= 2;
gallonm 1:1de1ea2994d9 2272
gallonm 4:a5abf7757947 2273 while (bit != 0) {
gallonm 4:a5abf7757947 2274 if (num >= res + bit) {
gallonm 4:a5abf7757947 2275 num -= res + bit;
gallonm 4:a5abf7757947 2276 res = (res >> 1) + bit;
gallonm 4:a5abf7757947 2277 }
gallonm 4:a5abf7757947 2278 else
gallonm 4:a5abf7757947 2279 res >>= 1;
gallonm 4:a5abf7757947 2280 bit >>= 2;
gallonm 1:1de1ea2994d9 2281 }
gallonm 4:a5abf7757947 2282 return res;
gallonm 4:a5abf7757947 2283 }
gallonm 4:a5abf7757947 2284 #endif
gallonm 4:a5abf7757947 2285
gallonm 4:a5abf7757947 2286
gallonm 7:2dc81120c917 2287 /* DMax one time init */
gallonm 7:2dc81120c917 2288 void _DMax_OneTimeInit(VL6180xDev_t dev){
gallonm 4:a5abf7757947 2289 _DMaxData(ambTuningWindowFactor_K)=DEF_AMBIENT_TUNING;
gallonm 1:1de1ea2994d9 2290 }
gallonm 1:1de1ea2994d9 2291
gallonm 1:1de1ea2994d9 2292
gallonm 7:2dc81120c917 2293 static uint32_t _DMax_RawValueAtRateKCps(VL6180xDev_t dev, int32_t rate){
gallonm 4:a5abf7757947 2294 uint32_t snrLimit_K;
gallonm 4:a5abf7757947 2295 int32_t DMaxSq;
gallonm 4:a5abf7757947 2296 uint32_t RawDMax;
gallonm 4:a5abf7757947 2297 DMaxFix_t retSignalAt400mm;
gallonm 4:a5abf7757947 2298 uint32_t ambTuningWindowFactor_K;
gallonm 3:454541a079f4 2299
gallonm 3:454541a079f4 2300
gallonm 4:a5abf7757947 2301 ambTuningWindowFactor_K = _DMaxData(ambTuningWindowFactor_K);
gallonm 4:a5abf7757947 2302 snrLimit_K = _DMaxData(snrLimit_K);
gallonm 4:a5abf7757947 2303 retSignalAt400mm = _DMaxData(retSignalAt400mm); /* 12 to 18 bits Kcps */
gallonm 4:a5abf7757947 2304 if( rate > 0 ){
gallonm 4:a5abf7757947 2305 DMaxSq = 400*400*1000 / rate -(400*400/330); /* K of (1/RtnAmb -1/330 )=> 30bit- (12-18)bit => 12-18 bits*/
gallonm 4:a5abf7757947 2306 if( DMaxSq<= 0){
gallonm 4:a5abf7757947 2307 RawDMax = 0;
gallonm 4:a5abf7757947 2308 }
gallonm 4:a5abf7757947 2309 else{
gallonm 4:a5abf7757947 2310 /* value can be more 32 bit so base on raneg apply *retSignalAt400mm before or after division to presevr accuracy */
gallonm 4:a5abf7757947 2311 if( DMaxSq< (2<<12) ){
gallonm 4:a5abf7757947 2312 DMaxSq = DMaxSq*retSignalAt400mm/(snrLimit_K+ambTuningWindowFactor_K); /* max 12 + 12 to 18 -10 => 12-26 bit */
gallonm 4:a5abf7757947 2313 }else{
gallonm 4:a5abf7757947 2314 DMaxSq = DMaxSq/(snrLimit_K+ambTuningWindowFactor_K)*retSignalAt400mm; /* 12 to 18 -10 + 12 to 18 *=> 12-26 bit */
gallonm 4:a5abf7757947 2315 }
gallonm 4:a5abf7757947 2316 RawDMax=VL6180x_SqrtUint32(DMaxSq);
gallonm 4:a5abf7757947 2317 }
gallonm 4:a5abf7757947 2318 }
gallonm 4:a5abf7757947 2319 else{
gallonm 4:a5abf7757947 2320 RawDMax = 0x7FFFFFFF; /* bigest possibmle 32bit signed value */
gallonm 4:a5abf7757947 2321 }
gallonm 4:a5abf7757947 2322 return RawDMax;
gallonm 4:a5abf7757947 2323 }
gallonm 3:454541a079f4 2324
gallonm 7:2dc81120c917 2325 /*
