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@19:39ea6bab0e5b, 2015-10-28 (annotated)

Committer:
mapellil
Date:
Wed Oct 28 09:28:52 2015 +0000
Revision:
19:39ea6bab0e5b
Parent:
16:0d4776564733
Child:
20:dd8390d615bf
Removed some undefined funct preventing the lib to be self contained. Added Serial pc global variable.

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 16:0d4776564733 37
gallonm 7:2dc81120c917 38 /* Includes */
gallonm 1:1de1ea2994d9 39 #include "vl6180x_class.h"
licio.mapelli@st.com 8:f943a1fca15f 40
gallonm 16:0d4776564733 41
licio.mapelli@st.com 8:f943a1fca15f 42 #ifndef VL6180x_RANGE_STATUS_ERRSTRING
licio.mapelli@st.com 8:f943a1fca15f 43 #warning "VL6180x_RANGE_STATUS_ERRSTRING not defined ?"
licio.mapelli@st.com 8:f943a1fca15f 44 /* TODO you may remove or comment these #warning and keep the default below to keep compatibility
licio.mapelli@st.com 8:f943a1fca15f 45 or update your vl6180x_platform.h file */
licio.mapelli@st.com 8:f943a1fca15f 46 /**
licio.mapelli@st.com 8:f943a1fca15f 47 * force VL6180x_RANGE_STATUS_ERRSTRING to not supported when not part of any cfg file
licio.mapelli@st.com 8:f943a1fca15f 48 */
licio.mapelli@st.com 8:f943a1fca15f 49 #define VL6180x_RANGE_STATUS_ERRSTRING 0
licio.mapelli@st.com 8:f943a1fca15f 50 #endif
gallonm 16:0d4776564733 51
licio.mapelli@st.com 8:f943a1fca15f 52 #ifndef VL6180X_SAFE_POLLING_ENTER
licio.mapelli@st.com 8:f943a1fca15f 53 #warning "VL6180X_SAFE_POLLING_ENTER not defined, likely old vl6180x_cfg.h file ?"
licio.mapelli@st.com 8:f943a1fca15f 54 /* TODO you may remove or comment these #warning and keep the default below to keep compatibility
licio.mapelli@st.com 8:f943a1fca15f 55 or update your vl6180x_platform.h file */
licio.mapelli@st.com 8:f943a1fca15f 56 /**
licio.mapelli@st.com 8:f943a1fca15f 57 * force VL6180X_SAFE_POLLING_ENTER to off when not in cfg file
licio.mapelli@st.com 8:f943a1fca15f 58 */
licio.mapelli@st.com 8:f943a1fca15f 59 #define VL6180X_SAFE_POLLING_ENTER 0 /* off by default as in api 2.0 */
licio.mapelli@st.com 8:f943a1fca15f 60 #endif
gallonm 16:0d4776564733 61
licio.mapelli@st.com 8:f943a1fca15f 62 #ifndef VL6180X_LOG_ENABLE
licio.mapelli@st.com 8:f943a1fca15f 63 /**
licio.mapelli@st.com 8:f943a1fca15f 64 * Force VL6180X_LOG_ENABLE to none as default
licio.mapelli@st.com 8:f943a1fca15f 65 */
licio.mapelli@st.com 8:f943a1fca15f 66 #define VL6180X_LOG_ENABLE 0
licio.mapelli@st.com 8:f943a1fca15f 67 #endif
gallonm 16:0d4776564733 68
mapellil 19:39ea6bab0e5b 69 #ifdef MY_LOG
mapellil 19:39ea6bab0e5b 70 Serial pc(USBTX, USBRX);
mapellil 19:39ea6bab0e5b 71 #endif
mapellil 19:39ea6bab0e5b 72
licio.mapelli@st.com 8:f943a1fca15f 73 #if VL6180x_RANGE_STATUS_ERRSTRING
licio.mapelli@st.com 8:f943a1fca15f 74 /**@def VL6180x_HAVE_RANGE_STATUS_ERRSTRING
licio.mapelli@st.com 8:f943a1fca15f 75 * @brief is defined when @a #VL6180x_RANGE_STATUS_ERRSTRING is enable
licio.mapelli@st.com 8:f943a1fca15f 76 */
licio.mapelli@st.com 8:f943a1fca15f 77 #define VL6180x_HAVE_RANGE_STATUS_ERRSTRING
licio.mapelli@st.com 8:f943a1fca15f 78 #endif
gallonm 16:0d4776564733 79
gallonm 16:0d4776564733 80
licio.mapelli@st.com 8:f943a1fca15f 81 /** @brief Get API version as "hex integer" 0xMMnnss
licio.mapelli@st.com 8:f943a1fca15f 82 */
licio.mapelli@st.com 8:f943a1fca15f 83 #define VL6180x_ApiRevInt ((VL6180x_API_REV_MAJOR<<24)+(VL6180x_API_REV_MINOR<<16)+VL6180x_API_REV_SUB)
gallonm 16:0d4776564733 84
licio.mapelli@st.com 8:f943a1fca15f 85 /** Get API version as string for exe "2.1.12" "
licio.mapelli@st.com 8:f943a1fca15f 86 */
licio.mapelli@st.com 8:f943a1fca15f 87 #define VL6180x_ApiRevStr VL6180X_STR(VL6180x_API_REV_MAJOR) "." VL6180X_STR(VL6180x_API_REV_MINOR) "." VL6180X_STR(VL6180x_API_REV_SUB)
gallonm 16:0d4776564733 88
licio.mapelli@st.com 8:f943a1fca15f 89 /** @defgroup api_init Init functions
licio.mapelli@st.com 8:f943a1fca15f 90 * @brief API init functions
licio.mapelli@st.com 8:f943a1fca15f 91 * @ingroup api_hl
licio.mapelli@st.com 8:f943a1fca15f 92 * @{
licio.mapelli@st.com 8:f943a1fca15f 93 */
gallonm 16:0d4776564733 94
gallonm 16:0d4776564733 95
gallonm 7:2dc81120c917 96 /****************** define for i2c configuration *******************************/
gallonm 16:0d4776564733 97
gallonm 16:0d4776564733 98 #define TEMP_BUF_SIZE 32
gallonm 16:0d4776564733 99
gallonm 7:2dc81120c917 100 #define IsValidGPIOFunction(x) ((x)==GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT || (x)==GPIOx_SELECT_OFF)
licio.mapelli@st.com 8:f943a1fca15f 101 /**
licio.mapelli@st.com 8:f943a1fca15f 102 * @brief Clear All interrupt causes (als+range+error)
licio.mapelli@st.com 8:f943a1fca15f 103 *
licio.mapelli@st.com 8:f943a1fca15f 104 * @param dev The device
licio.mapelli@st.com 8:f943a1fca15f 105 * @return 0 On success
licio.mapelli@st.com 8:f943a1fca15f 106 */
licio.mapelli@st.com 8:f943a1fca15f 107 #define VL6180x_ClearAllInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_ERROR|INTERRUPT_CLEAR_RANGING|INTERRUPT_CLEAR_ALS)
licio.mapelli@st.com 8:f943a1fca15f 108 /**
licio.mapelli@st.com 8:f943a1fca15f 109 * @brief Clear ALS interrupt
licio.mapelli@st.com 8:f943a1fca15f 110 *
licio.mapelli@st.com 8:f943a1fca15f 111 * @param dev The device
licio.mapelli@st.com 8:f943a1fca15f 112 * @return 0 On success
licio.mapelli@st.com 8:f943a1fca15f 113 */
licio.mapelli@st.com 8:f943a1fca15f 114 #define VL6180x_AlsClearInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_ALS)
licio.mapelli@st.com 8:f943a1fca15f 115 /**
licio.mapelli@st.com 8:f943a1fca15f 116 * @brief Clear range interrupt
licio.mapelli@st.com 8:f943a1fca15f 117 *
licio.mapelli@st.com 8:f943a1fca15f 118 * @param dev The device
licio.mapelli@st.com 8:f943a1fca15f 119 * @return 0 On success
licio.mapelli@st.com 8:f943a1fca15f 120 */
licio.mapelli@st.com 8:f943a1fca15f 121 #define VL6180x_RangeClearInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_RANGING)
gallonm 16:0d4776564733 122
gallonm 7:2dc81120c917 123 /******************************************************************************/
gallonm 7:2dc81120c917 124 /******************************* file api.c ***********************************/
gallonm 16:0d4776564733 125
gallonm 7:2dc81120c917 126 #define VL6180x_9to7Conv(x) (x)
gallonm 16:0d4776564733 127
gallonm 7:2dc81120c917 128 /* TODO when set all "cached" value with "default init" are updated after init from register read back */
gallonm 7:2dc81120c917 129 #define REFRESH_CACHED_DATA_AFTER_INIT 1
gallonm 16:0d4776564733 130
gallonm 16:0d4776564733 131
gallonm 7:2dc81120c917 132 #define IsValidGPIOFunction(x) ((x)==GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT || (x)==GPIOx_SELECT_OFF)
gallonm 16:0d4776564733 133
gallonm 16:0d4776564733 134
gallonm 7:2dc81120c917 135 /** default value ECE factor Molecular */
gallonm 7:2dc81120c917 136 #define DEF_ECE_FACTOR_M 85
gallonm 7:2dc81120c917 137 /** default value ECE factor Denominator */
gallonm 7:2dc81120c917 138 #define DEF_ECE_FACTOR_D 100
gallonm 7:2dc81120c917 139 /** default value ALS integration time */
gallonm 7:2dc81120c917 140 #define DEF_INT_PEFRIOD 100
gallonm 7:2dc81120c917 141 /** default value ALS gain */
gallonm 7:2dc81120c917 142 #define DEF_ALS_GAIN 1
gallonm 7:2dc81120c917 143 /** default value ALS scaler */
gallonm 7:2dc81120c917 144 #define DEF_ALS_SCALER 1
gallonm 7:2dc81120c917 145 /** default value for DMAX Enbale */
gallonm 7:2dc81120c917 146 #define DEF_DMAX_ENABLE 1
gallonm 7:2dc81120c917 147 /** default ambient tuning factor %x1000 */
gallonm 7:2dc81120c917 148 #define DEF_AMBIENT_TUNING 80
gallonm 16:0d4776564733 149
gallonm 10:4954b09b72d8 150 #if VL6180x_SINGLE_DEVICE_DRIVER
gallonm 10:4954b09b72d8 151 extern struct VL6180xDevData_t SingleVL6180xDevData;
gallonm 10:4954b09b72d8 152 #define VL6180xDevDataGet(dev, field) (SingleVL6180xDevData.field)
gallonm 10:4954b09b72d8 153 #define VL6180xDevDataSet(dev, field, data) SingleVL6180xDevData.field=(data)
gallonm 10:4954b09b72d8 154 #endif
gallonm 16:0d4776564733 155
gallonm 7:2dc81120c917 156 #define LUXRES_FIX_PREC 8
gallonm 7:2dc81120c917 157 #define GAIN_FIX_PREC 8 /* ! if not sme as LUX_PREC then :( adjust GetLux */
gallonm 7:2dc81120c917 158 #define AN_GAIN_MULT (1<<GAIN_FIX_PREC)
gallonm 16:0d4776564733 159
gallonm 16:0d4776564733 160
gallonm 7:2dc81120c917 161 static int32_t _GetAveTotalTime(VL6180xDev_t dev);
gallonm 7:2dc81120c917 162 static int VL6180x_RangeSetEarlyConvergenceEestimateThreshold(VL6180xDev_t dev);
gallonm 16:0d4776564733 163
gallonm 7:2dc81120c917 164 /**
gallonm 7:2dc81120c917 165 * ScalerLookUP scaling factor-1 to register #RANGE_SCALER lookup
gallonm 7:2dc81120c917 166 */
gallonm 7:2dc81120c917 167 static const uint16_t ScalerLookUP[] ROMABLE_DATA ={ 253, 127, 84}; /* lookup table for scaling->scalar 1x2x 3x */
gallonm 7:2dc81120c917 168 /**
gallonm 7:2dc81120c917 169 * scaling factor to Upper limit look up
gallonm 7:2dc81120c917 170 */
gallonm 7:2dc81120c917 171 static const uint16_t UpperLimitLookUP[] ROMABLE_DATA ={ 185, 370, 580}; /* lookup table for scaling->limit 1x2x3x */
gallonm 7:2dc81120c917 172 /**
gallonm 7:2dc81120c917 173 * Als Code gain to fix point gain lookup
gallonm 7:2dc81120c917 174 */
gallonm 7:2dc81120c917 175 static const uint16_t AlsGainLookUp[8] ROMABLE_DATA = {
gallonm 7:2dc81120c917 176 (uint16_t)(20.0f * AN_GAIN_MULT),
gallonm 7:2dc81120c917 177 (uint16_t)(10.0f * AN_GAIN_MULT),
gallonm 7:2dc81120c917 178 (uint16_t)(5.0f * AN_GAIN_MULT),
gallonm 7:2dc81120c917 179 (uint16_t)(2.5f * AN_GAIN_MULT),
gallonm 7:2dc81120c917 180 (uint16_t)(1.67f * AN_GAIN_MULT),
gallonm 7:2dc81120c917 181 (uint16_t)(1.25f * AN_GAIN_MULT),
gallonm 7:2dc81120c917 182 (uint16_t)(1.0f * AN_GAIN_MULT),
gallonm 7:2dc81120c917 183 (uint16_t)(40.0f * AN_GAIN_MULT),
gallonm 7:2dc81120c917 184 };
gallonm 16:0d4776564733 185
gallonm 16:0d4776564733 186
gallonm 7:2dc81120c917 187 #if VL6180x_RANGE_STATUS_ERRSTRING
gallonm 7:2dc81120c917 188 const char * ROMABLE_DATA VL6180x_RangeStatusErrString[]={
gallonm 7:2dc81120c917 189 "No Error",
gallonm 7:2dc81120c917 190 "VCSEL Continuity Test",
gallonm 7:2dc81120c917 191 "VCSEL Watchdog Test",
gallonm 7:2dc81120c917 192 "VCSEL Watchdog",
gallonm 7:2dc81120c917 193 "PLL1 Lock",
gallonm 7:2dc81120c917 194 "PLL2 Lock",
gallonm 7:2dc81120c917 195 "Early Convergence Estimate",
gallonm 7:2dc81120c917 196 "Max Convergence",
gallonm 7:2dc81120c917 197 "No Target Ignore",
gallonm 7:2dc81120c917 198 "Not used 9",
gallonm 7:2dc81120c917 199 "Not used 10",
gallonm 7:2dc81120c917 200 "Max Signal To Noise Ratio",
gallonm 7:2dc81120c917 201 "Raw Ranging Algo Underflow",
gallonm 7:2dc81120c917 202 "Raw Ranging Algo Overflow",
gallonm 7:2dc81120c917 203 "Ranging Algo Underflow",
gallonm 7:2dc81120c917 204 "Ranging Algo Overflow",
gallonm 16:0d4776564733 205
gallonm 7:2dc81120c917 206 "Filtered by post processing"
gallonm 7:2dc81120c917 207 };
gallonm 16:0d4776564733 208
gallonm 7:2dc81120c917 209 const char * VL6180x_RangeGetStatusErrString(uint8_t RangeErrCode){
gallonm 7:2dc81120c917 210 if( RangeErrCode > sizeof(VL6180x_RangeStatusErrString)/sizeof(VL6180x_RangeStatusErrString[0]) )
gallonm 7:2dc81120c917 211 return NULL;
gallonm 7:2dc81120c917 212 return VL6180x_RangeStatusErrString[RangeErrCode];
gallonm 7:2dc81120c917 213 }
gallonm 7:2dc81120c917 214 #endif
gallonm 16:0d4776564733 215
gallonm 7:2dc81120c917 216 #if VL6180x_UPSCALE_SUPPORT == 1
gallonm 7:2dc81120c917 217 #define _GetUpscale(dev, ... ) 1
gallonm 7:2dc81120c917 218 #define _SetUpscale(...) -1
gallonm 7:2dc81120c917 219 #define DEF_UPSCALE 1
gallonm 7:2dc81120c917 220 #elif VL6180x_UPSCALE_SUPPORT == 2
gallonm 7:2dc81120c917 221 #define _GetUpscale(dev, ... ) 2
gallonm 7:2dc81120c917 222 #define _SetUpscale(...)
gallonm 7:2dc81120c917 223 #define DEF_UPSCALE 2
gallonm 7:2dc81120c917 224 #elif VL6180x_UPSCALE_SUPPORT == 3
gallonm 7:2dc81120c917 225 #define _GetUpscale(dev, ... ) 3
gallonm 7:2dc81120c917 226 #define _SetUpscale(...)