gallonm 7:2dc81120c917 2326 * fetch static data from register to avoid re-read
gallonm 7:2dc81120c917 2327 * precompute all intermediate constant and cliipings
gallonm 7:2dc81120c917 2328 *
gallonm 7:2dc81120c917 2329 * to be re-used/call on changes of :
gallonm 7:2dc81120c917 2330 * 0x2A
gallonm 7:2dc81120c917 2331 * SYSRANGE_MAX_AMBIENT_LEVEL_MULT
gallonm 7:2dc81120c917 2332 * Dev Data XtalkComRate_KCPs
gallonm 7:2dc81120c917 2333 * SYSRANGE_MAX_CONVERGENCE_TIME
gallonm 7:2dc81120c917 2334 * SYSRANGE_RANGE_CHECK_ENABLES mask RANGE_CHECK_RANGE_ENABLE_MASK
gallonm 7:2dc81120c917 2335 * range 0xb8-0xbb (0xbb)
gallonm 7:2dc81120c917 2336 */
gallonm 7:2dc81120c917 2337 int VL6180X::_DMax_InitData(VL6180xDev_t dev){
gallonm 3:454541a079f4 2338 int status, warning;
gallonm 3:454541a079f4 2339 uint8_t u8;
gallonm 3:454541a079f4 2340 uint16_t u16;
gallonm 3:454541a079f4 2341 uint32_t u32;
gallonm 3:454541a079f4 2342 uint32_t Reg2A_KCps;
gallonm 3:454541a079f4 2343 uint32_t RegB8;
gallonm 3:454541a079f4 2344 uint8_t MaxConvTime;
gallonm 3:454541a079f4 2345 uint32_t XTalkCompRate_KCps;
gallonm 3:454541a079f4 2346 uint32_t RangeIgnoreThreshold;
gallonm 3:454541a079f4 2347 int32_t minSignalNeeded;
gallonm 3:454541a079f4 2348 uint8_t SysRangeCheckEn;
gallonm 3:454541a079f4 2349 uint8_t snrLimit;
gallonm 3:454541a079f4 2350 warning=0;
gallonm 3:454541a079f4 2351
gallonm 3:454541a079f4 2352 static const int ROMABLE_DATA MaxConvTimeAdjust=-4;
gallonm 3:454541a079f4 2353
gallonm 3:454541a079f4 2354 LOG_FUNCTION_START("");
gallonm 3:454541a079f4 2355 do{
gallonm 7:2dc81120c917 2356 status = VL6180x_RdByte(dev, 0x02A ,&u8);
gallonm 3:454541a079f4 2357 if( status ){
gallonm 3:454541a079f4 2358 VL6180x_ErrLog("Reg 0x02A rd fail");
gallonm 3:454541a079f4 2359 break;
gallonm 3:454541a079f4 2360 }
gallonm 3:454541a079f4 2361
gallonm 3:454541a079f4 2362 if( u8 == 0 ) {
gallonm 3:454541a079f4 2363 warning = CALIBRATION_WARNING;
gallonm 3:454541a079f4 2364 u8 = 40; /* use a default average value */
gallonm 3:454541a079f4 2365 }
gallonm 3:454541a079f4 2366 Reg2A_KCps = Fix7_2_KCPs(u8); /* convert to KCPs */
gallonm 3:454541a079f4 2367
gallonm 7:2dc81120c917 2368 status = VL6180x_RdByte(dev, SYSRANGE_RANGE_CHECK_ENABLES, &SysRangeCheckEn);
gallonm 3:454541a079f4 2369 if (status) {
gallonm 3:454541a079f4 2370 VL6180x_ErrLog("SYSRANGE_RANGE_CHECK_ENABLES rd fail ");
gallonm 3:454541a079f4 2371 break;
gallonm 3:454541a079f4 2372 }
gallonm 3:454541a079f4 2373
gallonm 7:2dc81120c917 2374 status = VL6180x_RdByte(dev, SYSRANGE_MAX_CONVERGENCE_TIME, &MaxConvTime);
gallonm 3:454541a079f4 2375 if( status){
gallonm 3:454541a079f4 2376 VL6180x_ErrLog("SYSRANGE_MAX_CONVERGENCE_TIME rd fail ");
gallonm 3:454541a079f4 2377 break;
gallonm 3:454541a079f4 2378 }
gallonm 3:454541a079f4 2379