gallonm 7:2dc81120c917 227 #define DEF_UPSCALE 3
gallonm 7:2dc81120c917 228 #else
gallonm 7:2dc81120c917 229 #define DEF_UPSCALE (-(VL6180x_UPSCALE_SUPPORT))
gallonm 7:2dc81120c917 230 #define _GetUpscale(dev, ... ) VL6180xDevDataGet(dev, UpscaleFactor)
gallonm 7:2dc81120c917 231 #define _SetUpscale(dev, Scaling ) VL6180xDevDataSet(dev, UpscaleFactor, Scaling)
gallonm 7:2dc81120c917 232 #endif
gallonm 16:0d4776564733 233
gallonm 16:0d4776564733 234
gallonm 10:4954b09b72d8 235 #if VL6180x_SINGLE_DEVICE_DRIVER
gallonm 10:4954b09b72d8 236 /**
gallonm 10:4954b09b72d8 237 * the unique driver data When single device driver is active
gallonm 10:4954b09b72d8 238 */
gallonm 10:4954b09b72d8 239 struct VL6180xDevData_t VL6180x_DEV_DATA_ATTR SingleVL6180xDevData={
gallonm 10:4954b09b72d8 240 .EceFactorM = DEF_ECE_FACTOR_M,
gallonm 10:4954b09b72d8 241 .EceFactorD = DEF_ECE_FACTOR_D,
gallonm 10:4954b09b72d8 242 #ifdef VL6180x_HAVE_UPSCALE_DATA
gallonm 10:4954b09b72d8 243 .UpscaleFactor = DEF_UPSCALE,
gallonm 10:4954b09b72d8 244 #endif
gallonm 10:4954b09b72d8 245 #ifdef VL6180x_HAVE_ALS_DATA
gallonm 10:4954b09b72d8 246 .IntegrationPeriod = DEF_INT_PEFRIOD,
gallonm 10:4954b09b72d8 247 .AlsGainCode = DEF_ALS_GAIN,
gallonm 10:4954b09b72d8 248 .AlsScaler = DEF_ALS_SCALER,
gallonm 10:4954b09b72d8 249 #endif
gallonm 10:4954b09b72d8 250 #ifdef VL6180x_HAVE_DMAX_RANGING
gallonm 10:4954b09b72d8 251 .DMaxEnable = DEF_DMAX_ENABLE,
gallonm 10:4954b09b72d8 252 #endif
gallonm 10:4954b09b72d8 253 };
gallonm 10:4954b09b72d8 254 #endif /* VL6180x_SINGLE_DEVICE_DRIVER */
gallonm 16:0d4776564733 255
gallonm 16:0d4776564733 256
gallonm 16:0d4776564733 257
gallonm 7:2dc81120c917 258 #define Fix7_2_KCPs(x) ((((uint32_t)(x))*1000)>>7)
gallonm 16:0d4776564733 259
gallonm 16:0d4776564733 260
gallonm 7:2dc81120c917 261 #if VL6180x_WRAP_AROUND_FILTER_SUPPORT || VL6180x_HAVE_DMAX_RANGING
gallonm 7:2dc81120c917 262 static int _GetRateResult(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData);
gallonm 7:2dc81120c917 263 #endif
gallonm 16:0d4776564733 264
gallonm 7:2dc81120c917 265 #if VL6180x_WRAP_AROUND_FILTER_SUPPORT
gallonm 7:2dc81120c917 266 static int _filter_Init(VL6180xDev_t dev);
gallonm 7:2dc81120c917 267 static int _filter_GetResult(VL6180xDev_t dev, VL6180x_RangeData_t *pData);
gallonm 7:2dc81120c917 268 #define _IsWrapArroundActive(dev) VL6180xDevDataGet(dev,WrapAroundFilterActive)
gallonm 7:2dc81120c917 269 #else
gallonm 7:2dc81120c917 270 #define _IsWrapArroundActive(dev) 0
gallonm 7:2dc81120c917 271 #endif
gallonm 16:0d4776564733 272
gallonm 16:0d4776564733 273
gallonm 7:2dc81120c917 274 #if VL6180x_HAVE_DMAX_RANGING
gallonm 7:2dc81120c917 275 void _DMax_OneTimeInit(VL6180xDev_t dev);
gallonm 7:2dc81120c917 276 static int _DMax_InitData(VL6180xDev_t dev);
gallonm 7:2dc81120c917 277 static int _DMax_Compute(VL6180xDev_t dev, VL6180x_RangeData_t *pRange);
gallonm 7:2dc81120c917 278 #define _IsDMaxActive(dev) VL6180xDevDataGet(dev,DMaxEnable)
gallonm 7:2dc81120c917 279 #else
gallonm 7:2dc81120c917 280 #define _DMax_InitData(...) 0 /* success */
gallonm 7:2dc81120c917 281 #define _DMax_OneTimeInit(...) (void)0
gallonm 7:2dc81120c917 282 #define _IsDMaxActive(...) 0
gallonm 7:2dc81120c917 283 #endif
gallonm 16:0d4776564733 284
gallonm 7:2dc81120c917 285 static int VL6180x_RangeStaticInit(VL6180xDev_t dev);
gallonm 7:2dc81120c917 286 static int VL6180x_UpscaleStaticInit(VL6180xDev_t dev);
gallonm 16:0d4776564733 287
gallonm 7:2dc81120c917 288 int VL6180X::VL6180x_WaitDeviceBooted(VL6180xDev_t dev){
gallonm 16:0d4776564733 289 uint8_t FreshOutReset;
gallonm 16:0d4776564733 290 int status;
gallonm 16:0d4776564733 291 LOG_FUNCTION_START("");
gallonm 16:0d4776564733 292 do{
gallonm 16:0d4776564733 293 status = VL6180x_RdByte(dev,SYSTEM_FRESH_OUT_OF_RESET, &FreshOutReset);
gallonm 16:0d4776564733 294 }
gallonm 16:0d4776564733 295 while( FreshOutReset!=1 && status==0);
gallonm 16:0d4776564733 296 LOG_FUNCTION_END(status);
gallonm 16:0d4776564733 297 return status;
gallonm 7:2dc81120c917 298 }
gallonm 16:0d4776564733 299
gallonm 7:2dc81120c917 300 int VL6180X::VL6180x_InitData(VL6180xDev_t dev){
gallonm 3:454541a079f4 301 int status, dmax_status ;
gallonm 3:454541a079f4 302 int8_t offset;
gallonm 3:454541a079f4 303 uint8_t FreshOutReset;
gallonm 3:454541a079f4 304 uint32_t CalValue;
gallonm 3:454541a079f4 305 uint16_t u16;
gallonm 3:454541a079f4 306 uint32_t XTalkCompRate_KCps;
gallonm 16:0d4776564733 307
gallonm 3:454541a079f4 308 LOG_FUNCTION_START("");
gallonm 16:0d4776564733 309
gallonm 3:454541a079f4 310 VL6180xDevDataSet(dev, EceFactorM , DEF_ECE_FACTOR_M);
gallonm 3:454541a079f4 311 VL6180xDevDataSet(dev, EceFactorD , DEF_ECE_FACTOR_D);
gallonm 16:0d4776564733 312
gallonm 3:454541a079f4 313 #ifdef VL6180x_HAVE_UPSCALE_DATA
gallonm 3:454541a079f4 314 VL6180xDevDataSet(dev, UpscaleFactor , DEF_UPSCALE);
gallonm 3:454541a079f4 315 #endif
gallonm 16:0d4776564733 316
gallonm 3:454541a079f4 317 #ifdef VL6180x_HAVE_ALS_DATA
gallonm 3:454541a079f4 318 VL6180xDevDataSet(dev, IntegrationPeriod, DEF_INT_PEFRIOD);
gallonm 3:454541a079f4 319 VL6180xDevDataSet(dev, AlsGainCode, DEF_ALS_GAIN);
gallonm 3:454541a079f4 320 VL6180xDevDataSet(dev, AlsScaler, DEF_ALS_SCALER);
gallonm 3:454541a079f4 321 #endif
gallonm 16:0d4776564733 322
gallonm 3:454541a079f4 323 #ifdef VL6180x_HAVE_WRAP_AROUND_DATA
gallonm 3:454541a079f4 324 VL6180xDevDataSet(dev, WrapAroundFilterActive, (VL6180x_WRAP_AROUND_FILTER_SUPPORT >0));
gallonm 3:454541a079f4 325 VL6180xDevDataSet(dev, DMaxEnable, DEF_DMAX_ENABLE);
gallonm 3:454541a079f4 326 #endif
gallonm 16:0d4776564733 327
gallonm 3:454541a079f4 328 _DMax_OneTimeInit(dev);
gallonm 3:454541a079f4 329 do{
gallonm 16:0d4776564733 330
gallonm 3:454541a079f4 331 /* backup offset initial value from nvm these must be done prior any over call that use offset */
gallonm 7:2dc81120c917 332 status = VL6180X::VL6180x_RdByte(dev,SYSRANGE_PART_TO_PART_RANGE_OFFSET, (uint8_t*)&offset);
gallonm 3:454541a079f4 333 if( status ){
gallonm 3:454541a079f4 334 VL6180x_ErrLog("SYSRANGE_PART_TO_PART_RANGE_OFFSET rd fail");
gallonm 3:454541a079f4 335 break;
gallonm 3:454541a079f4 336 }
gallonm 3:454541a079f4 337 VL6180xDevDataSet(dev, Part2PartOffsetNVM, offset);
gallonm 16:0d4776564733 338
gallonm 7:2dc81120c917 339 status=VL6180x_RdDWord( dev, SYSRANGE_RANGE_IGNORE_THRESHOLD, &CalValue);
gallonm 3:454541a079f4 340 if( status ){
gallonm 3:454541a079f4 341 VL6180x_ErrLog("Part2PartAmbNVM rd fail");
gallonm 3:454541a079f4 342 break;
gallonm 3:454541a079f4 343 }
gallonm 3:454541a079f4 344 if( (CalValue&0xFFFF0000) == 0 ){
gallonm 3:454541a079f4 345 CalValue=0x00CE03F8;
gallonm 3:454541a079f4 346 }
gallonm 3:454541a079f4 347 VL6180xDevDataSet(dev, Part2PartAmbNVM, CalValue);
gallonm 16:0d4776564733 348
gallonm 7:2dc81120c917 349 status = VL6180x_RdWord(dev, SYSRANGE_CROSSTALK_COMPENSATION_RATE ,&u16);
gallonm 3:454541a079f4 350 if( status){
gallonm 3:454541a079f4 351 VL6180x_ErrLog("SYSRANGE_CROSSTALK_COMPENSATION_RATE rd fail ");
gallonm 3:454541a079f4 352 break;
gallonm 3:454541a079f4 353 }
gallonm 3:454541a079f4 354 XTalkCompRate_KCps = Fix7_2_KCPs(u16);
gallonm 3:454541a079f4 355 VL6180xDevDataSet(dev, XTalkCompRate_KCps , XTalkCompRate_KCps );
gallonm 16:0d4776564733 356
gallonm 3:454541a079f4 357 dmax_status = _DMax_InitData(dev);
gallonm 3:454541a079f4 358 if( dmax_status < 0 ){
gallonm 3:454541a079f4 359 VL6180x_ErrLog("DMax init failure");
gallonm 3:454541a079f4 360 break;
gallonm 3:454541a079f4 361 }
gallonm 16:0d4776564733 362
gallonm 3:454541a079f4 363 /* Read or wait for fresh out of reset */
gallonm 7:2dc81120c917 364 status = VL6180x_RdByte(dev,SYSTEM_FRESH_OUT_OF_RESET, &FreshOutReset);
gallonm 3:454541a079f4 365 if( status ) {
gallonm 3:454541a079f4 366 VL6180x_ErrLog("SYSTEM_FRESH_OUT_OF_RESET rd fail");
gallonm 3:454541a079f4 367 break;
gallonm 3:454541a079f4 368 }
gallonm 3:454541a079f4 369 if( FreshOutReset!= 1 || dmax_status )
gallonm 3:454541a079f4 370 status = CALIBRATION_WARNING;
gallonm 16:0d4776564733 371
gallonm 3:454541a079f4 372 }
gallonm 3:454541a079f4 373 while(0);
gallonm 16:0d4776564733 374
gallonm 3:454541a079f4 375 LOG_FUNCTION_END(status);
gallonm 3:454541a079f4 376 return status;
gallonm 1:1de1ea2994d9 377 }
gallonm 16:0d4776564733 378
gallonm 7:2dc81120c917 379 int8_t VL6180X::VL6180x_GetOffsetCalibrationData(VL6180xDev_t dev)
gallonm 7:2dc81120c917 380 {
gallonm 7:2dc81120c917 381 int8_t offset;
gallonm 7:2dc81120c917 382 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 383 offset = VL6180xDevDataGet(dev, Part2PartOffsetNVM);
gallonm 7:2dc81120c917 384 LOG_FUNCTION_END( offset );
gallonm 7:2dc81120c917 385 return offset;
gallonm 7:2dc81120c917 386 }
gallonm 16:0d4776564733 387
gallonm 7:2dc81120c917 388 void VL6180X::VL6180x_SetOffsetCalibrationData(VL6180xDev_t dev, int8_t offset)
gallonm 7:2dc81120c917 389 {
gallonm 7:2dc81120c917 390 LOG_FUNCTION_START("%d", offset);
gallonm 7:2dc81120c917 391 VL6180xDevDataSet(dev, Part2PartOffsetNVM, offset);
gallonm 7:2dc81120c917 392 LOG_FUNCTION_END(0);
gallonm 7:2dc81120c917 393 }
gallonm 16:0d4776564733 394
gallonm 7:2dc81120c917 395 int VL6180X::VL6180x_SetXTalkCompensationRate(VL6180xDev_t dev, FixPoint97_t Rate)
gallonm 7:2dc81120c917 396 {
gallonm 7:2dc81120c917 397 int status;
gallonm 7:2dc81120c917 398 LOG_FUNCTION_START("%d", Rate);
gallonm 7:2dc81120c917 399 status = VL6180x_WrWord(dev, SYSRANGE_CROSSTALK_COMPENSATION_RATE, Rate);
gallonm 7:2dc81120c917 400 if( status ==0 ){
gallonm 7:2dc81120c917 401 uint32_t XTalkCompRate_KCps;
gallonm 7:2dc81120c917 402 XTalkCompRate_KCps = Fix7_2_KCPs(Rate);
gallonm 7:2dc81120c917 403 VL6180xDevDataSet(dev, XTalkCompRate_KCps , XTalkCompRate_KCps );
gallonm 7:2dc81120c917 404 /* update dmax whenever xtalk rate changes */
gallonm 7:2dc81120c917 405 status = _DMax_InitData(dev);
gallonm 7:2dc81120c917 406 }
gallonm 7:2dc81120c917 407 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 408 return status;
gallonm 7:2dc81120c917 409 }
gallonm 16:0d4776564733 410
gallonm 7:2dc81120c917 411 int VL6180X::VL6180x_SetI2CAddress(VL6180xDev_t dev, uint8_t NewAddress){
gallonm 7:2dc81120c917 412 int status;
gallonm 7:2dc81120c917 413 LOG_FUNCTION_START("");
gallonm 16:0d4776564733 414
licio.mapelli@st.com 8:f943a1fca15f 415 status = VL6180x_WrByte(dev, I2C_SLAVE_DEVICE_ADDRESS, NewAddress);
gallonm 7:2dc81120c917 416 if( status ){
gallonm 7:2dc81120c917 417 VL6180x_ErrLog("new i2c addr Wr fail");
gallonm 7:2dc81120c917 418 }
gallonm 7:2dc81120c917 419 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 420 return status;
gallonm 7:2dc81120c917 421 }
gallonm 16:0d4776564733 422
gallonm 16:0d4776564733 423
gallonm 7:2dc81120c917 424 uint16_t VL6180X::VL6180x_GetUpperLimit(VL6180xDev_t dev) {
gallonm 7:2dc81120c917 425 uint16_t limit;
gallonm 7:2dc81120c917 426 int scaling;
gallonm 16:0d4776564733 427
gallonm 7:2dc81120c917 428 LOG_FUNCTION_START("");
gallonm 16:0d4776564733 429
gallonm 7:2dc81120c917 430 scaling = _GetUpscale(dev);
gallonm 7:2dc81120c917 431 /* 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 432 limit = UpperLimitLookUP[scaling - 1];
gallonm 16:0d4776564733 433
gallonm 7:2dc81120c917 434 LOG_FUNCTION_END((int )limit);
gallonm 7:2dc81120c917 435 return limit;
gallonm 7:2dc81120c917 436 }
gallonm 16:0d4776564733 437
gallonm 16:0d4776564733 438
gallonm 16:0d4776564733 439
gallonm 7:2dc81120c917 440 int VL6180X::VL6180x_StaticInit(VL6180xDev_t dev){
gallonm 7:2dc81120c917 441 int status=0, init_status;
gallonm 7:2dc81120c917 442 LOG_FUNCTION_START("");
gallonm 16:0d4776564733 443
gallonm 7:2dc81120c917 444 /* TODO doc When using configurable scaling but using 1x as start condition
gallonm 7:2dc81120c917 445 * load tunning upscale or not ??? */
gallonm 7:2dc81120c917 446 if( _GetUpscale(dev) == 1 && !(VL6180x_UPSCALE_SUPPORT<0))
gallonm 16:0d4776564733 447 init_status=VL6180x_RangeStaticInit(dev);
gallonm 7:2dc81120c917 448 else
gallonm 16:0d4776564733 449 init_status=VL6180x_UpscaleStaticInit(dev);
gallonm 16:0d4776564733 450
gallonm 7:2dc81120c917 451 if( init_status <0 ){
gallonm 16:0d4776564733 452 VL6180x_ErrLog("StaticInit fail");
gallonm 16:0d4776564733 453 goto error;
gallonm 7:2dc81120c917 454 }
gallonm 7:2dc81120c917 455 else if(init_status > 0){
gallonm 16:0d4776564733 456 VL6180x_ErrLog("StaticInit warning");
gallonm 7:2dc81120c917 457 }
gallonm 16:0d4776564733 458
gallonm 7:2dc81120c917 459 #if REFRESH_CACHED_DATA_AFTER_INIT
gallonm 7:2dc81120c917 460 /* update cached value after tuning applied */
gallonm 7:2dc81120c917 461 do{
gallonm 7:2dc81120c917 462 #ifdef VL6180x_HAVE_ALS_DATA
gallonm 7:2dc81120c917 463 uint8_t data;
gallonm 7:2dc81120c917 464 status= VL6180x_RdByte(dev, FW_ALS_RESULT_SCALER, &data);
gallonm 7:2dc81120c917 465 if( status ) break;
gallonm 7:2dc81120c917 466 VL6180xDevDataSet(dev, AlsScaler, data);
gallonm 16:0d4776564733 467
gallonm 7:2dc81120c917 468 status= VL6180x_RdByte(dev, SYSALS_ANALOGUE_GAIN, &data);
gallonm 7:2dc81120c917 469 if( status ) break;
gallonm 7:2dc81120c917 470 VL6180x_AlsSetAnalogueGain(dev, data);
gallonm 7:2dc81120c917 471 #endif
gallonm 7:2dc81120c917 472 }
gallonm 7:2dc81120c917 473 while(0);
gallonm 7:2dc81120c917 474 #endif /* REFRESH_CACHED_DATA_AFTER_INIT */
gallonm 7:2dc81120c917 475 if( status < 0 ){
gallonm 7:2dc81120c917 476 VL6180x_ErrLog("StaticInit fail");
gallonm 7:2dc81120c917 477 }
gallonm 7:2dc81120c917 478 if( !status && init_status){
gallonm 16:0d4776564733 479 status = init_status;
gallonm 7:2dc81120c917 480 }
gallonm 7:2dc81120c917 481 error:
gallonm 7:2dc81120c917 482 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 483 return status;
gallonm 7:2dc81120c917 484 }
gallonm 16:0d4776564733 485
gallonm 16:0d4776564733 486
gallonm 7:2dc81120c917 487 int VL6180X::VL6180x_SetGroupParamHold(VL6180xDev_t dev, int Hold)
gallonm 7:2dc81120c917 488 {
gallonm 7:2dc81120c917 489 int status;
gallonm 7:2dc81120c917 490 uint8_t value;
gallonm 16:0d4776564733 491
gallonm 7:2dc81120c917 492 LOG_FUNCTION_START("%d", Hold);
gallonm 7:2dc81120c917 493 if( Hold )
gallonm 7:2dc81120c917 494 value = 1;
gallonm 7:2dc81120c917 495 else
gallonm 7:2dc81120c917 496 value = 0;
gallonm 7:2dc81120c917 497 status = VL6180x_WrByte(dev, SYSTEM_GROUPED_PARAMETER_HOLD, value);
gallonm 16:0d4776564733 498
gallonm 7:2dc81120c917 499 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 500 return status;
gallonm 16:0d4776564733 501
gallonm 7:2dc81120c917 502 }
gallonm 16:0d4776564733 503
gallonm 7:2dc81120c917 504 int VL6180X::VL6180x_Prepare(VL6180xDev_t dev)
gallonm 7:2dc81120c917 505 {
gallonm 7:2dc81120c917 506 int status;
gallonm 7:2dc81120c917 507 LOG_FUNCTION_START("");
gallonm 16:0d4776564733 508
gallonm 7:2dc81120c917 509 do{
gallonm 7:2dc81120c917 510 status=VL6180x_StaticInit(dev);
gallonm 7:2dc81120c917 511 if( status<0) break;
gallonm 16:0d4776564733 512
gallonm 7:2dc81120c917 513 /* set range InterruptMode to new sample */
gallonm 14:0effa0bbf192 514 status=VL6180x_RangeConfigInterrupt(dev, CONFIG_GPIO_INTERRUPT_DISABLED );
gallonm 7:2dc81120c917 515 if( status)
gallonm 7:2dc81120c917 516 break;
gallonm 16:0d4776564733 517
gallonm 7:2dc81120c917 518 /* set default threshold */
gallonm 7:2dc81120c917 519 status=VL6180x_RangeSetRawThresholds(dev, 10, 200);
gallonm 7:2dc81120c917 520 if( status ){
gallonm 7:2dc81120c917 521 VL6180x_ErrLog("VL6180x_RangeSetRawThresholds fail");
gallonm 7:2dc81120c917 522 break;
gallonm 7:2dc81120c917 523 }
gallonm 7:2dc81120c917 524 #if VL6180x_ALS_SUPPORT
gallonm 7:2dc81120c917 525 status =VL6180x_AlsSetIntegrationPeriod(dev, 100);
gallonm 7:2dc81120c917 526 if( status ) break;
gallonm 7:2dc81120c917 527 status = VL6180x_AlsSetInterMeasurementPeriod(dev, 200);
gallonm 7:2dc81120c917 528 if( status ) break;
gallonm 7:2dc81120c917 529 status = VL6180x_AlsSetAnalogueGain(dev, 0);
gallonm 7:2dc81120c917 530 if( status ) break;
gallonm 7:2dc81120c917 531 status = VL6180x_AlsSetThresholds(dev, 0, 0xFF);
gallonm 7:2dc81120c917 532 if( status ) break;
gallonm 7:2dc81120c917 533 /* set Als InterruptMode to new sample */
gallonm 14:0effa0bbf192 534 status=VL6180x_AlsConfigInterrupt(dev, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 7:2dc81120c917 535 if( status ) {
gallonm 7:2dc81120c917 536 VL6180x_ErrLog("VL6180x_AlsConfigInterrupt fail");
gallonm 7:2dc81120c917 537 break;
gallonm 7:2dc81120c917 538 }
gallonm 7:2dc81120c917 539 #endif
gallonm 7:2dc81120c917 540 #if VL6180x_WRAP_AROUND_FILTER_SUPPORT
gallonm 7:2dc81120c917 541 _filter_Init(dev);
gallonm 7:2dc81120c917 542 #endif
gallonm 7:2dc81120c917 543 /* make sure to reset any left previous condition that can hangs first poll */
gallonm 7:2dc81120c917 544 status=VL6180x_ClearAllInterrupt(dev);
gallonm 7:2dc81120c917 545 }
gallonm 7:2dc81120c917 546 while(0);
gallonm 7:2dc81120c917 547 LOG_FUNCTION_END(status);
gallonm 16:0d4776564733 548
gallonm 7:2dc81120c917 549 return status;
gallonm 7:2dc81120c917 550 }
gallonm 16:0d4776564733 551
gallonm 7:2dc81120c917 552 #if VL6180x_ALS_SUPPORT
gallonm 7:2dc81120c917 553 int VL6180X::VL6180x_AlsGetLux(VL6180xDev_t dev, lux_t *pLux)
gallonm 7:2dc81120c917 554 {
gallonm 7:2dc81120c917 555 int status;
gallonm 7:2dc81120c917 556 uint16_t RawAls;
gallonm 7:2dc81120c917 557 uint32_t luxValue = 0;
gallonm 7:2dc81120c917 558 uint32_t IntPeriod;
gallonm 7:2dc81120c917 559 uint32_t AlsAnGain;
gallonm 7:2dc81120c917 560 uint32_t GainFix;
gallonm 7:2dc81120c917 561 uint32_t AlsScaler;
gallonm 16:0d4776564733 562
gallonm 7:2dc81120c917 563 #if LUXRES_FIX_PREC != GAIN_FIX_PREC
gallonm 7:2dc81120c917 564 #error "LUXRES_FIX_PREC != GAIN_FIX_PREC review these code to be correct"
gallonm 7:2dc81120c917 565 #endif
gallonm 7:2dc81120c917 566 const uint32_t LuxResxIntIme =(uint32_t)(0.56f* DEF_INT_PEFRIOD *(1<<LUXRES_FIX_PREC));
gallonm 16:0d4776564733 567
gallonm 7:2dc81120c917 568 LOG_FUNCTION_START("%p", pLux);
gallonm 16:0d4776564733 569
gallonm 7:2dc81120c917 570 status = VL6180x_RdWord( dev, RESULT_ALS_VAL, &RawAls);
gallonm 7:2dc81120c917 571 if( !status){
gallonm 7:2dc81120c917 572 /* wer are yet here at no fix point */
gallonm 7:2dc81120c917 573 IntPeriod=VL6180xDevDataGet(dev, IntegrationPeriod);
gallonm 7:2dc81120c917 574 AlsScaler=VL6180xDevDataGet(dev, AlsScaler);
gallonm 7:2dc81120c917 575 IntPeriod++; /* what stored is real time ms -1 and it can be 0 for or 0 or 1ms */
gallonm 7:2dc81120c917 576 luxValue = (uint32_t)RawAls * LuxResxIntIme; /* max # 16+8bits + 6bit (0.56*100) */
gallonm 7:2dc81120c917 577 luxValue /= IntPeriod; /* max # 16+8bits + 6bit 16+8+1 to 9 bit */
gallonm 7:2dc81120c917 578 /* between 29 - 21 bit */
gallonm 7:2dc81120c917 579 AlsAnGain = VL6180xDevDataGet(dev, AlsGainCode);
gallonm 7:2dc81120c917 580 GainFix = AlsGainLookUp[AlsAnGain];
gallonm 7:2dc81120c917 581 luxValue = luxValue / (AlsScaler * GainFix);
gallonm 7:2dc81120c917 582 *pLux=luxValue;
gallonm 7:2dc81120c917 583 }
gallonm 16:0d4776564733 584
gallonm 7:2dc81120c917 585 LOG_FUNCTION_END_FMT(status, "%x",(int)*pLux);
gallonm 7:2dc81120c917 586 return status;
gallonm 7:2dc81120c917 587 }
gallonm 16:0d4776564733 588
gallonm 7:2dc81120c917 589 int VL6180X::VL6180x_AlsGetMeasurement(VL6180xDev_t dev, VL6180x_AlsData_t *pAlsData)
gallonm 7:2dc81120c917 590 {
gallonm 7:2dc81120c917 591 int status;
gallonm 7:2dc81120c917 592 uint8_t ErrStatus;
gallonm 16:0d4776564733 593
gallonm 7:2dc81120c917 594 LOG_FUNCTION_START("%p", pAlsData);
gallonm 16:0d4776564733 595
gallonm 7:2dc81120c917 596 status = VL6180x_AlsGetLux(dev, &pAlsData->lux);
gallonm 7:2dc81120c917 597 if( !status ){
gallonm 7:2dc81120c917 598 status = VL6180x_RdByte(dev, RESULT_ALS_STATUS, & ErrStatus);
gallonm 7:2dc81120c917 599 pAlsData->errorStatus = ErrStatus>>4;
gallonm 7:2dc81120c917 600 }
gallonm 7:2dc81120c917 601 LOG_FUNCTION_END_FMT(status,"%d %d", (int)pAlsData->lux, (int)pAlsData->errorStatus);
gallonm 16:0d4776564733 602
gallonm 7:2dc81120c917 603 return status;
gallonm 7:2dc81120c917 604 }
gallonm 16:0d4776564733 605
gallonm 16:0d4776564733 606
gallonm 7:2dc81120c917 607 int VL6180X::VL6180x_AlsPollMeasurement(VL6180xDev_t dev, VL6180x_AlsData_t *pAlsData) {
gallonm 7:2dc81120c917 608 int status;
gallonm 7:2dc81120c917 609 int ClrStatus;
gallonm 7:2dc81120c917 610 uint8_t IntStatus;
gallonm 16:0d4776564733 611
gallonm 7:2dc81120c917 612 LOG_FUNCTION_START("%p", pAlsData);
gallonm 7:2dc81120c917 613 #if VL6180X_SAFE_POLLING_ENTER
gallonm 7:2dc81120c917 614 /* 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 615 status=VL6180x_AlsClearInterrupt(dev);
gallonm 7:2dc81120c917 616 if(status){
gallonm 7:2dc81120c917 617 VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
gallonm 7:2dc81120c917 618 goto over;
gallonm 7:2dc81120c917 619 }
gallonm 7:2dc81120c917 620 #endif
gallonm 16:0d4776564733 621
gallonm 7:2dc81120c917 622 status=VL6180x_AlsSetSystemMode(dev, MODE_START_STOP|MODE_SINGLESHOT);
gallonm 7:2dc81120c917 623 if( status){
gallonm 7:2dc81120c917 624 VL6180x_ErrLog("VL6180x_AlsSetSystemMode fail");
gallonm 7:2dc81120c917 625 goto over;
gallonm 7:2dc81120c917 626 }
gallonm 16:0d4776564733 627
gallonm 7:2dc81120c917 628 /* poll for new sample ready */
gallonm 7:2dc81120c917 629 while (1 ) {
gallonm 7:2dc81120c917 630 status = VL6180x_AlsGetInterruptStatus(dev, &IntStatus);
gallonm 7:2dc81120c917 631 if (status) {
gallonm 7:2dc81120c917 632 break;
gallonm 7:2dc81120c917 633 }
gallonm 7:2dc81120c917 634 if (IntStatus == RES_INT_STAT_GPIO_NEW_SAMPLE_READY) {
gallonm 7:2dc81120c917 635 break; /* break on new data (status is 0) */
gallonm 7:2dc81120c917 636 }
mapellil 19:39ea6bab0e5b 637 wait_ms(10);
gallonm 7:2dc81120c917 638 };
gallonm 16:0d4776564733 639
gallonm 7:2dc81120c917 640 if (!status) {
gallonm 7:2dc81120c917 641 status = VL6180x_AlsGetMeasurement(dev, pAlsData);
gallonm 7:2dc81120c917 642 }
gallonm 16:0d4776564733 643
gallonm 7:2dc81120c917 644 ClrStatus = VL6180x_AlsClearInterrupt(dev);
gallonm 7:2dc81120c917 645 if (ClrStatus) {
gallonm 7:2dc81120c917 646 VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
gallonm 7:2dc81120c917 647 if (!status) {
gallonm 7:2dc81120c917 648 status = ClrStatus; /* leave previous if already on error */
gallonm 7:2dc81120c917 649 }
gallonm 7:2dc81120c917 650 }
gallonm 7:2dc81120c917 651 over:
gallonm 7:2dc81120c917 652 LOG_FUNCTION_END(status);
gallonm 16:0d4776564733 653
gallonm 7:2dc81120c917 654 return status;
gallonm 7:2dc81120c917 655 }
gallonm 16:0d4776564733 656
gallonm 7:2dc81120c917 657 int VL6180X::VL6180x_AlsGetInterruptStatus(VL6180xDev_t dev, uint8_t *pIntStatus) {
gallonm 7:2dc81120c917 658 int status;
gallonm 7:2dc81120c917 659 uint8_t IntStatus;
gallonm 7:2dc81120c917 660 LOG_FUNCTION_START("%p", pIntStatus);
gallonm 16:0d4776564733 661
gallonm 7:2dc81120c917 662 status = VL6180x_RdByte(dev, RESULT_INTERRUPT_STATUS_GPIO, &IntStatus);
gallonm 7:2dc81120c917 663 *pIntStatus= (IntStatus>>3)&0x07;
gallonm 16:0d4776564733 664
gallonm 7:2dc81120c917 665 LOG_FUNCTION_END_FMT(status, "%d", (int)*pIntStatus);
gallonm 7:2dc81120c917 666 return status;
gallonm 7:2dc81120c917 667 }
gallonm 16:0d4776564733 668
gallonm 7:2dc81120c917 669 int VL6180X::VL6180x_AlsWaitDeviceReady(VL6180xDev_t dev, int MaxLoop ){
gallonm 7:2dc81120c917 670 int status;
gallonm 7:2dc81120c917 671 int n;
gallonm 7:2dc81120c917 672 uint8_t u8;
gallonm 7:2dc81120c917 673 LOG_FUNCTION_START("%d", (int)MaxLoop);
gallonm 7:2dc81120c917 674 if( MaxLoop<1){
gallonm 7:2dc81120c917 675 status=INVALID_PARAMS;
gallonm 7:2dc81120c917 676 }
gallonm 7:2dc81120c917 677 else{
gallonm 7:2dc81120c917 678 for( n=0; n < MaxLoop ; n++){
gallonm 7:2dc81120c917 679 status=VL6180x_RdByte(dev, RESULT_ALS_STATUS, &u8);
gallonm 7:2dc81120c917 680 if( status)
gallonm 7:2dc81120c917 681 break;
gallonm 7:2dc81120c917 682 u8 = u8 & ALS_DEVICE_READY_MASK;
gallonm 7:2dc81120c917 683 if( u8 )
gallonm 7:2dc81120c917 684 break;
gallonm 16:0d4776564733 685
gallonm 7:2dc81120c917 686 }
gallonm 7:2dc81120c917 687 if( !status && !u8 ){
gallonm 7:2dc81120c917 688 status = TIME_OUT;
gallonm 7:2dc81120c917 689 }
gallonm 7:2dc81120c917 690 }
gallonm 7:2dc81120c917 691 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 692 return status;
gallonm 7:2dc81120c917 693 }
gallonm 16:0d4776564733 694
gallonm 7:2dc81120c917 695 int VL6180X::VL6180x_AlsSetSystemMode(VL6180xDev_t dev, uint8_t mode)
gallonm 7:2dc81120c917 696 {
gallonm 7:2dc81120c917 697 int status;
gallonm 7:2dc81120c917 698 LOG_FUNCTION_START("%d", (int)mode);
gallonm 7:2dc81120c917 699 /* FIXME if we are called back to back real fast we are not checking
gallonm 7:2dc81120c917 700 * if previous mode "set" got absorbed => bit 0 must be 0 so that wr 1 work */
gallonm 7:2dc81120c917 701 if( mode <= 3){
gallonm 7:2dc81120c917 702 status=VL6180x_WrByte(dev, SYSALS_START, mode);
gallonm 7:2dc81120c917 703 }
gallonm 7:2dc81120c917 704 else{
gallonm 7:2dc81120c917 705 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 706 }
gallonm 7:2dc81120c917 707 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 708 return status;
gallonm 7:2dc81120c917 709 }
gallonm 16:0d4776564733 710
gallonm 7:2dc81120c917 711 int VL6180X::VL6180x_AlsConfigInterrupt(VL6180xDev_t dev, uint8_t ConfigGpioInt)
gallonm 7:2dc81120c917 712 {
gallonm 7:2dc81120c917 713 int status;
gallonm 16:0d4776564733 714
gallonm 7:2dc81120c917 715 if( ConfigGpioInt<= CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY){
gallonm 7:2dc81120c917 716 status = VL6180x_UpdateByte(dev, SYSTEM_INTERRUPT_CONFIG_GPIO, (uint8_t)(~CONFIG_GPIO_ALS_MASK), (ConfigGpioInt<<3));
gallonm 7:2dc81120c917 717 }
gallonm 7:2dc81120c917 718 else{
gallonm 7:2dc81120c917 719 VL6180x_ErrLog("Invalid config mode param %d", (int)ConfigGpioInt);
gallonm 7:2dc81120c917 720 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 721 }
gallonm 7:2dc81120c917 722 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 723 return status;
gallonm 7:2dc81120c917 724 }
gallonm 16:0d4776564733 725
gallonm 16:0d4776564733 726
gallonm 16:0d4776564733 727
gallonm 7:2dc81120c917 728 int VL6180X::VL6180x_AlsSetThresholds(VL6180xDev_t dev, uint8_t low, uint8_t high) {
gallonm 7:2dc81120c917 729 int status;
gallonm 16:0d4776564733 730
gallonm 7:2dc81120c917 731 LOG_FUNCTION_START("%d %d", (int )low, (int)high);
gallonm 16:0d4776564733 732
gallonm 14:0effa0bbf192 733 status = VL6180x_WrByte(dev, SYSALS_THRESH_LOW, low); //FIXME i valori passati devono essere uint16_t (vedi registri), inoltre i valori delle soglie NON sono in lux! bisogna invertire il calcolo fatto nella VL6180x_AlsGetLux()
gallonm 7:2dc81120c917 734 if(!status ){
gallonm 7:2dc81120c917 735 status = VL6180x_WrByte(dev, SYSALS_THRESH_HIGH, high);
gallonm 7:2dc81120c917 736 }
gallonm 16:0d4776564733 737
gallonm 7:2dc81120c917 738 LOG_FUNCTION_END(status) ;
gallonm 7:2dc81120c917 739 return status;
gallonm 7:2dc81120c917 740 }
gallonm 16:0d4776564733 741
gallonm 16:0d4776564733 742
gallonm 7:2dc81120c917 743 int VL6180X::VL6180x_AlsSetAnalogueGain(VL6180xDev_t dev, uint8_t gain) {
gallonm 7:2dc81120c917 744 int status;
gallonm 7:2dc81120c917 745 uint8_t GainTotal;
gallonm 16:0d4776564733 746
gallonm 7:2dc81120c917 747 LOG_FUNCTION_START("%d", (int )gain);
gallonm 7:2dc81120c917 748 gain&=~0x40;
gallonm 7:2dc81120c917 749 if (gain > 7) {
gallonm 7:2dc81120c917 750 gain = 7;
gallonm 7:2dc81120c917 751 }
gallonm 7:2dc81120c917 752 GainTotal = gain|0x40;
gallonm 16:0d4776564733 753
gallonm 7:2dc81120c917 754 status = VL6180x_WrByte(dev, SYSALS_ANALOGUE_GAIN, GainTotal);
gallonm 7:2dc81120c917 755 if( !status){
gallonm 7:2dc81120c917 756 VL6180xDevDataSet(dev, AlsGainCode, gain);
gallonm 7:2dc81120c917 757 }
gallonm 16:0d4776564733 758
gallonm 7:2dc81120c917 759 LOG_FUNCTION_END_FMT(status, "%d %d", (int ) gain, (int )GainTotal);
gallonm 7:2dc81120c917 760 return status;
gallonm 7:2dc81120c917 761 }
gallonm 16:0d4776564733 762
gallonm 7:2dc81120c917 763 int VL6180X::VL6180x_AlsSetInterMeasurementPeriod(VL6180xDev_t dev, uint16_t intermeasurement_period_ms)
gallonm 7:2dc81120c917 764 {
gallonm 7:2dc81120c917 765 int status;
gallonm 16:0d4776564733 766
gallonm 7:2dc81120c917 767 LOG_FUNCTION_START("%d",(int)intermeasurement_period_ms);
gallonm 7:2dc81120c917 768 /* clipping: range is 0-2550ms */
gallonm 7:2dc81120c917 769 if (intermeasurement_period_ms >= 255 *10)
gallonm 7:2dc81120c917 770 intermeasurement_period_ms = 255 *10;
gallonm 7:2dc81120c917 771 status=VL6180x_WrByte(dev, SYSALS_INTERMEASUREMENT_PERIOD, (uint8_t)(intermeasurement_period_ms/10));
gallonm 16:0d4776564733 772
gallonm 7:2dc81120c917 773 LOG_FUNCTION_END_FMT(status, "%d", (int) intermeasurement_period_ms);
gallonm 7:2dc81120c917 774 return status;
gallonm 7:2dc81120c917 775 }
gallonm 16:0d4776564733 776
gallonm 16:0d4776564733 777
gallonm 7:2dc81120c917 778 int VL6180X::VL6180x_AlsSetIntegrationPeriod(VL6180xDev_t dev, uint16_t period_ms)
gallonm 7:2dc81120c917 779 {
gallonm 7:2dc81120c917 780 int status;
gallonm 7:2dc81120c917 781 uint16_t SetIntegrationPeriod;
gallonm 16:0d4776564733 782
gallonm 7:2dc81120c917 783 LOG_FUNCTION_START("%d", (int)period_ms);
gallonm 16:0d4776564733 784
gallonm 7:2dc81120c917 785 if( period_ms>=1 )
gallonm 7:2dc81120c917 786 SetIntegrationPeriod = period_ms - 1;
gallonm 7:2dc81120c917 787 else
gallonm 7:2dc81120c917 788 SetIntegrationPeriod = period_ms;
gallonm 16:0d4776564733 789
gallonm 7:2dc81120c917 790 if (SetIntegrationPeriod > 464) {
gallonm 7:2dc81120c917 791 SetIntegrationPeriod = 464;
gallonm 7:2dc81120c917 792 }
gallonm 7:2dc81120c917 793 else if (SetIntegrationPeriod == 255) {
gallonm 7:2dc81120c917 794 SetIntegrationPeriod++; /* can't write 255 since this causes the device to lock out.*/
gallonm 7:2dc81120c917 795 }
gallonm 16:0d4776564733 796
gallonm 7:2dc81120c917 797 status =VL6180x_WrWord(dev, SYSALS_INTEGRATION_PERIOD, SetIntegrationPeriod);
gallonm 7:2dc81120c917 798 if( !status ){
gallonm 7:2dc81120c917 799 VL6180xDevDataSet(dev, IntegrationPeriod, SetIntegrationPeriod) ;
gallonm 7:2dc81120c917 800 }
gallonm 7:2dc81120c917 801 LOG_FUNCTION_END_FMT(status, "%d", (int)SetIntegrationPeriod);
gallonm 7:2dc81120c917 802 return status;
gallonm 7:2dc81120c917 803 }
gallonm 16:0d4776564733 804
gallonm 7:2dc81120c917 805 #endif /* HAVE_ALS_SUPPORT */
gallonm 16:0d4776564733 806
gallonm 16:0d4776564733 807
gallonm 7:2dc81120c917 808 int VL6180X::VL6180x_RangePollMeasurement(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData)