gallonm 7:2dc81120c917 2380 status = VL6180x_RdDWord(dev, 0x0B8, &RegB8);
gallonm 3:454541a079f4 2381 if( status ){
gallonm 3:454541a079f4 2382 VL6180x_ErrLog("reg 0x0B8 rd fail ");
gallonm 3:454541a079f4 2383 break;
gallonm 3:454541a079f4 2384 }
gallonm 3:454541a079f4 2385
gallonm 7:2dc81120c917 2386 status = VL6180x_RdByte(dev, SYSRANGE_MAX_AMBIENT_LEVEL_MULT, &snrLimit);
gallonm 3:454541a079f4 2387 if( status){
gallonm 3:454541a079f4 2388 VL6180x_ErrLog("SYSRANGE_MAX_AMBIENT_LEVEL_MULT rd fail ");
gallonm 3:454541a079f4 2389 break;
gallonm 3:454541a079f4 2390 }
gallonm 3:454541a079f4 2391 _DMaxData(snrLimit_K) = (int32_t)16*1000/snrLimit;
gallonm 3:454541a079f4 2392 XTalkCompRate_KCps = VL6180xDevDataGet(dev, XTalkCompRate_KCps );
gallonm 3:454541a079f4 2393
gallonm 3:454541a079f4 2394 if( Reg2A_KCps >= XTalkCompRate_KCps){
gallonm 3:454541a079f4 2395 _DMaxData(retSignalAt400mm)=( Reg2A_KCps - XTalkCompRate_KCps);
gallonm 3:454541a079f4 2396 }
gallonm 3:454541a079f4 2397 else{
gallonm 3:454541a079f4 2398 _DMaxData(retSignalAt400mm)=0; /* Reg2A_K - XTalkCompRate_KCp <0 is invalid */
gallonm 3:454541a079f4 2399 }
gallonm 3:454541a079f4 2400
gallonm 3:454541a079f4 2401 /* if xtalk range check is off omit it in snr clipping */
gallonm 3:454541a079f4 2402 if( SysRangeCheckEn&RANGE_CHECK_RANGE_ENABLE_MASK ){
gallonm 7:2dc81120c917 2403 status = VL6180x_RdWord(dev, SYSRANGE_RANGE_IGNORE_THRESHOLD, &u16);
gallonm 3:454541a079f4 2404 if( status){
gallonm 3:454541a079f4 2405 VL6180x_ErrLog("SYSRANGE_RANGE_IGNORE_THRESHOLD rd fail ");
gallonm 3:454541a079f4 2406 break;
gallonm 3:454541a079f4 2407 }
gallonm 3:454541a079f4 2408 RangeIgnoreThreshold = Fix7_2_KCPs(u16);
gallonm 3:454541a079f4 2409 }
gallonm 3:454541a079f4 2410 else{
gallonm 3:454541a079f4 2411 RangeIgnoreThreshold = 0;
gallonm 3:454541a079f4 2412 }
gallonm 3:454541a079f4 2413
gallonm 3:454541a079f4 2414 minSignalNeeded = (RegB8*256)/((int32_t)MaxConvTime+(int32_t)MaxConvTimeAdjust); /* KCps 8+8 bit -(1 to 6 bit) => 15-10 bit */
gallonm 3:454541a079f4 2415 /* minSignalNeeded = max ( minSignalNeeded, RangeIgnoreThreshold - XTalkCompRate_KCps) */
gallonm 3:454541a079f4 2416 if( minSignalNeeded <= RangeIgnoreThreshold - XTalkCompRate_KCps )
gallonm 3:454541a079f4 2417 minSignalNeeded = RangeIgnoreThreshold - XTalkCompRate_KCps;
gallonm 3:454541a079f4 2418
gallonm 3:454541a079f4 2419 u32 = (minSignalNeeded*(uint32_t)snrLimit)/16;
gallonm 3:454541a079f4 2420 _DMaxData(ClipSnrLimit ) = _DMax_RawValueAtRateKCps(dev, u32 ); /* clip to dmax to min signal snr limit rate*/
gallonm 3:454541a079f4 2421 }
gallonm 3:454541a079f4 2422 while(0);
gallonm 3:454541a079f4 2423 if( !status )
gallonm 3:454541a079f4 2424 status = warning;
gallonm 3:454541a079f4 2425 LOG_FUNCTION_END(status);
gallonm 3:454541a079f4 2426 return status;
gallonm 1:1de1ea2994d9 2427 }
gallonm 1:1de1ea2994d9 2428
gallonm 7:2dc81120c917 2429 static int _DMax_Compute(VL6180xDev_t dev, VL6180x_RangeData_t *pRange){
gallonm 7:2dc81120c917 2430 uint32_t rtnAmbRate;
gallonm 7:2dc81120c917 2431 int32_t DMax;
gallonm 7:2dc81120c917 2432 int scaling;
gallonm 7:2dc81120c917 2433 uint16_t HwLimitAtScale;
gallonm 7:2dc81120c917 2434 static const int ROMABLE_DATA rtnAmbLowLimit_KCps=330*1000;
gallonm 7:2dc81120c917 2435
gallonm 7:2dc81120c917 2436 rtnAmbRate = pRange->rtnAmbRate;
gallonm 7:2dc81120c917 2437 if( rtnAmbRate < rtnAmbLowLimit_KCps ){
gallonm 7:2dc81120c917 2438 DMax = _DMax_RawValueAtRateKCps( dev, rtnAmbRate);
gallonm 7:2dc81120c917 2439 scaling = _GetUpscale(dev);
gallonm 7:2dc81120c917 2440 HwLimitAtScale=UpperLimitLookUP[scaling - 1];
gallonm 7:2dc81120c917 2441
gallonm 7:2dc81120c917 2442 if( DMax > _DMaxData(ClipSnrLimit) ){
gallonm 7:2dc81120c917 2443 DMax=_DMaxData(ClipSnrLimit);
gallonm 7:2dc81120c917 2444 }
gallonm 7:2dc81120c917 2445 if( DMax > HwLimitAtScale ){
gallonm 7:2dc81120c917 2446 DMax=HwLimitAtScale;
gallonm 7:2dc81120c917 2447 }
gallonm 7:2dc81120c917 2448 pRange->DMax=DMax;
gallonm 7:2dc81120c917 2449 }
gallonm 7:2dc81120c917 2450 else{
gallonm 7:2dc81120c917 2451 pRange->DMax = 0;
gallonm 7:2dc81120c917 2452 }
gallonm 7:2dc81120c917 2453 return 0;
gallonm 7:2dc81120c917 2454 }
gallonm 7:2dc81120c917 2455
gallonm 7:2dc81120c917 2456 #undef _DMaxData
gallonm 3:454541a079f4 2457 #undef Fix7_2_KCPs
gallonm 1:1de1ea2994d9 2458
gallonm 7:2dc81120c917 2459 #endif /* VL6180x_HAVE_DMAX_RANGING */
gallonm 7:2dc81120c917 2460
gallonm 7:2dc81120c917 2461
gallonm 7:2dc81120c917 2462 /******************************************************************************/
gallonm 7:2dc81120c917 2463 /******************************************************************************/
gallonm 7:2dc81120c917 2464
gallonm 7:2dc81120c917 2465
gallonm 7:2dc81120c917 2466
gallonm 7:2dc81120c917 2467 /****************** Write and read functions from I2C *************************/
gallonm 4:a5abf7757947 2468
gallonm 4:a5abf7757947 2469 int VL6180X::VL6180x_WrByte(VL6180xDev_t dev, uint16_t index, uint8_t data)
gallonm 4:a5abf7757947 2470 {
gallonm 4:a5abf7757947 2471 int status;
gallonm 4:a5abf7757947 2472 DECL_I2C_BUFFER
gallonm 4:a5abf7757947 2473 VL6180x_I2C_USER_VAR
gallonm 4:a5abf7757947 2474
gallonm 4:a5abf7757947 2475 status=VL6180x_I2CWrite(dev, index, &data,(uint8_t)3);
gallonm 4:a5abf7757947 2476 return status;
gallonm 4:a5abf7757947 2477 }
gallonm 4:a5abf7757947 2478
gallonm 4:a5abf7757947 2479 int VL6180X::VL6180x_WrWord(VL6180xDev_t dev, uint16_t index, uint16_t data)
gallonm 4:a5abf7757947 2480 {
gallonm 4:a5abf7757947 2481 int status;
gallonm 4:a5abf7757947 2482 DECL_I2C_BUFFER
gallonm 4:a5abf7757947 2483 VL6180x_I2C_USER_VAR