gallonm 7:2dc81120c917 809 {
gallonm 7:2dc81120c917 810 int status;
gallonm 7:2dc81120c917 811 int ClrStatus;
gallonm 7:2dc81120c917 812 IntrStatus_t IntStatus;
gallonm 16:0d4776564733 813
gallonm 7:2dc81120c917 814 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 815 /* start single range measurement */
gallonm 16:0d4776564733 816
gallonm 16:0d4776564733 817
gallonm 7:2dc81120c917 818 #if VL6180X_SAFE_POLLING_ENTER
gallonm 7:2dc81120c917 819 /* 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 820 status=VL6180x_RangeClearInterrupt(dev);
gallonm 7:2dc81120c917 821 if(status){
gallonm 7:2dc81120c917 822 VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
gallonm 7:2dc81120c917 823 goto done;
gallonm 7:2dc81120c917 824 }
gallonm 7:2dc81120c917 825 #endif
gallonm 7:2dc81120c917 826 /* //![single_shot_snipet] */
gallonm 7:2dc81120c917 827 status=VL6180x_RangeSetSystemMode(dev, MODE_START_STOP|MODE_SINGLESHOT);
gallonm 7:2dc81120c917 828 if( status ){
gallonm 7:2dc81120c917 829 VL6180x_ErrLog("VL6180x_RangeSetSystemMode fail");
gallonm 7:2dc81120c917 830 goto done;
gallonm 7:2dc81120c917 831 }
gallonm 16:0d4776564733 832
gallonm 7:2dc81120c917 833 /* poll for new sample ready */
gallonm 7:2dc81120c917 834 while(1 ){
gallonm 7:2dc81120c917 835 status=VL6180x_RangeGetInterruptStatus(dev, &IntStatus.val);
gallonm 7:2dc81120c917 836 if( status ){
gallonm 7:2dc81120c917 837 break;
gallonm 7:2dc81120c917 838 }
gallonm 7:2dc81120c917 839 if( IntStatus.status.Error !=0 ){
gallonm 7:2dc81120c917 840 VL6180x_ErrLog("GPIO int Error report %d",(int)IntStatus.val);
gallonm 7:2dc81120c917 841 status = RANGE_ERROR;
gallonm 7:2dc81120c917 842 break;
gallonm 7:2dc81120c917 843 }
gallonm 7:2dc81120c917 844 else
gallonm 7:2dc81120c917 845 if( IntStatus.status.Range == RES_INT_STAT_GPIO_NEW_SAMPLE_READY){
gallonm 7:2dc81120c917 846 break;
gallonm 7:2dc81120c917 847 }
mapellil 19:39ea6bab0e5b 848 wait_ms(10);
gallonm 7:2dc81120c917 849 }
gallonm 7:2dc81120c917 850 /* //![single_shot_snipet] */
gallonm 16:0d4776564733 851
gallonm 7:2dc81120c917 852 if ( !status ){
gallonm 7:2dc81120c917 853 status = VL6180x_RangeGetMeasurement(dev, pRangeData);
gallonm 7:2dc81120c917 854 }
gallonm 16:0d4776564733 855
gallonm 7:2dc81120c917 856 /* clear range interrupt source */
gallonm 7:2dc81120c917 857 ClrStatus = VL6180x_RangeClearInterrupt(dev);
gallonm 7:2dc81120c917 858 if( ClrStatus ){
gallonm 7:2dc81120c917 859 VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
gallonm 7:2dc81120c917 860 /* leave initial status if already in error */
gallonm 7:2dc81120c917 861 if( !status ){
gallonm 7:2dc81120c917 862 status=ClrStatus;
gallonm 7:2dc81120c917 863 }
gallonm 7:2dc81120c917 864 }
gallonm 7:2dc81120c917 865 done:
gallonm 7:2dc81120c917 866 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 867 return status;
gallonm 7:2dc81120c917 868 }
gallonm 16:0d4776564733 869
gallonm 16:0d4776564733 870
gallonm 16:0d4776564733 871
gallonm 7:2dc81120c917 872 int VL6180X::VL6180x_RangeGetMeasurement(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData)
gallonm 7:2dc81120c917 873 {
gallonm 7:2dc81120c917 874 int status;
gallonm 7:2dc81120c917 875 uint16_t RawRate;
gallonm 7:2dc81120c917 876 uint8_t RawStatus;
gallonm 16:0d4776564733 877
gallonm 7:2dc81120c917 878 LOG_FUNCTION_START("");
gallonm 16:0d4776564733 879
gallonm 7:2dc81120c917 880 status = VL6180x_RangeGetResult(dev, &pRangeData->range_mm);
gallonm 7:2dc81120c917 881 if( !status ){
gallonm 7:2dc81120c917 882 status = VL6180x_RdWord(dev,RESULT_RANGE_SIGNAL_RATE, &RawRate );
gallonm 7:2dc81120c917 883 if( !status ){
gallonm 7:2dc81120c917 884 pRangeData->signalRate_mcps = VL6180x_9to7Conv(RawRate);
gallonm 7:2dc81120c917 885 status = VL6180x_RdByte(dev, RESULT_RANGE_STATUS, &RawStatus);
gallonm 7:2dc81120c917 886 if( !status ){
gallonm 7:2dc81120c917 887 pRangeData->errorStatus = RawStatus >>4;
gallonm 7:2dc81120c917 888 }
gallonm 7:2dc81120c917 889 else{
gallonm 7:2dc81120c917 890 VL6180x_ErrLog("Rd RESULT_RANGE_STATUS fail");
gallonm 7:2dc81120c917 891 }
gallonm 16:0d4776564733 892 #if VL6180x_WRAP_AROUND_FILTER_SUPPORT || VL6180x_HAVE_DMAX_RANGING
gallonm 7:2dc81120c917 893 status = _GetRateResult(dev, pRangeData);
gallonm 7:2dc81120c917 894 if( status )
gallonm 16:0d4776564733 895 goto error;
gallonm 16:0d4776564733 896 #endif
gallonm 7:2dc81120c917 897 #if VL6180x_WRAP_AROUND_FILTER_SUPPORT
gallonm 7:2dc81120c917 898 /* if enabled run filter */
gallonm 7:2dc81120c917 899 if( _IsWrapArroundActive(dev) ){
gallonm 7:2dc81120c917 900 status=_filter_GetResult(dev, pRangeData);
gallonm 7:2dc81120c917 901 if( !status){
gallonm 7:2dc81120c917 902 /* patch the range status and measure if it is filtered */
gallonm 7:2dc81120c917 903 if( pRangeData->range_mm != pRangeData->FilteredData.range_mm) {
gallonm 7:2dc81120c917 904 pRangeData->errorStatus=RangingFiltered;
gallonm 7:2dc81120c917 905 pRangeData->range_mm = pRangeData->FilteredData.range_mm;
gallonm 7:2dc81120c917 906 }
gallonm 7:2dc81120c917 907 }
gallonm 7:2dc81120c917 908 }
gallonm 7:2dc81120c917 909 #endif
gallonm 16:0d4776564733 910
gallonm 7:2dc81120c917 911 #if VL6180x_HAVE_DMAX_RANGING
gallonm 7:2dc81120c917 912 if(_IsDMaxActive(dev) ){
gallonm 7:2dc81120c917 913 _DMax_Compute(dev, pRangeData);
gallonm 7:2dc81120c917 914 }
gallonm 7:2dc81120c917 915 #endif
gallonm 7:2dc81120c917 916 }
gallonm 7:2dc81120c917 917 else{
gallonm 7:2dc81120c917 918 VL6180x_ErrLog("Rd RESULT_RANGE_SIGNAL_RATE fail");
gallonm 7:2dc81120c917 919 }
gallonm 7:2dc81120c917 920 }
gallonm 7:2dc81120c917 921 else{
gallonm 7:2dc81120c917 922 VL6180x_ErrLog("VL6180x_GetRangeResult fail");
gallonm 7:2dc81120c917 923 }
gallonm 7:2dc81120c917 924 error:
gallonm 7:2dc81120c917 925 LOG_FUNCTION_END_FMT(status, "%d %d %d", (int)pRangeData->range_mm, (int)pRangeData->signalRate_mcps, (int)pRangeData->errorStatus) ;
gallonm 7:2dc81120c917 926 return status;
gallonm 7:2dc81120c917 927 }
gallonm 16:0d4776564733 928
gallonm 16:0d4776564733 929
gallonm 7:2dc81120c917 930 int VL6180X::VL6180x_RangeGetMeasurementIfReady(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData)
gallonm 7:2dc81120c917 931 {
gallonm 7:2dc81120c917 932 int status;
gallonm 7:2dc81120c917 933 IntrStatus_t IntStatus;
gallonm 16:0d4776564733 934
gallonm 7:2dc81120c917 935 LOG_FUNCTION_START();
gallonm 16:0d4776564733 936
gallonm 7:2dc81120c917 937 status = VL6180x_RangeGetInterruptStatus(dev, &IntStatus.val);
gallonm 7:2dc81120c917 938 if( status ==0 ){
gallonm 7:2dc81120c917 939 if( IntStatus.status.Error !=0 ){
gallonm 7:2dc81120c917 940 VL6180x_ErrLog("GPIO int Error report %d",(int)IntStatus.val);
gallonm 7:2dc81120c917 941 status = RANGE_ERROR;
gallonm 7:2dc81120c917 942 }
gallonm 7:2dc81120c917 943 else
gallonm 7:2dc81120c917 944 if( IntStatus.status.Range == RES_INT_STAT_GPIO_NEW_SAMPLE_READY){
gallonm 7:2dc81120c917 945 status = VL6180x_RangeGetMeasurement(dev,pRangeData );
gallonm 7:2dc81120c917 946 if( status == 0){
gallonm 7:2dc81120c917 947 /* clear range interrupt source */
gallonm 7:2dc81120c917 948 status = VL6180x_RangeClearInterrupt(dev);
gallonm 7:2dc81120c917 949 if( status ){
gallonm 7:2dc81120c917 950 VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
gallonm 7:2dc81120c917 951 }
gallonm 7:2dc81120c917 952 }
gallonm 7:2dc81120c917 953 }
gallonm 7:2dc81120c917 954 else{
gallonm 7:2dc81120c917 955 status = NOT_READY;
gallonm 7:2dc81120c917 956 }
gallonm 7:2dc81120c917 957 }
gallonm 7:2dc81120c917 958 else{
gallonm 7:2dc81120c917 959 VL6180x_ErrLog("fail to get interrupt status");
gallonm 7:2dc81120c917 960 }
gallonm 7:2dc81120c917 961 LOG_FUNCTION_END(status) ;
gallonm 7:2dc81120c917 962 return status;
gallonm 7:2dc81120c917 963 }
gallonm 16:0d4776564733 964
gallonm 7:2dc81120c917 965 int VL6180X::VL6180x_FilterSetState(VL6180xDev_t dev, int state){
gallonm 7:2dc81120c917 966 int status;
gallonm 7:2dc81120c917 967 LOG_FUNCTION_START("%d", state);
gallonm 7:2dc81120c917 968 #if VL6180x_WRAP_AROUND_FILTER_SUPPORT
gallonm 7:2dc81120c917 969 VL6180xDevDataSet(dev,WrapAroundFilterActive, state);
gallonm 7:2dc81120c917 970 status = 0;
gallonm 7:2dc81120c917 971 #else
gallonm 7:2dc81120c917 972 status = NOT_SUPPORTED;
gallonm 7:2dc81120c917 973 #endif
gallonm 7:2dc81120c917 974 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 975 return status;
gallonm 7:2dc81120c917 976 }
gallonm 16:0d4776564733 977
gallonm 7:2dc81120c917 978 int VL6180X::VL6180x_FilterGetState(VL6180xDev_t dev){
gallonm 7:2dc81120c917 979 int status;
gallonm 7:2dc81120c917 980 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 981 #if VL6180x_WRAP_AROUND_FILTER_SUPPORT
gallonm 7:2dc81120c917 982 status = VL6180xDevDataGet(dev,WrapAroundFilterActive);
gallonm 7:2dc81120c917 983 #else
gallonm 7:2dc81120c917 984 status = 0;
gallonm 7:2dc81120c917 985 #endif
gallonm 7:2dc81120c917 986 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 987 return status;
gallonm 7:2dc81120c917 988 }
gallonm 16:0d4776564733 989
gallonm 7:2dc81120c917 990 int VL6180X::VL6180x_RangeGetResult(VL6180xDev_t dev, int32_t *pRange_mm) {
gallonm 7:2dc81120c917 991 int status;
gallonm 7:2dc81120c917 992 uint8_t RawRange;
gallonm 7:2dc81120c917 993 int32_t Upscale;
gallonm 16:0d4776564733 994
gallonm 7:2dc81120c917 995 LOG_FUNCTION_START("%p",pRange_mm);
gallonm 16:0d4776564733 996
gallonm 7:2dc81120c917 997 status = VL6180x_RdByte(dev, RESULT_RANGE_VAL, &RawRange);
gallonm 7:2dc81120c917 998 if( !status ){
gallonm 10:4954b09b72d8 999 Upscale = _GetUpscale(dev);
gallonm 7:2dc81120c917 1000 *pRange_mm= Upscale*(int32_t)RawRange;
gallonm 7:2dc81120c917 1001 }
gallonm 7:2dc81120c917 1002 LOG_FUNCTION_END_FMT(status, "%d", (int)*pRange_mm);
gallonm 7:2dc81120c917 1003 return status;
gallonm 7:2dc81120c917 1004 }
gallonm 16:0d4776564733 1005
gallonm 7:2dc81120c917 1006 int VL6180X::VL6180x_RangeSetRawThresholds(VL6180xDev_t dev, uint8_t low, uint8_t high)
gallonm 7:2dc81120c917 1007 {
gallonm 7:2dc81120c917 1008 int status;
gallonm 7:2dc81120c917 1009 LOG_FUNCTION_START("%d %d", (int) low, (int)high);
gallonm 7:2dc81120c917 1010 /* TODO we can optimize here grouping high/low in a word but that's cpu endianness dependent */
gallonm 7:2dc81120c917 1011 status=VL6180x_WrByte(dev, SYSRANGE_THRESH_HIGH,high);
gallonm 7:2dc81120c917 1012 if( !status){
gallonm 7:2dc81120c917 1013 status=VL6180x_WrByte(dev, SYSRANGE_THRESH_LOW, low);
gallonm 7:2dc81120c917 1014 }
gallonm 16:0d4776564733 1015
gallonm 7:2dc81120c917 1016 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1017 return status;
gallonm 7:2dc81120c917 1018 }
gallonm 16:0d4776564733 1019
gallonm 7:2dc81120c917 1020 int VL6180X::VL6180x_RangeSetThresholds(VL6180xDev_t dev, uint16_t low, uint16_t high, int UseSafeParamHold)
gallonm 7:2dc81120c917 1021 {
gallonm 7:2dc81120c917 1022 int status;
gallonm 7:2dc81120c917 1023 int scale;
gallonm 7:2dc81120c917 1024 LOG_FUNCTION_START("%d %d", (int) low, (int)high);
gallonm 7:2dc81120c917 1025 scale=_GetUpscale(dev,UpscaleFactor);
gallonm 7:2dc81120c917 1026 if( low>scale*255 || high >scale*255){
gallonm 7:2dc81120c917 1027 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1028 }
gallonm 7:2dc81120c917 1029 else{
gallonm 7:2dc81120c917 1030 do{
gallonm 7:2dc81120c917 1031 if( UseSafeParamHold ){
gallonm 7:2dc81120c917 1032 status=VL6180x_SetGroupParamHold(dev, 1);
gallonm 7:2dc81120c917 1033 if( status )
gallonm 7:2dc81120c917 1034 break;
gallonm 7:2dc81120c917 1035 }
gallonm 7:2dc81120c917 1036 status=VL6180x_RangeSetRawThresholds(dev, (uint8_t)(low/scale), (uint8_t)(high/scale));
gallonm 7:2dc81120c917 1037 if( status ){
gallonm 7:2dc81120c917 1038 VL6180x_ErrLog("VL6180x_RangeSetRawThresholds fail");
gallonm 7:2dc81120c917 1039 }
gallonm 7:2dc81120c917 1040 if( UseSafeParamHold ){
gallonm 7:2dc81120c917 1041 int HoldStatus;
gallonm 7:2dc81120c917 1042 /* tryt to unset param hold vene if previous fail */
gallonm 7:2dc81120c917 1043 HoldStatus=VL6180x_SetGroupParamHold(dev, 0);
gallonm 7:2dc81120c917 1044 if( !status)
gallonm 7:2dc81120c917 1045 status=HoldStatus;
gallonm 7:2dc81120c917 1046 }
gallonm 7:2dc81120c917 1047 }
gallonm 7:2dc81120c917 1048 while(0);
gallonm 7:2dc81120c917 1049 }
gallonm 16:0d4776564733 1050
gallonm 7:2dc81120c917 1051 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1052 return status;
gallonm 7:2dc81120c917 1053 }
gallonm 16:0d4776564733 1054
gallonm 16:0d4776564733 1055
gallonm 7:2dc81120c917 1056 int VL6180X::VL6180x_RangeGetThresholds(VL6180xDev_t dev, uint16_t *low, uint16_t *high)
gallonm 7:2dc81120c917 1057 {
gallonm 7:2dc81120c917 1058 int status;
gallonm 7:2dc81120c917 1059 uint8_t RawLow, RawHigh;
gallonm 7:2dc81120c917 1060 int scale;
gallonm 16:0d4776564733 1061
gallonm 7:2dc81120c917 1062 LOG_FUNCTION_START("%p %p", low , high);
gallonm 16:0d4776564733 1063
gallonm 7:2dc81120c917 1064 scale=_GetUpscale(dev,UpscaleFactor);
gallonm 7:2dc81120c917 1065 do{
gallonm 7:2dc81120c917 1066 if( high != NULL ){
gallonm 7:2dc81120c917 1067 status=VL6180x_RdByte(dev, SYSRANGE_THRESH_HIGH,&RawHigh);
gallonm 7:2dc81120c917 1068 if( status ){
gallonm 7:2dc81120c917 1069 VL6180x_ErrLog("rd SYSRANGE_THRESH_HIGH fail");
gallonm 7:2dc81120c917 1070 break;
gallonm 7:2dc81120c917 1071 }
gallonm 7:2dc81120c917 1072 *high=(uint16_t)RawHigh*scale;
gallonm 7:2dc81120c917 1073 }
gallonm 7:2dc81120c917 1074 if( low != NULL ) {
gallonm 7:2dc81120c917 1075 status=VL6180x_RdByte(dev, SYSRANGE_THRESH_LOW, &RawLow);
gallonm 7:2dc81120c917 1076 if( status ){
gallonm 7:2dc81120c917 1077 VL6180x_ErrLog("rd SYSRANGE_THRESH_LOW fail");
gallonm 7:2dc81120c917 1078 break;
gallonm 7:2dc81120c917 1079 }
gallonm 7:2dc81120c917 1080 *low=(uint16_t)RawLow*scale;
gallonm 7:2dc81120c917 1081 }
gallonm 7:2dc81120c917 1082 }
gallonm 7:2dc81120c917 1083 while(0);
gallonm 7:2dc81120c917 1084 LOG_FUNCTION_END_FMT(status, "%d %d",(int)*low ,(int)*high);
gallonm 7:2dc81120c917 1085 return status;
gallonm 7:2dc81120c917 1086 }
gallonm 16:0d4776564733 1087
gallonm 16:0d4776564733 1088
gallonm 7:2dc81120c917 1089 int VL6180X::VL6180x_RangeGetInterruptStatus(VL6180xDev_t dev, uint8_t *pIntStatus) {
gallonm 7:2dc81120c917 1090 int status;
gallonm 7:2dc81120c917 1091 uint8_t IntStatus;
gallonm 7:2dc81120c917 1092 LOG_FUNCTION_START("%p", pIntStatus);
gallonm 7:2dc81120c917 1093 /* FIXME we are grouping "error" with over status the user must check implicitly for it
gallonm 7:2dc81120c917 1094 * not just new sample or over status , that will nevr show up in case of error*/
gallonm 7:2dc81120c917 1095 status = VL6180x_RdByte(dev, RESULT_INTERRUPT_STATUS_GPIO, &IntStatus);
gallonm 7:2dc81120c917 1096 *pIntStatus= IntStatus&0xC7;
gallonm 16:0d4776564733 1097
gallonm 7:2dc81120c917 1098 LOG_FUNCTION_END_FMT(status, "%d", (int)*pIntStatus);
gallonm 7:2dc81120c917 1099 return status;
gallonm 7:2dc81120c917 1100 }
gallonm 16:0d4776564733 1101
gallonm 16:0d4776564733 1102
gallonm 7:2dc81120c917 1103 int VL6180X::VL6180x_GetInterruptStatus(VL6180xDev_t dev, uint8_t *IntStatus)
gallonm 7:2dc81120c917 1104 {
gallonm 7:2dc81120c917 1105 int status;
gallonm 7:2dc81120c917 1106 LOG_FUNCTION_START("%p" , IntStatus);