gallonm 4:a5abf7757947 2484
gallonm 7:2dc81120c917 2485 status=VL6180x_I2CWrite(MyDeviceAddress, index, (uint8_t *)&data,(uint8_t)4);
gallonm 4:a5abf7757947 2486 return status;
gallonm 4:a5abf7757947 2487 }
gallonm 4:a5abf7757947 2488
gallonm 4:a5abf7757947 2489 int VL6180X::VL6180x_WrDWord(VL6180xDev_t dev, uint16_t index, uint32_t data)
gallonm 4:a5abf7757947 2490 {
gallonm 4:a5abf7757947 2491 VL6180x_I2C_USER_VAR
gallonm 4:a5abf7757947 2492 DECL_I2C_BUFFER
gallonm 4:a5abf7757947 2493 int status;
gallonm 4:a5abf7757947 2494
gallonm 7:2dc81120c917 2495 status=VL6180x_I2CWrite(MyDeviceAddress, index, (uint8_t *)&data,(uint8_t)6);
gallonm 4:a5abf7757947 2496 return status;
gallonm 4:a5abf7757947 2497 }
gallonm 4:a5abf7757947 2498
gallonm 4:a5abf7757947 2499 int VL6180X::VL6180x_RdByte(VL6180xDev_t dev, uint16_t index, uint8_t *data)
gallonm 4:a5abf7757947 2500 {
gallonm 4:a5abf7757947 2501 VL6180x_I2C_USER_VAR
gallonm 4:a5abf7757947 2502 int status;
gallonm 4:a5abf7757947 2503 uint8_t buffer;
gallonm 4:a5abf7757947 2504 DECL_I2C_BUFFER
gallonm 4:a5abf7757947 2505
gallonm 4:a5abf7757947 2506 status=VL6180x_I2CRead(dev, index, &buffer,1);
gallonm 4:a5abf7757947 2507 if( !status ){
gallonm 4:a5abf7757947 2508 *data=buffer;
gallonm 4:a5abf7757947 2509 }
gallonm 4:a5abf7757947 2510 return status;
gallonm 4:a5abf7757947 2511 }
gallonm 4:a5abf7757947 2512
gallonm 4:a5abf7757947 2513 int VL6180X::VL6180x_RdWord(VL6180xDev_t dev, uint16_t index, uint16_t *data)
gallonm 4:a5abf7757947 2514 {
gallonm 4:a5abf7757947 2515 VL6180x_I2C_USER_VAR
gallonm 4:a5abf7757947 2516 int status;
gallonm 4:a5abf7757947 2517 uint8_t *buffer;
gallonm 4:a5abf7757947 2518 DECL_I2C_BUFFER
gallonm 4:a5abf7757947 2519
gallonm 7:2dc81120c917 2520 status=VL6180x_I2CRead(MyDeviceAddress, index, buffer,2);
gallonm 4:a5abf7757947 2521 if( !status ){
gallonm 4:a5abf7757947 2522 /* VL6180x register are Big endian if cpu is be direct read direct into *data is possible */
gallonm 4:a5abf7757947 2523 *data=((uint16_t)buffer[0]<<8)|(uint16_t)buffer[1];
gallonm 4:a5abf7757947 2524 }
gallonm 4:a5abf7757947 2525 return status;
gallonm 4:a5abf7757947 2526 }
gallonm 4:a5abf7757947 2527
gallonm 4:a5abf7757947 2528 int VL6180X::VL6180x_RdDWord(VL6180xDev_t dev, uint16_t index, uint32_t *data)
gallonm 4:a5abf7757947 2529 {
gallonm 4:a5abf7757947 2530 VL6180x_I2C_USER_VAR
gallonm 4:a5abf7757947 2531 int status;
gallonm 4:a5abf7757947 2532 uint8_t *buffer;
gallonm 4:a5abf7757947 2533 DECL_I2C_BUFFER
gallonm 4:a5abf7757947 2534
gallonm 4:a5abf7757947 2535
gallonm 7:2dc81120c917 2536 status=VL6180x_I2CRead(MyDeviceAddress, index, buffer,4);
gallonm 4:a5abf7757947 2537 if( !status ){
gallonm 4:a5abf7757947 2538 /* VL6180x register are Big endian if cpu is be direct read direct into data is possible */