gallonm 7:2dc81120c917 1107 status = VL6180x_RdByte(dev, RESULT_INTERRUPT_STATUS_GPIO, IntStatus);
gallonm 7:2dc81120c917 1108 LOG_FUNCTION_END_FMT(status, "%d", (int)*IntStatus);
gallonm 7:2dc81120c917 1109 return status;
gallonm 7:2dc81120c917 1110 }
gallonm 16:0d4776564733 1111
gallonm 7:2dc81120c917 1112 int VL6180X::VL6180x_ClearInterrupt(VL6180xDev_t dev, uint8_t IntClear )
gallonm 7:2dc81120c917 1113 {
gallonm 7:2dc81120c917 1114 int status;
gallonm 7:2dc81120c917 1115 LOG_FUNCTION_START("%d" ,(int)IntClear);
gallonm 7:2dc81120c917 1116 if( IntClear <= 7 ){
gallonm 7:2dc81120c917 1117 status=VL6180x_WrByte( dev, SYSTEM_INTERRUPT_CLEAR, IntClear);
gallonm 7:2dc81120c917 1118 }
gallonm 7:2dc81120c917 1119 else{
gallonm 7:2dc81120c917 1120 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1121 }
gallonm 7:2dc81120c917 1122 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1123 return status;
gallonm 7:2dc81120c917 1124 }
gallonm 16:0d4776564733 1125
gallonm 16:0d4776564733 1126
gallonm 7:2dc81120c917 1127 int VL6180X::VL6180x_RangeStaticInit(VL6180xDev_t dev)
gallonm 7:2dc81120c917 1128 {
gallonm 7:2dc81120c917 1129 int status;
gallonm 7:2dc81120c917 1130 LOG_FUNCTION_START("");
gallonm 16:0d4776564733 1131
gallonm 7:2dc81120c917 1132 /* REGISTER_TUNING_SR03_270514_CustomerView.txt */
gallonm 7:2dc81120c917 1133 VL6180x_WrByte( dev, 0x0207, 0x01);
gallonm 7:2dc81120c917 1134 VL6180x_WrByte( dev, 0x0208, 0x01);
gallonm 7:2dc81120c917 1135 VL6180x_WrByte( dev, 0x0096, 0x00);
gallonm 7:2dc81120c917 1136 VL6180x_WrByte( dev, 0x0097, 0xfd);
gallonm 7:2dc81120c917 1137 VL6180x_WrByte( dev, 0x00e3, 0x00);
gallonm 7:2dc81120c917 1138 VL6180x_WrByte( dev, 0x00e4, 0x04);
gallonm 7:2dc81120c917 1139 VL6180x_WrByte( dev, 0x00e5, 0x02);
gallonm 7:2dc81120c917 1140 VL6180x_WrByte( dev, 0x00e6, 0x01);
gallonm 7:2dc81120c917 1141 VL6180x_WrByte( dev, 0x00e7, 0x03);
gallonm 7:2dc81120c917 1142 VL6180x_WrByte( dev, 0x00f5, 0x02);
gallonm 7:2dc81120c917 1143 VL6180x_WrByte( dev, 0x00d9, 0x05);
gallonm 7:2dc81120c917 1144 VL6180x_WrByte( dev, 0x00db, 0xce);
gallonm 7:2dc81120c917 1145 VL6180x_WrByte( dev, 0x00dc, 0x03);
gallonm 7:2dc81120c917 1146 VL6180x_WrByte( dev, 0x00dd, 0xf8);
gallonm 7:2dc81120c917 1147 VL6180x_WrByte( dev, 0x009f, 0x00);
gallonm 7:2dc81120c917 1148 VL6180x_WrByte( dev, 0x00a3, 0x3c);
gallonm 7:2dc81120c917 1149 VL6180x_WrByte( dev, 0x00b7, 0x00);
gallonm 7:2dc81120c917 1150 VL6180x_WrByte( dev, 0x00bb, 0x3c);
gallonm 7:2dc81120c917 1151 VL6180x_WrByte( dev, 0x00b2, 0x09);
gallonm 7:2dc81120c917 1152 VL6180x_WrByte( dev, 0x00ca, 0x09);
gallonm 7:2dc81120c917 1153 VL6180x_WrByte( dev, 0x0198, 0x01);
gallonm 7:2dc81120c917 1154 VL6180x_WrByte( dev, 0x01b0, 0x17);
gallonm 7:2dc81120c917 1155 VL6180x_WrByte( dev, 0x01ad, 0x00);
gallonm 7:2dc81120c917 1156 VL6180x_WrByte( dev, 0x00ff, 0x05);
gallonm 7:2dc81120c917 1157 VL6180x_WrByte( dev, 0x0100, 0x05);
gallonm 7:2dc81120c917 1158 VL6180x_WrByte( dev, 0x0199, 0x05);
gallonm 7:2dc81120c917 1159 VL6180x_WrByte( dev, 0x01a6, 0x1b);
gallonm 7:2dc81120c917 1160 VL6180x_WrByte( dev, 0x01ac, 0x3e);
gallonm 7:2dc81120c917 1161 VL6180x_WrByte( dev, 0x01a7, 0x1f);
gallonm 7:2dc81120c917 1162 VL6180x_WrByte( dev, 0x0030, 0x00);
gallonm 16:0d4776564733 1163
gallonm 7:2dc81120c917 1164 /* Recommended : Public registers - See data sheet for more detail */
gallonm 7:2dc81120c917 1165 VL6180x_WrByte( dev, 0x0011, 0x10); /* Enables polling for New Sample ready when measurement completes */
gallonm 7:2dc81120c917 1166 VL6180x_WrByte( dev, 0x010a, 0x30); /* Set the averaging sample period (compromise between lower noise and increased execution time) */
gallonm 7:2dc81120c917 1167 VL6180x_WrByte( dev, 0x003f, 0x46); /* Sets the light and dark gain (upper nibble). Dark gain should not be changed.*/
gallonm 7:2dc81120c917 1168 VL6180x_WrByte( dev, 0x0031, 0xFF); /* sets the # of range measurements after which auto calibration of system is performed */
gallonm 7:2dc81120c917 1169 VL6180x_WrByte( dev, 0x0040, 0x63); /* Set ALS integration time to 100ms */
gallonm 7:2dc81120c917 1170 VL6180x_WrByte( dev, 0x002e, 0x01); /* perform a single temperature calibration of the ranging sensor */
gallonm 16:0d4776564733 1171
gallonm 7:2dc81120c917 1172 /* Optional: Public registers - See data sheet for more detail */
gallonm 7:2dc81120c917 1173 VL6180x_WrByte( dev, 0x001b, 0x09); /* Set default ranging inter-measurement period to 100ms */
gallonm 7:2dc81120c917 1174 VL6180x_WrByte( dev, 0x003e, 0x31); /* Set default ALS inter-measurement period to 500ms */
gallonm 7:2dc81120c917 1175 VL6180x_WrByte( dev, 0x0014, 0x24); /* Configures interrupt on New sample ready */
gallonm 16:0d4776564733 1176
gallonm 16:0d4776564733 1177
gallonm 7:2dc81120c917 1178 status=VL6180x_RangeSetMaxConvergenceTime(dev, 50); /* Calculate ece value on initialization (use max conv) */
gallonm 7:2dc81120c917 1179 LOG_FUNCTION_END(status);
gallonm 16:0d4776564733 1180
gallonm 7:2dc81120c917 1181 return status;
gallonm 7:2dc81120c917 1182 }
gallonm 16:0d4776564733 1183
gallonm 7:2dc81120c917 1184 #if VL6180x_UPSCALE_SUPPORT != 1
gallonm 16:0d4776564733 1185
gallonm 7:2dc81120c917 1186 int VL6180X::_UpscaleInitPatch0(VL6180xDev_t dev){
gallonm 7:2dc81120c917 1187 int status;
gallonm 7:2dc81120c917 1188 uint32_t CalValue=0;
gallonm 7:2dc81120c917 1189 CalValue= VL6180xDevDataGet(dev, Part2PartAmbNVM);
gallonm 7:2dc81120c917 1190 status=VL6180x_WrDWord( dev, 0xDA, CalValue);
gallonm 7:2dc81120c917 1191 return status;
gallonm 7:2dc81120c917 1192 }
gallonm 16:0d4776564733 1193
gallonm 7:2dc81120c917 1194 /* only include up-scaling register setting when up-scale support is configured in */
gallonm 7:2dc81120c917 1195 int VL6180X::VL6180x_UpscaleRegInit(VL6180xDev_t dev)
gallonm 7:2dc81120c917 1196 {
gallonm 7:2dc81120c917 1197 /* apply REGISTER_TUNING_ER02_100614_CustomerView.txt */
gallonm 7:2dc81120c917 1198 VL6180x_WrByte( dev, 0x0207, 0x01);
gallonm 7:2dc81120c917 1199 VL6180x_WrByte( dev, 0x0208, 0x01);
gallonm 7:2dc81120c917 1200 VL6180x_WrByte( dev, 0x0096, 0x00);
gallonm 7:2dc81120c917 1201 VL6180x_WrByte( dev, 0x0097, 0x54);
gallonm 7:2dc81120c917 1202 VL6180x_WrByte( dev, 0x00e3, 0x00);
gallonm 7:2dc81120c917 1203 VL6180x_WrByte( dev, 0x00e4, 0x04);
gallonm 7:2dc81120c917 1204 VL6180x_WrByte( dev, 0x00e5, 0x02);
gallonm 7:2dc81120c917 1205 VL6180x_WrByte( dev, 0x00e6, 0x01);
gallonm 7:2dc81120c917 1206 VL6180x_WrByte( dev, 0x00e7, 0x03);
gallonm 7:2dc81120c917 1207 VL6180x_WrByte( dev, 0x00f5, 0x02);
gallonm 7:2dc81120c917 1208 VL6180x_WrByte( dev, 0x00d9, 0x05);
gallonm 16:0d4776564733 1209
gallonm 7:2dc81120c917 1210 _UpscaleInitPatch0(dev);
gallonm 16:0d4776564733 1211
gallonm 7:2dc81120c917 1212 VL6180x_WrByte( dev, 0x009f, 0x00);
gallonm 7:2dc81120c917 1213 VL6180x_WrByte( dev, 0x00a3, 0x28);
gallonm 7:2dc81120c917 1214 VL6180x_WrByte( dev, 0x00b7, 0x00);
gallonm 7:2dc81120c917 1215 VL6180x_WrByte( dev, 0x00bb, 0x28);
gallonm 7:2dc81120c917 1216 VL6180x_WrByte( dev, 0x00b2, 0x09);
gallonm 7:2dc81120c917 1217 VL6180x_WrByte( dev, 0x00ca, 0x09);
gallonm 7:2dc81120c917 1218 VL6180x_WrByte( dev, 0x0198, 0x01);
gallonm 7:2dc81120c917 1219 VL6180x_WrByte( dev, 0x01b0, 0x17);
gallonm 7:2dc81120c917 1220 VL6180x_WrByte( dev, 0x01ad, 0x00);
gallonm 7:2dc81120c917 1221 VL6180x_WrByte( dev, 0x00ff, 0x05);
gallonm 7:2dc81120c917 1222 VL6180x_WrByte( dev, 0x0100, 0x05);
gallonm 7:2dc81120c917 1223 VL6180x_WrByte( dev, 0x0199, 0x05);
gallonm 7:2dc81120c917 1224 VL6180x_WrByte( dev, 0x01a6, 0x1b);
gallonm 7:2dc81120c917 1225 VL6180x_WrByte( dev, 0x01ac, 0x3e);
gallonm 7:2dc81120c917 1226 VL6180x_WrByte( dev, 0x01a7, 0x1f);
gallonm 7:2dc81120c917 1227 VL6180x_WrByte( dev, 0x0030, 0x00);
gallonm 7:2dc81120c917 1228 VL6180x_WrByte( dev, 0x0011, 0x10);
gallonm 7:2dc81120c917 1229 VL6180x_WrByte( dev, 0x010a, 0x30);
gallonm 7:2dc81120c917 1230 VL6180x_WrByte( dev, 0x003f, 0x46);
gallonm 7:2dc81120c917 1231 VL6180x_WrByte( dev, 0x0031, 0xFF);
gallonm 7:2dc81120c917 1232 VL6180x_WrByte( dev, 0x0040, 0x63);
gallonm 7:2dc81120c917 1233 VL6180x_WrByte( dev, 0x002e, 0x01);
gallonm 7:2dc81120c917 1234 VL6180x_WrByte( dev, 0x002c, 0xff);
gallonm 7:2dc81120c917 1235 VL6180x_WrByte( dev, 0x001b, 0x09);
gallonm 7:2dc81120c917 1236 VL6180x_WrByte( dev, 0x003e, 0x31);
gallonm 7:2dc81120c917 1237 VL6180x_WrByte( dev, 0x0014, 0x24);
gallonm 7:2dc81120c917 1238 #if VL6180x_EXTENDED_RANGE
gallonm 7:2dc81120c917 1239 VL6180x_RangeSetMaxConvergenceTime(dev, 63);
gallonm 7:2dc81120c917 1240 #else
gallonm 7:2dc81120c917 1241 VL6180x_RangeSetMaxConvergenceTime(dev, 50);
gallonm 7:2dc81120c917 1242 #endif
gallonm 7:2dc81120c917 1243 return 0;
gallonm 7:2dc81120c917 1244 }
gallonm 7:2dc81120c917 1245 #else
gallonm 7:2dc81120c917 1246 #define VL6180x_UpscaleRegInit(...) -1
gallonm 7:2dc81120c917 1247 #endif
gallonm 16:0d4776564733 1248
gallonm 7:2dc81120c917 1249 int VL6180X::VL6180x_UpscaleSetScaling(VL6180xDev_t dev, uint8_t scaling)
gallonm 7:2dc81120c917 1250 {
gallonm 7:2dc81120c917 1251 int status;
gallonm 7:2dc81120c917 1252 uint16_t Scaler;
gallonm 7:2dc81120c917 1253 int8_t Offset;
gallonm 16:0d4776564733 1254
gallonm 7:2dc81120c917 1255 LOG_FUNCTION_START("%d",(int) scaling);
gallonm 16:0d4776564733 1256
gallonm 7:2dc81120c917 1257 #ifdef VL6180x_HAVE_UPSCALE_DATA
gallonm 7:2dc81120c917 1258 #define min_scaling 1
gallonm 7:2dc81120c917 1259 #define max_scaling sizeof(ScalerLookUP)/sizeof(ScalerLookUP[0])
gallonm 7:2dc81120c917 1260 #else
gallonm 7:2dc81120c917 1261 /* we are in fixed config so only allow configured factor */
gallonm 7:2dc81120c917 1262 #define min_scaling VL6180x_UPSCALE_SUPPORT
gallonm 7:2dc81120c917 1263 #define max_scaling VL6180x_UPSCALE_SUPPORT
gallonm 7:2dc81120c917 1264 #endif
gallonm 16:0d4776564733 1265
gallonm 7:2dc81120c917 1266 if( scaling>=min_scaling && scaling<= max_scaling ){
gallonm 16:0d4776564733 1267
gallonm 7:2dc81120c917 1268 Scaler = ScalerLookUP[scaling-1];
gallonm 7:2dc81120c917 1269 status = VL6180x_WrWord(dev, RANGE_SCALER, Scaler);
gallonm 7:2dc81120c917 1270 _SetUpscale(dev, scaling );
gallonm 16:0d4776564733 1271
gallonm 7:2dc81120c917 1272 /* Apply scaling on part-2-part offset */
gallonm 7:2dc81120c917 1273 Offset = VL6180xDevDataGet(dev, Part2PartOffsetNVM)/scaling;
gallonm 7:2dc81120c917 1274 status = VL6180x_WrByte(dev, SYSRANGE_PART_TO_PART_RANGE_OFFSET, Offset);
gallonm 7:2dc81120c917 1275 #if ! VL6180x_EXTENDED_RANGE
gallonm 7:2dc81120c917 1276 if( status ==0 ){
gallonm 7:2dc81120c917 1277 status = VL6180x_RangeSetEceState(dev, scaling == 1); /* enable ece only at 1x scaling */
gallonm 7:2dc81120c917 1278 }
gallonm 7:2dc81120c917 1279 if( status == 0 && !VL6180x_EXTENDED_RANGE && scaling!=1 ){
gallonm 16:0d4776564733 1280 status = NOT_GUARANTEED ;
gallonm 7:2dc81120c917 1281 }
gallonm 7:2dc81120c917 1282 #endif
gallonm 7:2dc81120c917 1283 }
gallonm 7:2dc81120c917 1284 else{
gallonm 7:2dc81120c917 1285 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1286 }
gallonm 7:2dc81120c917 1287 #undef min_scaling
gallonm 7:2dc81120c917 1288 #undef max_scaling
gallonm 7:2dc81120c917 1289 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1290 return status;
gallonm 7:2dc81120c917 1291 }
gallonm 16:0d4776564733 1292
gallonm 16:0d4776564733 1293
gallonm 7:2dc81120c917 1294 int VL6180X::VL6180x_UpscaleGetScaling(VL6180xDev_t dev)
gallonm 7:2dc81120c917 1295 {
gallonm 7:2dc81120c917 1296 int status;
gallonm 7:2dc81120c917 1297 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 1298 status=_GetUpscale(dev );
gallonm 7:2dc81120c917 1299 LOG_FUNCTION_END(status);
gallonm 16:0d4776564733 1300
gallonm 7:2dc81120c917 1301 return status;
gallonm 7:2dc81120c917 1302 }
gallonm 16:0d4776564733 1303
gallonm 16:0d4776564733 1304
gallonm 7:2dc81120c917 1305 int VL6180X::VL6180x_UpscaleStaticInit(VL6180xDev_t dev)
gallonm 7:2dc81120c917 1306 {
gallonm 7:2dc81120c917 1307 /* todo make these a fail macro in case only 1x is suppoted */
gallonm 7:2dc81120c917 1308 int status;
gallonm 16:0d4776564733 1309
gallonm 7:2dc81120c917 1310 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 1311 do{
gallonm 7:2dc81120c917 1312 status=VL6180x_UpscaleRegInit(dev);
gallonm 7:2dc81120c917 1313 if( status){
gallonm 7:2dc81120c917 1314 VL6180x_ErrLog("regInit fail");
gallonm 7:2dc81120c917 1315 break;
gallonm 7:2dc81120c917 1316 }
gallonm 7:2dc81120c917 1317 #if VL6180x_EXTENDED_RANGE
gallonm 7:2dc81120c917 1318 status = VL6180x_RangeSetEceState(dev, 0);
gallonm 7:2dc81120c917 1319 if( status){
gallonm 7:2dc81120c917 1320 VL6180x_ErrLog("VL6180x_RangeSetEceState fail");
gallonm 7:2dc81120c917 1321 break;
gallonm 7:2dc81120c917 1322 }
gallonm 7:2dc81120c917 1323 #endif
gallonm 7:2dc81120c917 1324 } while(0);
gallonm 7:2dc81120c917 1325 if( !status){
gallonm 7:2dc81120c917 1326 /* must write the scaler at least once to the device to ensure the scaler is in a known state. */
gallonm 7:2dc81120c917 1327 status=VL6180x_UpscaleSetScaling(dev, _GetUpscale(dev));
gallonm 14:0effa0bbf192 1328 VL6180x_WrByte( dev, SYSTEM_FRESH_OUT_OF_RESET, 0x00); /* change fresh out of set status to 0 */
gallonm 7:2dc81120c917 1329 }
gallonm 7:2dc81120c917 1330 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1331 return status;
gallonm 7:2dc81120c917 1332 }
gallonm 16:0d4776564733 1333
gallonm 16:0d4776564733 1334
gallonm 7:2dc81120c917 1335 int VL6180X::VL6180x_SetGPIOxPolarity(VL6180xDev_t dev, int pin, int active_high)
gallonm 7:2dc81120c917 1336 {
gallonm 7:2dc81120c917 1337 int status;
gallonm 7:2dc81120c917 1338 LOG_FUNCTION_START("%d %d",(int) pin, (int)active_high);
gallonm 16:0d4776564733 1339
gallonm 7:2dc81120c917 1340 if( pin ==0 || pin ==1 ){
gallonm 7:2dc81120c917 1341 uint16_t RegIndex;
gallonm 7:2dc81120c917 1342 uint8_t DataSet;
gallonm 7:2dc81120c917 1343 if( pin==0 )
gallonm 7:2dc81120c917 1344 RegIndex= SYSTEM_MODE_GPIO0;
gallonm 7:2dc81120c917 1345 else
gallonm 7:2dc81120c917 1346 RegIndex= SYSTEM_MODE_GPIO1;
gallonm 16:0d4776564733 1347
gallonm 7:2dc81120c917 1348 if (active_high )
gallonm 7:2dc81120c917 1349 DataSet = GPIOx_POLARITY_SELECT_MASK;
gallonm 7:2dc81120c917 1350 else
gallonm 7:2dc81120c917 1351 DataSet = 0;
gallonm 16:0d4776564733 1352
gallonm 7:2dc81120c917 1353 status = VL6180x_UpdateByte(dev, RegIndex, (uint8_t)~GPIOx_POLARITY_SELECT_MASK, DataSet);
gallonm 7:2dc81120c917 1354 }
gallonm 7:2dc81120c917 1355 else{
gallonm 7:2dc81120c917 1356 VL6180x_ErrLog("Invalid pin param %d", (int)pin);
gallonm 7:2dc81120c917 1357 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1358 }
gallonm 16:0d4776564733 1359
gallonm 7:2dc81120c917 1360 LOG_FUNCTION_END(status);
gallonm 16:0d4776564733 1361
gallonm 7:2dc81120c917 1362 return status;
gallonm 7:2dc81120c917 1363 }
gallonm 16:0d4776564733 1364
gallonm 7:2dc81120c917 1365 int VL6180X::VL6180x_SetGPIOxFunctionality(VL6180xDev_t dev, int pin, uint8_t functionality)
gallonm 7:2dc81120c917 1366 {
gallonm 7:2dc81120c917 1367 int status;
gallonm 16:0d4776564733 1368
gallonm 7:2dc81120c917 1369 LOG_FUNCTION_START("%d %d",(int) pin, (int)functionality);
gallonm 16:0d4776564733 1370
gallonm 7:2dc81120c917 1371 if( ((pin ==0) || (pin ==1)) && IsValidGPIOFunction(functionality) ){