gallonm 4:a5abf7757947 2539 *data=((uint32_t)buffer[0]<<24)|((uint32_t)buffer[1]<<16)|((uint32_t)buffer[2]<<8)|((uint32_t)buffer[3]);
gallonm 4:a5abf7757947 2540 }
gallonm 4:a5abf7757947 2541 return status;
gallonm 4:a5abf7757947 2542 }
gallonm 4:a5abf7757947 2543
gallonm 7:2dc81120c917 2544 int VL6180X::VL6180x_UpdateByte(VL6180xDev_t dev, uint16_t index, uint8_t AndData, uint8_t OrData){
gallonm 7:2dc81120c917 2545 VL6180x_I2C_USER_VAR
gallonm 7:2dc81120c917 2546 int status;
gallonm 7:2dc81120c917 2547 uint8_t *buffer;
gallonm 7:2dc81120c917 2548 DECL_I2C_BUFFER
gallonm 7:2dc81120c917 2549
gallonm 7:2dc81120c917 2550 status=VL6180x_I2CWrite(MyDeviceAddress, index, (uint8_t *)buffer,(uint8_t)2);
gallonm 7:2dc81120c917 2551 if( !status ){
gallonm 7:2dc81120c917 2552 /* read data direct onto buffer */
gallonm 7:2dc81120c917 2553 status=VL6180x_I2CRead(dev, index, &buffer[2],1);
gallonm 7:2dc81120c917 2554 if( !status ){
gallonm 7:2dc81120c917 2555 buffer[2]=(buffer[2]&AndData)|OrData;
gallonm 7:2dc81120c917 2556 status=VL6180x_I2CWrite(dev, index, buffer, (uint8_t)3);
gallonm 7:2dc81120c917 2557 }
gallonm 7:2dc81120c917 2558 }
gallonm 7:2dc81120c917 2559
gallonm 7:2dc81120c917 2560 return status;
gallonm 7:2dc81120c917 2561 }
gallonm 7:2dc81120c917 2562
gallonm 4:a5abf7757947 2563 int VL6180X::VL6180x_I2CWrite(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t* pBuffer, uint16_t NumByteToWrite)
gallonm 4:a5abf7757947 2564 {
gallonm 4:a5abf7757947 2565 int ret;
gallonm 4:a5abf7757947 2566 int i;
gallonm 4:a5abf7757947 2567 uint8_t tmp[TEMP_BUF_SIZE];
gallonm 4:a5abf7757947 2568 uint16_t myRegisterAddr = RegisterAddr;
gallonm 7:2dc81120c917 2569 uint16_t WriteDeviceAddr=0;
gallonm 4:a5abf7757947 2570
gallonm 7:2dc81120c917 2571 WriteDeviceAddr=DeviceAddr*2;
gallonm 4:a5abf7757947 2572 if(NumByteToWrite >= TEMP_BUF_SIZE) return -2;
gallonm 4:a5abf7757947 2573
gallonm 4:a5abf7757947 2574 /* First, send 8 bits device address and 16 bits register address in BE format. Then, send data and STOP condition */
gallonm 4:a5abf7757947 2575 tmp[0] = *(((uint8_t*)&myRegisterAddr)+1);
gallonm 4:a5abf7757947 2576 tmp[1] = (uint8_t)RegisterAddr;
gallonm 4:a5abf7757947 2577
gallonm 4:a5abf7757947 2578 if(NumByteToWrite>1)
gallonm 4:a5abf7757947 2579 {
gallonm 4:a5abf7757947 2580 for(i=0;i<NumByteToWrite;i++)
gallonm 4:a5abf7757947 2581 {
gallonm 7:2dc81120c917 2582 tmp[NumByteToWrite+1-i]=pBuffer[i];
gallonm 4:a5abf7757947 2583 }
gallonm 4:a5abf7757947 2584 }
gallonm 7:2dc81120c917 2585 else
gallonm 7:2dc81120c917 2586 {
gallonm 7:2dc81120c917 2587 memcpy(tmp+2, pBuffer, NumByteToWrite);
gallonm 7:2dc81120c917 2588 }
gallonm 7:2dc81120c917 2589 ret = dev_i2c.write(WriteDeviceAddr, (const char*)tmp, NumByteToWrite+sizeof(RegisterAddr), false);
gallonm 4:a5abf7757947 2590