gallonm 7:2dc81120c917 1372 uint16_t RegIndex;
gallonm 16:0d4776564733 1373
gallonm 7:2dc81120c917 1374 if( pin==0 )
gallonm 7:2dc81120c917 1375 RegIndex= SYSTEM_MODE_GPIO0;
gallonm 7:2dc81120c917 1376 else
gallonm 7:2dc81120c917 1377 RegIndex= SYSTEM_MODE_GPIO1;
gallonm 16:0d4776564733 1378
gallonm 7:2dc81120c917 1379 status = VL6180x_UpdateByte(dev, RegIndex, (uint8_t)~GPIOx_FUNCTIONALITY_SELECT_MASK, functionality<<GPIOx_FUNCTIONALITY_SELECT_SHIFT);
gallonm 7:2dc81120c917 1380 if( status){
gallonm 7:2dc81120c917 1381 VL6180x_ErrLog("Update SYSTEM_MODE_GPIO%d fail", (int)pin);
gallonm 7:2dc81120c917 1382 }
gallonm 7:2dc81120c917 1383 }
gallonm 7:2dc81120c917 1384 else{
gallonm 7:2dc81120c917 1385 VL6180x_ErrLog("Invalid pin %d or function %d", (int)pin, (int) functionality);
gallonm 7:2dc81120c917 1386 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1387 }
gallonm 16:0d4776564733 1388
gallonm 7:2dc81120c917 1389 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1390 return status;
gallonm 7:2dc81120c917 1391 }
gallonm 16:0d4776564733 1392
gallonm 16:0d4776564733 1393
gallonm 7:2dc81120c917 1394 int VL6180X::VL6180x_SetupGPIOx(VL6180xDev_t dev, int pin, uint8_t IntFunction, int ActiveHigh)
gallonm 7:2dc81120c917 1395 {
gallonm 7:2dc81120c917 1396 int status;
gallonm 16:0d4776564733 1397
gallonm 7:2dc81120c917 1398 LOG_FUNCTION_START("%d %d",(int) pin, (int)IntFunction);
gallonm 16:0d4776564733 1399
gallonm 7:2dc81120c917 1400 if( ((pin ==0) || (pin ==1)) && IsValidGPIOFunction(IntFunction) ){
gallonm 7:2dc81120c917 1401 uint16_t RegIndex;
gallonm 7:2dc81120c917 1402 uint8_t value=0;
gallonm 16:0d4776564733 1403
gallonm 7:2dc81120c917 1404 if( pin==0 )
gallonm 7:2dc81120c917 1405 RegIndex= SYSTEM_MODE_GPIO0;
gallonm 7:2dc81120c917 1406 else
gallonm 7:2dc81120c917 1407 RegIndex= SYSTEM_MODE_GPIO1;
gallonm 16:0d4776564733 1408
gallonm 7:2dc81120c917 1409 if( ActiveHigh )
gallonm 7:2dc81120c917 1410 value|=GPIOx_POLARITY_SELECT_MASK;
gallonm 16:0d4776564733 1411
gallonm 7:2dc81120c917 1412 value |= IntFunction<<GPIOx_FUNCTIONALITY_SELECT_SHIFT;
gallonm 7:2dc81120c917 1413 status = VL6180x_WrByte(dev, RegIndex, value);
gallonm 7:2dc81120c917 1414 if( status ){
gallonm 7:2dc81120c917 1415 VL6180x_ErrLog("SYSTEM_MODE_GPIO%d wr fail", (int)pin-SYSTEM_MODE_GPIO0);
gallonm 7:2dc81120c917 1416 }
gallonm 7:2dc81120c917 1417 }
gallonm 7:2dc81120c917 1418 else{
gallonm 7:2dc81120c917 1419 VL6180x_ErrLog("Invalid pin %d or function %d", (int)pin, (int) IntFunction);
gallonm 7:2dc81120c917 1420 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1421 }
gallonm 16:0d4776564733 1422
gallonm 7:2dc81120c917 1423 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1424 return status;
gallonm 7:2dc81120c917 1425 }
gallonm 16:0d4776564733 1426
gallonm 16:0d4776564733 1427
gallonm 7:2dc81120c917 1428 int VL6180X::VL6180x_DisableGPIOxOut(VL6180xDev_t dev, int pin) {
gallonm 7:2dc81120c917 1429 int status;
gallonm 16:0d4776564733 1430
gallonm 7:2dc81120c917 1431 LOG_FUNCTION_START("%d",(int)pin);
gallonm 16:0d4776564733 1432
gallonm 7:2dc81120c917 1433 status=VL6180x_SetGPIOxFunctionality(dev, pin, GPIOx_SELECT_OFF);
gallonm 16:0d4776564733 1434
gallonm 7:2dc81120c917 1435 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1436 return status;
gallonm 7:2dc81120c917 1437 }
gallonm 16:0d4776564733 1438
gallonm 16:0d4776564733 1439
gallonm 7:2dc81120c917 1440 int VL6180X::VL6180x_SetupGPIO1(VL6180xDev_t dev, uint8_t IntFunction, int ActiveHigh)
gallonm 7:2dc81120c917 1441 {
gallonm 7:2dc81120c917 1442 int status;
gallonm 7:2dc81120c917 1443 LOG_FUNCTION_START("%d %d",(int)IntFunction, (int)ActiveHigh );
gallonm 7:2dc81120c917 1444 status=VL6180x_SetupGPIOx(dev, 1 , IntFunction, ActiveHigh);
gallonm 7:2dc81120c917 1445 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1446 return status;
gallonm 7:2dc81120c917 1447 }
gallonm 16:0d4776564733 1448
gallonm 7:2dc81120c917 1449 int VL6180X::VL6180x_RangeConfigInterrupt(VL6180xDev_t dev, uint8_t ConfigGpioInt)
gallonm 7:2dc81120c917 1450 {
gallonm 7:2dc81120c917 1451 int status;
gallonm 16:0d4776564733 1452
gallonm 7:2dc81120c917 1453 if( ConfigGpioInt<= CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY){
gallonm 7:2dc81120c917 1454 status = VL6180x_UpdateByte(dev, SYSTEM_INTERRUPT_CONFIG_GPIO, (uint8_t)(~CONFIG_GPIO_RANGE_MASK), ConfigGpioInt);
gallonm 7:2dc81120c917 1455 }
gallonm 7:2dc81120c917 1456 else{
gallonm 7:2dc81120c917 1457 VL6180x_ErrLog("Invalid config mode param %d", (int)ConfigGpioInt);
gallonm 7:2dc81120c917 1458 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1459 }
gallonm 7:2dc81120c917 1460 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1461 return status;
gallonm 7:2dc81120c917 1462 }
gallonm 16:0d4776564733 1463
gallonm 16:0d4776564733 1464
gallonm 7:2dc81120c917 1465 int VL6180X::VL6180x_RangeSetEceFactor(VL6180xDev_t dev, uint16_t FactorM, uint16_t FactorD){
gallonm 7:2dc81120c917 1466 int status;
gallonm 7:2dc81120c917 1467 uint8_t u8;
gallonm 16:0d4776564733 1468
gallonm 7:2dc81120c917 1469 LOG_FUNCTION_START("%d %d", (int)FactorM, (int)FactorD );
gallonm 7:2dc81120c917 1470 do{
gallonm 7:2dc81120c917 1471 /* D cannot be 0 M must be <=D and >= 0 */
gallonm 7:2dc81120c917 1472 if( FactorM <= FactorD && FactorD> 0){
gallonm 7:2dc81120c917 1473 VL6180xDevDataSet(dev, EceFactorM, FactorM);
gallonm 7:2dc81120c917 1474 VL6180xDevDataSet(dev, EceFactorD, FactorD);
gallonm 7:2dc81120c917 1475 /* read and re-apply max conv time to get new ece factor set */
gallonm 7:2dc81120c917 1476 status = VL6180x_RdByte(dev, SYSRANGE_MAX_CONVERGENCE_TIME, &u8);
gallonm 7:2dc81120c917 1477 if( status){
gallonm 7:2dc81120c917 1478 VL6180x_ErrLog("SYSRANGE_MAX_CONVERGENCE_TIME rd fail ");
gallonm 7:2dc81120c917 1479 break;
gallonm 7:2dc81120c917 1480 }
gallonm 7:2dc81120c917 1481 status = VL6180x_RangeSetMaxConvergenceTime(dev, u8);
gallonm 7:2dc81120c917 1482 if( status <0 ){
gallonm 7:2dc81120c917 1483 VL6180x_ErrLog("fail to apply time after ece m/d change");
gallonm 7:2dc81120c917 1484 break;
gallonm 7:2dc81120c917 1485 }
gallonm 7:2dc81120c917 1486 }
gallonm 7:2dc81120c917 1487 else{
gallonm 7:2dc81120c917 1488 VL6180x_ErrLog("invalid factor %d/%d", (int)FactorM, (int)FactorD );
gallonm 7:2dc81120c917 1489 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1490 }
gallonm 7:2dc81120c917 1491 }
gallonm 7:2dc81120c917 1492 while(0);
gallonm 7:2dc81120c917 1493 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1494 return status;
gallonm 7:2dc81120c917 1495 }
gallonm 16:0d4776564733 1496
gallonm 7:2dc81120c917 1497 int VL6180X::VL6180x_RangeSetEceState(VL6180xDev_t dev, int enable ){
gallonm 7:2dc81120c917 1498 int status;
gallonm 7:2dc81120c917 1499 uint8_t or_mask;
gallonm 16:0d4776564733 1500
gallonm 7:2dc81120c917 1501 LOG_FUNCTION_START("%d", (int)enable);
gallonm 7:2dc81120c917 1502 if( enable )
gallonm 7:2dc81120c917 1503 or_mask = RANGE_CHECK_ECE_ENABLE_MASK;
gallonm 7:2dc81120c917 1504 else
gallonm 7:2dc81120c917 1505 or_mask = 0;
gallonm 16:0d4776564733 1506
gallonm 7:2dc81120c917 1507 status =VL6180x_UpdateByte(dev, SYSRANGE_RANGE_CHECK_ENABLES, ~RANGE_CHECK_ECE_ENABLE_MASK, or_mask);
gallonm 7:2dc81120c917 1508 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1509 return status;
gallonm 7:2dc81120c917 1510 }
gallonm 16:0d4776564733 1511
gallonm 16:0d4776564733 1512
gallonm 7:2dc81120c917 1513 int VL6180X::VL6180x_RangeSetMaxConvergenceTime(VL6180xDev_t dev, uint8_t MaxConTime_msec)
gallonm 7:2dc81120c917 1514 {
gallonm 7:2dc81120c917 1515 int status = 0;
gallonm 7:2dc81120c917 1516 LOG_FUNCTION_START("%d",(int)MaxConTime_msec);
gallonm 7:2dc81120c917 1517 do{
gallonm 7:2dc81120c917 1518 status=VL6180x_WrByte(dev, SYSRANGE_MAX_CONVERGENCE_TIME, MaxConTime_msec);
gallonm 7:2dc81120c917 1519 if( status ){
gallonm 7:2dc81120c917 1520 break;
gallonm 7:2dc81120c917 1521 }
gallonm 7:2dc81120c917 1522 status=VL6180x_RangeSetEarlyConvergenceEestimateThreshold(dev);
gallonm 7:2dc81120c917 1523 if( status){
gallonm 7:2dc81120c917 1524 break;
gallonm 7:2dc81120c917 1525 }
gallonm 7:2dc81120c917 1526 status = _DMax_InitData(dev);
gallonm 7:2dc81120c917 1527 }
gallonm 7:2dc81120c917 1528 while(0);
gallonm 7:2dc81120c917 1529 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1530 return status;
gallonm 7:2dc81120c917 1531 }
gallonm 16:0d4776564733 1532
gallonm 7:2dc81120c917 1533 int VL6180X::VL6180x_RangeSetInterMeasPeriod(VL6180xDev_t dev, uint32_t InterMeasTime_msec){
gallonm 7:2dc81120c917 1534 uint8_t SetTime;
gallonm 7:2dc81120c917 1535 int status;
gallonm 16:0d4776564733 1536
gallonm 7:2dc81120c917 1537 LOG_FUNCTION_START("%d",(int)InterMeasTime_msec);
gallonm 7:2dc81120c917 1538 do {
gallonm 7:2dc81120c917 1539 if( InterMeasTime_msec > 2550 ){
gallonm 7:2dc81120c917 1540 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1541 break;
gallonm 7:2dc81120c917 1542 }
gallonm 7:2dc81120c917 1543 /* doc in not 100% clear and confusing about the limit practically all value are OK but 0
gallonm 7:2dc81120c917 1544 * that can hang device in continuous mode */
gallonm 7:2dc81120c917 1545 if( InterMeasTime_msec < 10 ) {
gallonm 7:2dc81120c917 1546 InterMeasTime_msec=10;
gallonm 7:2dc81120c917 1547 }
gallonm 7:2dc81120c917 1548 SetTime=(uint8_t)(InterMeasTime_msec/10);
gallonm 7:2dc81120c917 1549 status=VL6180x_WrByte(dev, SYSRANGE_INTERMEASUREMENT_PERIOD, SetTime);
gallonm 7:2dc81120c917 1550 if( status ){
gallonm 7:2dc81120c917 1551 VL6180x_ErrLog("SYSRANGE_INTERMEASUREMENT_PERIOD wr fail");
gallonm 7:2dc81120c917 1552 }
gallonm 7:2dc81120c917 1553 else
gallonm 7:2dc81120c917 1554 if( SetTime != InterMeasTime_msec /10 ) {
gallonm 7:2dc81120c917 1555 status = MIN_CLIPED; /* on success change status to clip if it did */
gallonm 7:2dc81120c917 1556 }
gallonm 7:2dc81120c917 1557 }while(0);
gallonm 7:2dc81120c917 1558 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1559 return status;
gallonm 7:2dc81120c917 1560 }
gallonm 16:0d4776564733 1561
gallonm 16:0d4776564733 1562
gallonm 7:2dc81120c917 1563 int VL6180X::VL6180x_RangeGetDeviceReady(VL6180xDev_t dev, int * Ready){
gallonm 7:2dc81120c917 1564 int status;
gallonm 7:2dc81120c917 1565 uint8_t u8;
gallonm 7:2dc81120c917 1566 LOG_FUNCTION_START("%p", (int)Ready);
gallonm 7:2dc81120c917 1567 status=VL6180x_RdByte(dev, RESULT_RANGE_STATUS, &u8);
gallonm 7:2dc81120c917 1568 if( !status)
gallonm 7:2dc81120c917 1569 *Ready = u8&RANGE_DEVICE_READY_MASK;
gallonm 7:2dc81120c917 1570 LOG_FUNCTION_END_FMT(status,"%d", *Ready);
gallonm 7:2dc81120c917 1571 return status;
gallonm 7:2dc81120c917 1572 }
gallonm 16:0d4776564733 1573
gallonm 16:0d4776564733 1574
gallonm 7:2dc81120c917 1575 int VL6180X::VL6180x_RangeWaitDeviceReady(VL6180xDev_t dev, int MaxLoop ){
gallonm 7:2dc81120c917 1576 int status; /* if user specify an invalid <=0 loop count we'll return error */
gallonm 7:2dc81120c917 1577 int n;
gallonm 7:2dc81120c917 1578 uint8_t u8;
gallonm 7:2dc81120c917 1579 LOG_FUNCTION_START("%d", (int)MaxLoop);
gallonm 7:2dc81120c917 1580 if( MaxLoop<1){
gallonm 7:2dc81120c917 1581 status=INVALID_PARAMS;
gallonm 7:2dc81120c917 1582 }
gallonm 7:2dc81120c917 1583 else{
gallonm 7:2dc81120c917 1584 for( n=0; n < MaxLoop ; n++){
gallonm 7:2dc81120c917 1585 status=VL6180x_RdByte(dev, RESULT_RANGE_STATUS, &u8);
gallonm 7:2dc81120c917 1586 if( status)
gallonm 7:2dc81120c917 1587 break;
gallonm 7:2dc81120c917 1588 u8 = u8 & RANGE_DEVICE_READY_MASK;
gallonm 7:2dc81120c917 1589 if( u8 )
gallonm 7:2dc81120c917 1590 break;
gallonm 16:0d4776564733 1591
gallonm 7:2dc81120c917 1592 }
gallonm 7:2dc81120c917 1593 if( !status && !u8 ){
gallonm 7:2dc81120c917 1594 status = TIME_OUT;
gallonm 7:2dc81120c917 1595 }
gallonm 7:2dc81120c917 1596 }
gallonm 7:2dc81120c917 1597 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1598 return status;
gallonm 7:2dc81120c917 1599 }
gallonm 16:0d4776564733 1600
gallonm 7:2dc81120c917 1601 int VL6180X::VL6180x_RangeSetSystemMode(VL6180xDev_t dev, uint8_t mode)
gallonm 7:2dc81120c917 1602 {
gallonm 7:2dc81120c917 1603 int status;
gallonm 7:2dc81120c917 1604 LOG_FUNCTION_START("%d", (int)mode);
gallonm 7:2dc81120c917 1605 /* FIXME we are not checking device is ready via @a VL6180x_RangeWaitDeviceReady
gallonm 7:2dc81120c917 1606 * so if called back to back real fast we are not checking
gallonm 7:2dc81120c917 1607 * if previous mode "set" got absorbed => bit 0 must be 0 so that it work
gallonm 7:2dc81120c917 1608 */
gallonm 7:2dc81120c917 1609 if( mode <= 3){
gallonm 7:2dc81120c917 1610 status=VL6180x_WrByte(dev, SYSRANGE_START, mode);
gallonm 7:2dc81120c917 1611 if( status ){
gallonm 7:2dc81120c917 1612 VL6180x_ErrLog("SYSRANGE_START wr fail");
gallonm 7:2dc81120c917 1613 }
gallonm 7:2dc81120c917 1614 }
gallonm 7:2dc81120c917 1615 else{
gallonm 7:2dc81120c917 1616 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1617 }
gallonm 7:2dc81120c917 1618 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1619 return status;
gallonm 7:2dc81120c917 1620 }
gallonm 16:0d4776564733 1621
gallonm 16:0d4776564733 1622
gallonm 7:2dc81120c917 1623 int VL6180X::VL6180x_RangeStartContinuousMode(VL6180xDev_t dev)
gallonm 7:2dc81120c917 1624 {
gallonm 7:2dc81120c917 1625 int status;
gallonm 7:2dc81120c917 1626 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 1627 status= VL6180x_RangeSetSystemMode(dev, MODE_START_STOP | MODE_CONTINUOUS);
gallonm 7:2dc81120c917 1628 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1629 return status;
gallonm 7:2dc81120c917 1630 }
gallonm 16:0d4776564733 1631
gallonm 7:2dc81120c917 1632 int VL6180X::VL6180x_RangeStartSingleShot(VL6180xDev_t dev) {
gallonm 7:2dc81120c917 1633 int status;
gallonm 7:2dc81120c917 1634 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 1635 status = VL6180x_RangeSetSystemMode(dev, MODE_START_STOP|MODE_SINGLESHOT);
gallonm 7:2dc81120c917 1636 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1637 return status;
gallonm 7:2dc81120c917 1638 }
gallonm 16:0d4776564733 1639
gallonm 16:0d4776564733 1640
gallonm 7:2dc81120c917 1641 int VL6180X::VL6180x_RangeSetEarlyConvergenceEestimateThreshold(VL6180xDev_t dev)
gallonm 7:2dc81120c917 1642 {
gallonm 7:2dc81120c917 1643 int status;
gallonm 16:0d4776564733 1644
gallonm 7:2dc81120c917 1645 const uint32_t cMicroSecPerMilliSec = 1000;
gallonm 7:2dc81120c917 1646 const uint32_t cEceSampleTime_us = 500;
gallonm 7:2dc81120c917 1647 uint32_t ece_factor_m = VL6180xDevDataGet(dev, EceFactorM);
gallonm 7:2dc81120c917 1648 uint32_t ece_factor_d = VL6180xDevDataGet(dev, EceFactorD);
gallonm 7:2dc81120c917 1649 uint32_t convergTime_us;
gallonm 7:2dc81120c917 1650 uint32_t fineThresh;
gallonm 7:2dc81120c917 1651 uint32_t eceThresh;
gallonm 7:2dc81120c917 1652 uint8_t u8;
gallonm 7:2dc81120c917 1653 uint32_t maxConv_ms;
gallonm 7:2dc81120c917 1654 int32_t AveTime;
gallonm 16:0d4776564733 1655
gallonm 7:2dc81120c917 1656 LOG_FUNCTION_START("");
gallonm 16:0d4776564733 1657
gallonm 7:2dc81120c917 1658 do{
gallonm 7:2dc81120c917 1659 status = VL6180x_RdByte(dev, SYSRANGE_MAX_CONVERGENCE_TIME, &u8);
gallonm 7:2dc81120c917 1660 if( status ){
gallonm 7:2dc81120c917 1661 VL6180x_ErrLog("SYSRANGE_MAX_CONVERGENCE_TIME rd fail");
gallonm 7:2dc81120c917 1662 break;
gallonm 7:2dc81120c917 1663 }
gallonm 7:2dc81120c917 1664 maxConv_ms = u8;
gallonm 7:2dc81120c917 1665 AveTime = _GetAveTotalTime(dev);
gallonm 7:2dc81120c917 1666 if( AveTime <0 ){
gallonm 7:2dc81120c917 1667 status=-1;
gallonm 7:2dc81120c917 1668 break;
gallonm 7:2dc81120c917 1669 }
gallonm 16:0d4776564733 1670
gallonm 7:2dc81120c917 1671 convergTime_us = maxConv_ms * cMicroSecPerMilliSec - AveTime;
gallonm 7:2dc81120c917 1672 status = VL6180x_RdDWord(dev, 0xB8, &fineThresh);
gallonm 7:2dc81120c917 1673 if( status ) {
gallonm 7:2dc81120c917 1674 VL6180x_ErrLog("reg 0xB8 rd fail");
gallonm 7:2dc81120c917 1675 break;
gallonm 7:2dc81120c917 1676 }
gallonm 7:2dc81120c917 1677 fineThresh*=256;
gallonm 7:2dc81120c917 1678 eceThresh = ece_factor_m * cEceSampleTime_us * fineThresh/(convergTime_us * ece_factor_d);
gallonm 16:0d4776564733 1679
gallonm 7:2dc81120c917 1680 status=VL6180x_WrWord(dev, SYSRANGE_EARLY_CONVERGENCE_ESTIMATE, (uint16_t)eceThresh);
gallonm 7:2dc81120c917 1681 }
gallonm 7:2dc81120c917 1682 while(0);
gallonm 16:0d4776564733 1683
gallonm 7:2dc81120c917 1684 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1685 return status;
gallonm 7:2dc81120c917 1686 }
gallonm 16:0d4776564733 1687
gallonm 7:2dc81120c917 1688 /*
gallonm 7:2dc81120c917 1689 * Return >0 = time
gallonm 7:2dc81120c917 1690 * <0 1 if fail to get read data from device to compute time
gallonm 7:2dc81120c917 1691 */
gallonm 7:2dc81120c917 1692 int32_t VL6180X::_GetAveTotalTime(VL6180xDev_t dev) {
gallonm 7:2dc81120c917 1693 uint32_t cFwOverhead_us = 24;
gallonm 7:2dc81120c917 1694 uint32_t cVcpSetupTime_us = 70;
gallonm 7:2dc81120c917 1695 uint32_t cPLL2_StartupDelay_us = 200;
gallonm 7:2dc81120c917 1696 uint8_t cMeasMask = 0x07;
gallonm 7:2dc81120c917 1697 uint32_t Samples;
gallonm 7:2dc81120c917 1698 uint32_t SamplePeriod;
gallonm 7:2dc81120c917 1699 uint32_t SingleTime_us;
gallonm 7:2dc81120c917 1700 int32_t TotalAveTime_us;
gallonm 7:2dc81120c917 1701 uint8_t u8;
gallonm 7:2dc81120c917 1702 int status;
gallonm 16:0d4776564733 1703
gallonm 7:2dc81120c917 1704 LOG_FUNCTION_START("");
gallonm 16:0d4776564733 1705
gallonm 7:2dc81120c917 1706 status = VL6180x_RdByte(dev, 0x109, &u8);
gallonm 7:2dc81120c917 1707 if (status) {
gallonm 7:2dc81120c917 1708 VL6180x_ErrLog("rd 0x109 fail");
gallonm 7:2dc81120c917 1709 return -1;
gallonm 7:2dc81120c917 1710 }
gallonm 7:2dc81120c917 1711 Samples = u8 & cMeasMask;
gallonm 7:2dc81120c917 1712 status = VL6180x_RdByte(dev, READOUT_AVERAGING_SAMPLE_PERIOD, &u8);
gallonm 7:2dc81120c917 1713 if (status) {
gallonm 7:2dc81120c917 1714 VL6180x_ErrLog("i2c READOUT_AVERAGING_SAMPLE_PERIOD fail");
gallonm 7:2dc81120c917 1715 return -1;
gallonm 7:2dc81120c917 1716 }
gallonm 7:2dc81120c917 1717 SamplePeriod = u8;
gallonm 7:2dc81120c917 1718 SingleTime_us = cFwOverhead_us + cVcpSetupTime_us + (SamplePeriod * 10);
gallonm 7:2dc81120c917 1719 TotalAveTime_us = (Samples + 1) * SingleTime_us + cPLL2_StartupDelay_us;
gallonm 16:0d4776564733 1720
gallonm 7:2dc81120c917 1721 LOG_FUNCTION_END(TotalAveTime_us);
gallonm 7:2dc81120c917 1722 return TotalAveTime_us;
gallonm 7:2dc81120c917 1723 }
gallonm 16:0d4776564733 1724
gallonm 7:2dc81120c917 1725 #if VL6180x_HAVE_DMAX_RANGING
gallonm 7:2dc81120c917 1726 #define _GetDMaxDataRetSignalAt400mm(dev) VL6180xDevDataGet(dev, DMaxData.retSignalAt400mm)
gallonm 7:2dc81120c917 1727 #else
gallonm 7:2dc81120c917 1728 #define _GetDMaxDataRetSignalAt400mm(dev) 375 // Use a default high value
gallonm 7:2dc81120c917 1729 #endif
gallonm 16:0d4776564733 1730
gallonm 16:0d4776564733 1731
gallonm 7:2dc81120c917 1732 #if VL6180x_WRAP_AROUND_FILTER_SUPPORT
gallonm 16:0d4776564733 1733
gallonm 7:2dc81120c917 1734 #define FILTER_STDDEV_SAMPLES 6
gallonm 7:2dc81120c917 1735 #define MIN_FILTER_STDDEV_SAMPLES 3
gallonm 7:2dc81120c917 1736 #define MIN_FILTER_VALID_STDDEV_SAMPLES 3
gallonm 7:2dc81120c917 1737 #define FILTER_INVALID_DISTANCE 65535
gallonm 16:0d4776564733 1738
gallonm 7:2dc81120c917 1739 #define _FilterData(field) VL6180xDevDataGet(dev, FilterData.field)
gallonm 7:2dc81120c917 1740 /*
gallonm 7:2dc81120c917 1741 * One time init
gallonm 7:2dc81120c917 1742 */
gallonm 7:2dc81120c917 1743 int _filter_Init( VL6180xDev_t dev) {
gallonm 7:2dc81120c917 1744 int i;
gallonm 7:2dc81120c917 1745 _FilterData(MeasurementIndex) = 0;
gallonm 16:0d4776564733 1746
gallonm 7:2dc81120c917 1747 _FilterData(Default_ZeroVal) = 0;
gallonm 7:2dc81120c917 1748 _FilterData(Default_VAVGVal) = 0;
gallonm 7:2dc81120c917 1749 _FilterData(NoDelay_ZeroVal) = 0;
gallonm 7:2dc81120c917 1750 _FilterData(NoDelay_VAVGVal) = 0;
gallonm 7:2dc81120c917 1751 _FilterData(Previous_VAVGDiff) = 0;
gallonm 16:0d4776564733 1752
gallonm 7:2dc81120c917 1753 _FilterData(StdFilteredReads) = 0;
gallonm 16:0d4776564733 1754
gallonm 7:2dc81120c917 1755 for (i = 0; i < FILTER_NBOF_SAMPLES; i++) {
gallonm 7:2dc81120c917 1756 _FilterData(LastTrueRange)[i] = FILTER_INVALID_DISTANCE;
gallonm 7:2dc81120c917 1757 _FilterData(LastReturnRates)[i] = 0;
gallonm 7:2dc81120c917 1758 }
gallonm 7:2dc81120c917 1759 return 0;
gallonm 7:2dc81120c917 1760 }
gallonm 16:0d4776564733 1761
gallonm 16:0d4776564733 1762
gallonm 7:2dc81120c917 1763 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 1764 uint32_t newStdDev;
gallonm 7:2dc81120c917 1765 uint16_t SNR;
gallonm 16:0d4776564733 1766
gallonm 7:2dc81120c917 1767 if (AmbientRate > 0)
gallonm 7:2dc81120c917 1768 SNR = (uint16_t) ((100 * SignalRate) / AmbientRate);
gallonm 7:2dc81120c917 1769 else
gallonm 7:2dc81120c917 1770 SNR = 9999;
gallonm 16:0d4776564733 1771
gallonm 7:2dc81120c917 1772 if (SNR >= StdDevLimitLowLightSNR) {
gallonm 7:2dc81120c917 1773 newStdDev = StdDevLimitLowLight;
gallonm 7:2dc81120c917 1774 } else {
gallonm 7:2dc81120c917 1775 if (SNR <= StdDevLimitHighLightSNR)
gallonm 7:2dc81120c917 1776 newStdDev = StdDevLimitHighLight;
gallonm 7:2dc81120c917 1777 else {
gallonm 7:2dc81120c917 1778 newStdDev = (uint32_t) (StdDevLimitHighLight + (SNR - StdDevLimitHighLightSNR) * (int) (StdDevLimitLowLight - StdDevLimitHighLight) / (StdDevLimitLowLightSNR - StdDevLimitHighLightSNR));
gallonm 7:2dc81120c917 1779 }
gallonm 7:2dc81120c917 1780 }
gallonm 16:0d4776564733 1781
gallonm 7:2dc81120c917 1782 return newStdDev;
gallonm 7:2dc81120c917 1783 }
gallonm 16:0d4776564733 1784
gallonm 16:0d4776564733 1785
gallonm 7:2dc81120c917 1786 /*
gallonm 7:2dc81120c917 1787 * Return <0 on error
gallonm 7:2dc81120c917 1788 */
gallonm 7:2dc81120c917 1789 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 1790 int status;
gallonm 7:2dc81120c917 1791 uint16_t m_newTrueRange_mm = 0;
gallonm 16:0d4776564733 1792
gallonm 7:2dc81120c917 1793 uint16_t i;
gallonm 7:2dc81120c917 1794 uint16_t bypassFilter = 0;
gallonm 16:0d4776564733 1795
gallonm 7:2dc81120c917 1796 uint16_t registerValue;
gallonm 16:0d4776564733 1797
gallonm 7:2dc81120c917 1798 uint32_t register32BitsValue1;
gallonm 7:2dc81120c917 1799 uint32_t register32BitsValue2;
gallonm 16:0d4776564733 1800
gallonm 7:2dc81120c917 1801 uint16_t ValidDistance = 0;
gallonm 16:0d4776564733 1802
gallonm 7:2dc81120c917 1803 uint16_t WrapAroundFlag = 0;
gallonm 7:2dc81120c917 1804 uint16_t NoWrapAroundFlag = 0;
gallonm 7:2dc81120c917 1805 uint16_t NoWrapAroundHighConfidenceFlag = 0;
gallonm 16:0d4776564733 1806
gallonm 7:2dc81120c917 1807 uint16_t FlushFilter = 0;
gallonm 7:2dc81120c917 1808 uint32_t RateChange = 0;
gallonm 16:0d4776564733 1809
gallonm 7:2dc81120c917 1810 uint16_t StdDevSamples = 0;
gallonm 7:2dc81120c917 1811 uint32_t StdDevDistanceSum = 0;
gallonm 7:2dc81120c917 1812 uint32_t StdDevDistanceMean = 0;
gallonm 7:2dc81120c917 1813 uint32_t StdDevDistance = 0;
gallonm 7:2dc81120c917 1814 uint32_t StdDevRateSum = 0;
gallonm 7:2dc81120c917 1815 uint32_t StdDevRateMean = 0;
gallonm 7:2dc81120c917 1816 uint32_t StdDevRate = 0;
gallonm 7:2dc81120c917 1817 uint32_t StdDevLimitWithTargetMove = 0;
gallonm 16:0d4776564733 1818
gallonm 7:2dc81120c917 1819 uint32_t VAVGDiff;
gallonm 7:2dc81120c917 1820 uint32_t IdealVAVGDiff;
gallonm 7:2dc81120c917 1821 uint32_t MinVAVGDiff;
gallonm 7:2dc81120c917 1822 uint32_t MaxVAVGDiff;
gallonm 16:0d4776564733 1823
gallonm 7:2dc81120c917 1824 /* Filter Parameters */
gallonm 7:2dc81120c917 1825 static const uint16_t ROMABLE_DATA WrapAroundLowRawRangeLimit = 60;
gallonm 7:2dc81120c917 1826 static const uint32_t ROMABLE_DATA WrapAroundLowReturnRateLimit_ROM = 800; // Shall be adapted depending on crossTalk
gallonm 7:2dc81120c917 1827 static const uint16_t ROMABLE_DATA WrapAroundLowRawRangeLimit2 = 165;
gallonm 7:2dc81120c917 1828 static const uint32_t ROMABLE_DATA WrapAroundLowReturnRateLimit2_ROM = 180; // Shall be adapted depending on crossTalk and device sensitivity
gallonm 16:0d4776564733 1829
gallonm 7:2dc81120c917 1830 static const uint32_t ROMABLE_DATA WrapAroundLowReturnRateFilterLimit_ROM = 850; // Shall be adapted depending on crossTalk and device sensitivity
gallonm 7:2dc81120c917 1831 static const uint16_t ROMABLE_DATA WrapAroundHighRawRangeFilterLimit = 350;
gallonm 7:2dc81120c917 1832 static const uint32_t ROMABLE_DATA WrapAroundHighReturnRateFilterLimit_ROM = 1400; // Shall be adapted depending on crossTalk and device sensitivity
gallonm 16:0d4776564733 1833
gallonm 7:2dc81120c917 1834 static const uint32_t ROMABLE_DATA WrapAroundMaximumAmbientRateFilterLimit = 7500;
gallonm 16:0d4776564733 1835
gallonm 7:2dc81120c917 1836 /* Temporal filter data and flush values */
gallonm 7:2dc81120c917 1837 static const uint32_t ROMABLE_DATA MinReturnRateFilterFlush = 75;
gallonm 7:2dc81120c917 1838 static const uint32_t ROMABLE_DATA MaxReturnRateChangeFilterFlush = 50;
gallonm 16:0d4776564733 1839
gallonm 7:2dc81120c917 1840 /* STDDEV values and damper values */
gallonm 16:0d4776564733 1841
gallonm 7:2dc81120c917 1842 static const uint32_t ROMABLE_DATA StdDevLimitLowLight = 300;
gallonm 7:2dc81120c917 1843 static const uint32_t ROMABLE_DATA StdDevLimitLowLightSNR = 30; /* 0.3 */
gallonm 7:2dc81120c917 1844 static const uint32_t ROMABLE_DATA StdDevLimitHighLight = 2500;
gallonm 7:2dc81120c917 1845 static const uint32_t ROMABLE_DATA StdDevLimitHighLightSNR = 5; /* 0.05 */
gallonm 16:0d4776564733 1846
gallonm 7:2dc81120c917 1847 static const uint32_t ROMABLE_DATA StdDevHighConfidenceSNRLimit = 8;
gallonm 16:0d4776564733 1848
gallonm 7:2dc81120c917 1849 static const uint32_t ROMABLE_DATA StdDevMovingTargetStdDevLimit = 90000;
gallonm 16:0d4776564733 1850
gallonm 7:2dc81120c917 1851 static const uint32_t ROMABLE_DATA StdDevMovingTargetReturnRateLimit = 3500;
gallonm 7:2dc81120c917 1852 static const uint32_t ROMABLE_DATA StdDevMovingTargetStdDevForReturnRateLimit = 5000;
gallonm 16:0d4776564733 1853
gallonm 7:2dc81120c917 1854 static const uint32_t ROMABLE_DATA MAX_VAVGDiff = 1800;
gallonm 16:0d4776564733 1855
gallonm 7:2dc81120c917 1856 /* WrapAroundDetection variables */
gallonm 7:2dc81120c917 1857 static const uint16_t ROMABLE_DATA WrapAroundNoDelayCheckPeriod = 2;
gallonm 7:2dc81120c917 1858 static const uint16_t ROMABLE_DATA StdFilteredReadsIncrement = 2;
gallonm 7:2dc81120c917 1859 static const uint16_t ROMABLE_DATA StdMaxFilteredReads = 4;
gallonm 7:2dc81120c917 1860
gallonm 7:2dc81120c917 1861 uint32_t SignalRateDMax;
gallonm 7:2dc81120c917 1862 uint32_t WrapAroundLowReturnRateLimit;
gallonm 7:2dc81120c917 1863 uint32_t WrapAroundLowReturnRateLimit2;
gallonm 7:2dc81120c917 1864 uint32_t WrapAroundLowReturnRateFilterLimit;
gallonm 7:2dc81120c917 1865 uint32_t WrapAroundHighReturnRateFilterLimit;
gallonm 16:0d4776564733 1866
gallonm 7:2dc81120c917 1867 uint8_t u8, u8_2;
gallonm 7:2dc81120c917 1868 uint32_t XTalkCompRate_KCps;
gallonm 7:2dc81120c917 1869 uint32_t StdDevLimit = 300;
gallonm 7:2dc81120c917 1870 uint32_t MaxOrInvalidDistance = 255*_GetUpscale(dev);
gallonm 7:2dc81120c917 1871 /* #define MaxOrInvalidDistance (uint16_t) (255 * 3) */
gallonm 16:0d4776564733 1872
gallonm 7:2dc81120c917 1873 /* Check if distance is Valid or not */
gallonm 7:2dc81120c917 1874 switch (errorCode) {
gallonm 7:2dc81120c917 1875 case 0x0C:
gallonm 7:2dc81120c917 1876 m_trueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 1877 ValidDistance = 0;
gallonm 7:2dc81120c917 1878 break;
gallonm 7:2dc81120c917 1879 case 0x0D:
gallonm 7:2dc81120c917 1880 m_trueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 1881 ValidDistance = 1;
gallonm 7:2dc81120c917 1882 break;
gallonm 7:2dc81120c917 1883 case 0x0F:
gallonm 7:2dc81120c917 1884 m_trueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 1885 ValidDistance = 1;
gallonm 7:2dc81120c917 1886 break;
gallonm 7:2dc81120c917 1887 default:
gallonm 7:2dc81120c917 1888 if (m_rawRange_mm >= MaxOrInvalidDistance) {
gallonm 7:2dc81120c917 1889 ValidDistance = 0;
gallonm 7:2dc81120c917 1890 } else {
gallonm 7:2dc81120c917 1891 ValidDistance = 1;
gallonm 7:2dc81120c917 1892 }
gallonm 7:2dc81120c917 1893 break;
gallonm 7:2dc81120c917 1894 }
gallonm 7:2dc81120c917 1895 m_newTrueRange_mm = m_trueRange_mm;
gallonm 7:2dc81120c917 1896
gallonm 7:2dc81120c917 1897 XTalkCompRate_KCps = VL6180xDevDataGet(dev, XTalkCompRate_KCps );
gallonm 16:0d4776564733 1898
gallonm 7:2dc81120c917 1899
gallonm 7:2dc81120c917 1900 //Update signal rate limits depending on crosstalk
gallonm 7:2dc81120c917 1901 SignalRateDMax = (uint32_t)_GetDMaxDataRetSignalAt400mm(dev) + XTalkCompRate_KCps;
gallonm 7:2dc81120c917 1902 WrapAroundLowReturnRateLimit = WrapAroundLowReturnRateLimit_ROM + XTalkCompRate_KCps;
gallonm 7:2dc81120c917 1903 WrapAroundLowReturnRateLimit2 = ((WrapAroundLowReturnRateLimit2_ROM * SignalRateDMax) / 312) + XTalkCompRate_KCps;
gallonm 7:2dc81120c917 1904 WrapAroundLowReturnRateFilterLimit = ((WrapAroundLowReturnRateFilterLimit_ROM * SignalRateDMax) / 312) + XTalkCompRate_KCps;
gallonm 7:2dc81120c917 1905 WrapAroundHighReturnRateFilterLimit = ((WrapAroundHighReturnRateFilterLimit_ROM * SignalRateDMax) / 312) + XTalkCompRate_KCps;
gallonm 16:0d4776564733 1906
gallonm 16:0d4776564733 1907
gallonm 7:2dc81120c917 1908 /* Checks on low range data */
gallonm 7:2dc81120c917 1909 if ((m_rawRange_mm < WrapAroundLowRawRangeLimit) && (m_rtnSignalRate < WrapAroundLowReturnRateLimit)) {
gallonm 7:2dc81120c917 1910 m_newTrueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 1911 bypassFilter = 1;
gallonm 7:2dc81120c917 1912 }
gallonm 7:2dc81120c917 1913 if ((m_rawRange_mm < WrapAroundLowRawRangeLimit2) && (m_rtnSignalRate < WrapAroundLowReturnRateLimit2)) {
gallonm 7:2dc81120c917 1914 m_newTrueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 1915 bypassFilter = 1;
gallonm 7:2dc81120c917 1916 }
gallonm 16:0d4776564733 1917
gallonm 7:2dc81120c917 1918 /* Checks on Ambient rate level */
gallonm 7:2dc81120c917 1919 if (m_rtnAmbientRate > WrapAroundMaximumAmbientRateFilterLimit) {
gallonm 7:2dc81120c917 1920 /* Too high ambient rate */
gallonm 7:2dc81120c917 1921 FlushFilter = 1;
gallonm 7:2dc81120c917 1922 bypassFilter = 1;
gallonm 7:2dc81120c917 1923 }
gallonm 7:2dc81120c917 1924 /* Checks on Filter flush */
gallonm 7:2dc81120c917 1925 if (m_rtnSignalRate < MinReturnRateFilterFlush) {
gallonm 7:2dc81120c917 1926 /* Completely lost target, so flush the filter */