gallonm 4:a5abf7757947 2591 if(ret) return -1;
gallonm 4:a5abf7757947 2592 return 0;
gallonm 4:a5abf7757947 2593 }
gallonm 4:a5abf7757947 2594
gallonm 4:a5abf7757947 2595 int VL6180X::VL6180x_I2CRead(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t* pBuffer, uint16_t NumByteToRead)
gallonm 4:a5abf7757947 2596 {
gallonm 4:a5abf7757947 2597 int ret;
gallonm 4:a5abf7757947 2598 uint16_t myRegisterAddr = RegisterAddr;
gallonm 4:a5abf7757947 2599 uint16_t myRegisterAddrBE;
gallonm 7:2dc81120c917 2600 uint16_t ReadDeviceAddr=DeviceAddr;
gallonm 7:2dc81120c917 2601
gallonm 7:2dc81120c917 2602 ReadDeviceAddr=DeviceAddr*2;
gallonm 4:a5abf7757947 2603 myRegisterAddrBE = *(((uint8_t*)&myRegisterAddr)+1);
gallonm 4:a5abf7757947 2604 *(((uint8_t*)&myRegisterAddrBE)+1) = (uint8_t)myRegisterAddr;
gallonm 4:a5abf7757947 2605
gallonm 4:a5abf7757947 2606 /* Send 8 bits device address and 16 bits register address in BE format, with no STOP condition */
gallonm 7:2dc81120c917 2607 ret = dev_i2c.write(ReadDeviceAddr, (const char*)&myRegisterAddrBE, sizeof(RegisterAddr), true);
gallonm 4:a5abf7757947 2608 if(!ret) {
gallonm 7:2dc81120c917 2609 ReadDeviceAddr|=0x001;
gallonm 4:a5abf7757947 2610 /* Read data, with STOP condition */
gallonm 7:2dc81120c917 2611 ret = dev_i2c.read(ReadDeviceAddr, (char*)pBuffer, NumByteToRead, false);
gallonm 4:a5abf7757947 2612 }
gallonm 4:a5abf7757947 2613
gallonm 4:a5abf7757947 2614 if(ret) return -1;
gallonm 4:a5abf7757947 2615 return 0;
gallonm 4:a5abf7757947 2616 }
gallonm 4:a5abf7757947 2617
gallonm 7:2dc81120c917 2618 /****************** IO read funcitons *****************************************/
gallonm 7:2dc81120c917 2619
gallonm 7:2dc81120c917 2620 int VL6180X::VL6180X_ReadID()
gallonm 4:a5abf7757947 2621 {
gallonm 7:2dc81120c917 2622 uint8_t rl_id;
gallonm 7:2dc81120c917 2623
gallonm 7:2dc81120c917 2624 return VL6180X_IO_Read(&rl_id, IDENTIFICATION_MODEL_ID, 1);
gallonm 4:a5abf7757947 2625 }
gallonm 4:a5abf7757947 2626
gallonm 4:a5abf7757947 2627
gallonm 4:a5abf7757947 2628 int VL6180X::VL6180X_IO_Read(uint8_t *pBuffer, uint8_t RegisterAddress, uint16_t NumByteToRead)
gallonm 4:a5abf7757947 2629 {
gallonm 7:2dc81120c917 2630 int status;
gallonm 4:a5abf7757947 2631
gallonm 7:2dc81120c917 2632 status=VL6180x_I2CRead(MyDeviceAddress, RegisterAddress, pBuffer, NumByteToRead);
gallonm 7:2dc81120c917 2633 if(status!=0)
gallonm 4:a5abf7757947 2634 {
gallonm 4:a5abf7757947 2635 return INVALID_PARAMS; // DA DEFINIRE IL TIPO DI ERRORE!!
gallonm 4:a5abf7757947 2636 }
gallonm 4:a5abf7757947 2637 return API_NO_ERROR; // DA DEFINIRE IL TIPO DI ERRORE!!
gallonm 4:a5abf7757947 2638 }
gallonm 4:a5abf7757947 2639
gallonm 4:a5abf7757947 2640
gallonm 7:2dc81120c917 2641
gallonm 7:2dc81120c917 2642
gallonm 1:1de1ea2994d9 2643 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/