gallonm 7:2dc81120c917 1927 FlushFilter = 1;
gallonm 7:2dc81120c917 1928 bypassFilter = 1;
gallonm 7:2dc81120c917 1929 }
gallonm 7:2dc81120c917 1930 if (_FilterData(LastReturnRates)[0] != 0) {
gallonm 7:2dc81120c917 1931 if (m_rtnSignalRate > _FilterData(LastReturnRates)[0])
gallonm 7:2dc81120c917 1932 RateChange = (100 * (m_rtnSignalRate - _FilterData(LastReturnRates)[0])) / _FilterData(LastReturnRates)[0];
gallonm 7:2dc81120c917 1933 else
gallonm 7:2dc81120c917 1934 RateChange = (100 * (_FilterData(LastReturnRates)[0] - m_rtnSignalRate)) / _FilterData(LastReturnRates)[0];
gallonm 7:2dc81120c917 1935 } else
gallonm 7:2dc81120c917 1936 RateChange = 0;
gallonm 7:2dc81120c917 1937 if (RateChange > MaxReturnRateChangeFilterFlush) {
gallonm 7:2dc81120c917 1938 FlushFilter = 1;
gallonm 7:2dc81120c917 1939 }
gallonm 7:2dc81120c917 1940 /* TODO optimize filter using circular buffer */
gallonm 7:2dc81120c917 1941 if (FlushFilter == 1) {
gallonm 7:2dc81120c917 1942 _FilterData(MeasurementIndex) = 0;
gallonm 7:2dc81120c917 1943 for (i = 0; i < FILTER_NBOF_SAMPLES; i++) {
gallonm 7:2dc81120c917 1944 _FilterData(LastTrueRange)[i] = FILTER_INVALID_DISTANCE;
gallonm 7:2dc81120c917 1945 _FilterData(LastReturnRates)[i] = 0;
gallonm 7:2dc81120c917 1946 }
gallonm 7:2dc81120c917 1947 } else {
gallonm 7:2dc81120c917 1948 for (i = (uint16_t) (FILTER_NBOF_SAMPLES - 1); i > 0; i--) {
gallonm 7:2dc81120c917 1949 _FilterData(LastTrueRange)[i] = _FilterData(LastTrueRange)[i - 1];
gallonm 7:2dc81120c917 1950 _FilterData(LastReturnRates)[i] = _FilterData(LastReturnRates)[i - 1];
gallonm 7:2dc81120c917 1951 }
gallonm 7:2dc81120c917 1952 }
gallonm 7:2dc81120c917 1953 if (ValidDistance == 1)
gallonm 7:2dc81120c917 1954 _FilterData(LastTrueRange)[0] = m_trueRange_mm;
gallonm 7:2dc81120c917 1955 else
gallonm 7:2dc81120c917 1956 _FilterData(LastTrueRange)[0] = FILTER_INVALID_DISTANCE;
gallonm 7:2dc81120c917 1957 _FilterData(LastReturnRates)[0] = m_rtnSignalRate;
gallonm 16:0d4776564733 1958
gallonm 7:2dc81120c917 1959 /* Check if we need to go through the filter or not */
gallonm 7:2dc81120c917 1960 if (!(((m_rawRange_mm < WrapAroundHighRawRangeFilterLimit) && (m_rtnSignalRate < WrapAroundLowReturnRateFilterLimit)) || ((m_rawRange_mm >= WrapAroundHighRawRangeFilterLimit) && (m_rtnSignalRate < WrapAroundHighReturnRateFilterLimit))))
gallonm 7:2dc81120c917 1961 bypassFilter = 1;
gallonm 16:0d4776564733 1962
gallonm 7:2dc81120c917 1963 /* Check which kind of measurement has been made */
gallonm 7:2dc81120c917 1964 status = VL6180x_RdByte(dev, 0x01AC, &u8 );
gallonm 7:2dc81120c917 1965 if( status ){
gallonm 7:2dc81120c917 1966 VL6180x_ErrLog("0x01AC rd fail");
gallonm 7:2dc81120c917 1967 goto done_err;
gallonm 7:2dc81120c917 1968 }
gallonm 7:2dc81120c917 1969 registerValue =u8;
gallonm 16:0d4776564733 1970
gallonm 7:2dc81120c917 1971 /* Read data for filtering */
gallonm 7:2dc81120c917 1972 status = VL6180x_RdByte(dev, 0x10C, &u8 ); /* read only 8 lsb bits */
gallonm 7:2dc81120c917 1973 if( status ){
gallonm 7:2dc81120c917 1974 VL6180x_ErrLog("0x010C rd fail");
gallonm 7:2dc81120c917 1975 goto done_err;
gallonm 7:2dc81120c917 1976 }
gallonm 7:2dc81120c917 1977 register32BitsValue1=u8;
gallonm 7:2dc81120c917 1978 status = VL6180x_RdByte(dev, 0x0110, &u8); /* read only 8 lsb bits */
gallonm 7:2dc81120c917 1979 if( status ){
gallonm 7:2dc81120c917 1980 VL6180x_ErrLog("0x0110 rd fail");
gallonm 7:2dc81120c917 1981 goto done_err;
gallonm 7:2dc81120c917 1982 }
gallonm 7:2dc81120c917 1983 register32BitsValue2 = u8;
gallonm 16:0d4776564733 1984
gallonm 7:2dc81120c917 1985 if (registerValue == 0x3E) {
gallonm 7:2dc81120c917 1986 _FilterData(Default_ZeroVal) = register32BitsValue1;
gallonm 7:2dc81120c917 1987 _FilterData(Default_VAVGVal) = register32BitsValue2;
gallonm 7:2dc81120c917 1988 } else {
gallonm 7:2dc81120c917 1989 _FilterData(NoDelay_ZeroVal) = register32BitsValue1;
gallonm 7:2dc81120c917 1990 _FilterData(NoDelay_VAVGVal) = register32BitsValue2;
gallonm 7:2dc81120c917 1991 }
gallonm 16:0d4776564733 1992
gallonm 7:2dc81120c917 1993 if (bypassFilter == 1) {
gallonm 7:2dc81120c917 1994 /* Do not go through the filter */
gallonm 7:2dc81120c917 1995 if (registerValue != 0x3E) {
gallonm 7:2dc81120c917 1996 status = VL6180x_WrByte(dev, 0x1AC, 0x3E);
gallonm 7:2dc81120c917 1997 if( status ){
gallonm 7:2dc81120c917 1998 VL6180x_ErrLog("0x01AC bypass wr fail");
gallonm 7:2dc81120c917 1999 goto done_err;
gallonm 7:2dc81120c917 2000 }
gallonm 7:2dc81120c917 2001 status = VL6180x_WrByte(dev, 0x0F2, 0x01);
gallonm 7:2dc81120c917 2002 if( status ){
gallonm 7:2dc81120c917 2003 VL6180x_ErrLog("0x0F2 bypass wr fail");
gallonm 7:2dc81120c917 2004 goto done_err;
gallonm 7:2dc81120c917 2005 }
gallonm 7:2dc81120c917 2006 }
gallonm 7:2dc81120c917 2007 /* Set both Default and NoDelay To same value */
gallonm 7:2dc81120c917 2008 _FilterData(Default_ZeroVal) = register32BitsValue1;
gallonm 7:2dc81120c917 2009 _FilterData(Default_VAVGVal) = register32BitsValue2;
gallonm 7:2dc81120c917 2010 _FilterData(NoDelay_ZeroVal) = register32BitsValue1;
gallonm 7:2dc81120c917 2011 _FilterData(NoDelay_VAVGVal) = register32BitsValue2;
gallonm 7:2dc81120c917 2012 _FilterData(MeasurementIndex) = 0;
gallonm 16:0d4776564733 2013
gallonm 7:2dc81120c917 2014 return m_newTrueRange_mm;
gallonm 7:2dc81120c917 2015 }
gallonm 16:0d4776564733 2016
gallonm 7:2dc81120c917 2017 if (_FilterData(MeasurementIndex) % WrapAroundNoDelayCheckPeriod == 0) {
gallonm 7:2dc81120c917 2018 u8=0x3C;
gallonm 16:0d4776564733 2019 u8_2 = 0x05;
gallonm 7:2dc81120c917 2020 } else {
gallonm 7:2dc81120c917 2021 u8=0x3E;
gallonm 7:2dc81120c917 2022 u8_2 = 0x01;
gallonm 7:2dc81120c917 2023 }
gallonm 7:2dc81120c917 2024 status = VL6180x_WrByte(dev, 0x01AC, u8);
gallonm 7:2dc81120c917 2025 if( status ){
gallonm 7:2dc81120c917 2026 VL6180x_ErrLog("0x01AC wr fail");
gallonm 7:2dc81120c917 2027 goto done_err;
gallonm 7:2dc81120c917 2028 }
gallonm 7:2dc81120c917 2029 status = VL6180x_WrByte(dev, 0x0F2, u8_2);
gallonm 7:2dc81120c917 2030 if( status ){
gallonm 7:2dc81120c917 2031 VL6180x_ErrLog("0x0F2 wr fail");
gallonm 7:2dc81120c917 2032 goto done_err;
gallonm 7:2dc81120c917 2033 }
gallonm 16:0d4776564733 2034
gallonm 16:0d4776564733 2035
gallonm 7:2dc81120c917 2036 _FilterData(MeasurementIndex)++;
gallonm 16:0d4776564733 2037
gallonm 7:2dc81120c917 2038 /* Computes current VAVGDiff */
gallonm 7:2dc81120c917 2039 if (_FilterData(Default_VAVGVal) > _FilterData(NoDelay_VAVGVal))
gallonm 7:2dc81120c917 2040 VAVGDiff = _FilterData(Default_VAVGVal) - _FilterData(NoDelay_VAVGVal);
gallonm 7:2dc81120c917 2041 else
gallonm 7:2dc81120c917 2042 VAVGDiff = 0;
gallonm 7:2dc81120c917 2043 _FilterData(Previous_VAVGDiff) = VAVGDiff;
gallonm 16:0d4776564733 2044
gallonm 7:2dc81120c917 2045 /* Check the VAVGDiff */
gallonm 7:2dc81120c917 2046 if (_FilterData(Default_ZeroVal) > _FilterData(NoDelay_ZeroVal))
gallonm 7:2dc81120c917 2047 IdealVAVGDiff = _FilterData(Default_ZeroVal) - _FilterData(NoDelay_ZeroVal);
gallonm 7:2dc81120c917 2048 else
gallonm 7:2dc81120c917 2049 IdealVAVGDiff = _FilterData(NoDelay_ZeroVal) - _FilterData(Default_ZeroVal);
gallonm 7:2dc81120c917 2050 if (IdealVAVGDiff > MAX_VAVGDiff)
gallonm 7:2dc81120c917 2051 MinVAVGDiff = IdealVAVGDiff - MAX_VAVGDiff;
gallonm 7:2dc81120c917 2052 else
gallonm 7:2dc81120c917 2053 MinVAVGDiff = 0;
gallonm 7:2dc81120c917 2054 MaxVAVGDiff = IdealVAVGDiff + MAX_VAVGDiff;
gallonm 7:2dc81120c917 2055 if (VAVGDiff < MinVAVGDiff || VAVGDiff > MaxVAVGDiff) {
gallonm 7:2dc81120c917 2056 WrapAroundFlag = 1;
gallonm 7:2dc81120c917 2057 } else {
gallonm 7:2dc81120c917 2058 /* Go through filtering check */
gallonm 16:0d4776564733 2059
gallonm 7:2dc81120c917 2060 /* StdDevLimit Damper on SNR */
gallonm 7:2dc81120c917 2061 StdDevLimit = _filter_StdDevDamper(m_rtnAmbientRate, m_rtnSignalRate, StdDevLimitLowLight, StdDevLimitLowLightSNR, StdDevLimitHighLight, StdDevLimitHighLightSNR);
gallonm 16:0d4776564733 2062
gallonm 7:2dc81120c917 2063 /* Standard deviations computations */
gallonm 7:2dc81120c917 2064 StdDevSamples = 0;
gallonm 7:2dc81120c917 2065 StdDevDistanceSum = 0;
gallonm 7:2dc81120c917 2066 StdDevDistanceMean = 0;
gallonm 7:2dc81120c917 2067 StdDevDistance = 0;
gallonm 7:2dc81120c917 2068 StdDevRateSum = 0;
gallonm 7:2dc81120c917 2069 StdDevRateMean = 0;
gallonm 7:2dc81120c917 2070 StdDevRate = 0;
gallonm 7:2dc81120c917 2071 for (i = 0; (i < FILTER_NBOF_SAMPLES) && (StdDevSamples < FILTER_STDDEV_SAMPLES); i++) {
gallonm 7:2dc81120c917 2072 if (_FilterData(LastTrueRange)[i] != FILTER_INVALID_DISTANCE) {
gallonm 7:2dc81120c917 2073 StdDevSamples = (uint16_t) (StdDevSamples + 1);
gallonm 7:2dc81120c917 2074 StdDevDistanceSum = (uint32_t) (StdDevDistanceSum + _FilterData(LastTrueRange)[i]);
gallonm 7:2dc81120c917 2075 StdDevRateSum = (uint32_t) (StdDevRateSum + _FilterData(LastReturnRates)[i]);
gallonm 7:2dc81120c917 2076 }
gallonm 7:2dc81120c917 2077 }
gallonm 7:2dc81120c917 2078 if (StdDevSamples > 0) {
gallonm 7:2dc81120c917 2079 StdDevDistanceMean = (uint32_t) (StdDevDistanceSum / StdDevSamples);
gallonm 7:2dc81120c917 2080 StdDevRateMean = (uint32_t) (StdDevRateSum / StdDevSamples);
gallonm 7:2dc81120c917 2081 }
gallonm 7:2dc81120c917 2082 /* TODO optimize shorten Std dev in aisngle loop computation using sum of x2 - (sum of x)2 */
gallonm 7:2dc81120c917 2083 StdDevSamples = 0;
gallonm 7:2dc81120c917 2084 StdDevDistanceSum = 0;
gallonm 7:2dc81120c917 2085 StdDevRateSum = 0;
gallonm 7:2dc81120c917 2086 for (i = 0; (i < FILTER_NBOF_SAMPLES) && (StdDevSamples < FILTER_STDDEV_SAMPLES); i++) {
gallonm 7:2dc81120c917 2087 if (_FilterData(LastTrueRange)[i] != FILTER_INVALID_DISTANCE) {
gallonm 7:2dc81120c917 2088 StdDevSamples = (uint16_t) (StdDevSamples + 1);
gallonm 7:2dc81120c917 2089 StdDevDistanceSum = (uint32_t) (StdDevDistanceSum + (int) (_FilterData(LastTrueRange)[i] - StdDevDistanceMean) * (int) (_FilterData(LastTrueRange)[i] - StdDevDistanceMean));
gallonm 7:2dc81120c917 2090 StdDevRateSum = (uint32_t) (StdDevRateSum + (int) (_FilterData(LastReturnRates)[i] - StdDevRateMean) * (int) (_FilterData(LastReturnRates)[i] - StdDevRateMean));
gallonm 7:2dc81120c917 2091 }
gallonm 7:2dc81120c917 2092 }
gallonm 7:2dc81120c917 2093 if (StdDevSamples >= MIN_FILTER_STDDEV_SAMPLES) {
gallonm 7:2dc81120c917 2094 StdDevDistance = (uint16_t) (StdDevDistanceSum / StdDevSamples);
gallonm 7:2dc81120c917 2095 StdDevRate = (uint16_t) (StdDevRateSum / StdDevSamples);
gallonm 7:2dc81120c917 2096 } else {
gallonm 7:2dc81120c917 2097 StdDevDistance = 0;
gallonm 7:2dc81120c917 2098 StdDevRate = 0;
gallonm 7:2dc81120c917 2099 }
gallonm 16:0d4776564733 2100
gallonm 7:2dc81120c917 2101 /* Check Return rate standard deviation */
gallonm 7:2dc81120c917 2102 if (StdDevRate < StdDevMovingTargetStdDevLimit) {
gallonm 7:2dc81120c917 2103 if (StdDevSamples < MIN_FILTER_VALID_STDDEV_SAMPLES) {
gallonm 7:2dc81120c917 2104 m_newTrueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 2105 } else {
gallonm 7:2dc81120c917 2106 /* Check distance standard deviation */
gallonm 7:2dc81120c917 2107 if (StdDevRate < StdDevMovingTargetReturnRateLimit)
gallonm 7:2dc81120c917 2108 StdDevLimitWithTargetMove = StdDevLimit + (((StdDevMovingTargetStdDevForReturnRateLimit - StdDevLimit) * StdDevRate) / StdDevMovingTargetReturnRateLimit);
gallonm 7:2dc81120c917 2109 else
gallonm 7:2dc81120c917 2110 StdDevLimitWithTargetMove = StdDevMovingTargetStdDevForReturnRateLimit;
gallonm 16:0d4776564733 2111
gallonm 7:2dc81120c917 2112 if ((StdDevDistance * StdDevHighConfidenceSNRLimit) < StdDevLimitWithTargetMove) {
gallonm 7:2dc81120c917 2113 NoWrapAroundHighConfidenceFlag = 1;
gallonm 7:2dc81120c917 2114 } else {
gallonm 7:2dc81120c917 2115 if (StdDevDistance < StdDevLimitWithTargetMove) {
gallonm 7:2dc81120c917 2116 if (StdDevSamples >= MIN_FILTER_VALID_STDDEV_SAMPLES) {
gallonm 7:2dc81120c917 2117 NoWrapAroundFlag = 1;
gallonm 7:2dc81120c917 2118 } else {
gallonm 7:2dc81120c917 2119 m_newTrueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 2120 }
gallonm 7:2dc81120c917 2121 } else {
gallonm 7:2dc81120c917 2122 WrapAroundFlag = 1;
gallonm 7:2dc81120c917 2123 }
gallonm 7:2dc81120c917 2124 }
gallonm 7:2dc81120c917 2125 }
gallonm 7:2dc81120c917 2126 } else {
gallonm 7:2dc81120c917 2127 WrapAroundFlag = 1;
gallonm 7:2dc81120c917 2128 }
gallonm 7:2dc81120c917 2129 }
gallonm 16:0d4776564733 2130
gallonm 7:2dc81120c917 2131 if (m_newTrueRange_mm == MaxOrInvalidDistance) {
gallonm 7:2dc81120c917 2132 if (_FilterData(StdFilteredReads) > 0)
gallonm 7:2dc81120c917 2133 _FilterData(StdFilteredReads) = (uint16_t) (_FilterData(StdFilteredReads) - 1);
gallonm 7:2dc81120c917 2134 } else {
gallonm 7:2dc81120c917 2135 if (WrapAroundFlag == 1) {
gallonm 7:2dc81120c917 2136 m_newTrueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 2137 _FilterData(StdFilteredReads) = (uint16_t) (_FilterData(StdFilteredReads) + StdFilteredReadsIncrement);
gallonm 7:2dc81120c917 2138 if (_FilterData(StdFilteredReads) > StdMaxFilteredReads)
gallonm 7:2dc81120c917 2139 _FilterData(StdFilteredReads) = StdMaxFilteredReads;
gallonm 7:2dc81120c917 2140 } else {
gallonm 7:2dc81120c917 2141 if (NoWrapAroundFlag == 1) {
gallonm 7:2dc81120c917 2142 if (_FilterData(StdFilteredReads) > 0) {
gallonm 7:2dc81120c917 2143 m_newTrueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 2144 if (_FilterData(StdFilteredReads) > StdFilteredReadsIncrement)
gallonm 7:2dc81120c917 2145 _FilterData(StdFilteredReads) = (uint16_t) (_FilterData(StdFilteredReads) - StdFilteredReadsIncrement);
gallonm 7:2dc81120c917 2146 else
gallonm 7:2dc81120c917 2147 _FilterData(StdFilteredReads) = 0;
gallonm 7:2dc81120c917 2148 }
gallonm 7:2dc81120c917 2149 } else {
gallonm 7:2dc81120c917 2150 if (NoWrapAroundHighConfidenceFlag == 1) {
gallonm 7:2dc81120c917 2151 _FilterData(StdFilteredReads) = 0;
gallonm 7:2dc81120c917 2152 }
gallonm 7:2dc81120c917 2153 }
gallonm 7:2dc81120c917 2154 }
gallonm 7:2dc81120c917 2155 }
gallonm 16:0d4776564733 2156
gallonm 7:2dc81120c917 2157 return m_newTrueRange_mm;
gallonm 7:2dc81120c917 2158 done_err:
gallonm 7:2dc81120c917 2159 return -1;
gallonm 16:0d4776564733 2160
gallonm 7:2dc81120c917 2161 #undef MaxOrInvalidDistance
gallonm 7:2dc81120c917 2162 }
gallonm 16:0d4776564733 2163
gallonm 16:0d4776564733 2164
gallonm 7:2dc81120c917 2165 int VL6180X::_filter_GetResult(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData) {
gallonm 7:2dc81120c917 2166 uint32_t m_rawRange_mm = 0;
gallonm 7:2dc81120c917 2167 int32_t FilteredRange;
gallonm 7:2dc81120c917 2168 const uint8_t scaler = _GetUpscale(dev);
gallonm 7:2dc81120c917 2169 uint8_t u8;
gallonm 7:2dc81120c917 2170 int status;
gallonm 16:0d4776564733 2171
gallonm 7:2dc81120c917 2172 do {
gallonm 7:2dc81120c917 2173 status = VL6180x_RdByte(dev, RESULT_RANGE_RAW, &u8);
gallonm 7:2dc81120c917 2174 if (status) {
gallonm 7:2dc81120c917 2175 VL6180x_ErrLog("RESULT_RANGE_RAW rd fail");
gallonm 7:2dc81120c917 2176 break;
gallonm 7:2dc81120c917 2177 }
gallonm 7:2dc81120c917 2178 m_rawRange_mm = u8;
gallonm 16:0d4776564733 2179
gallonm 7:2dc81120c917 2180 FilteredRange = _filter_Start(dev, pRangeData->range_mm, (m_rawRange_mm * scaler), pRangeData->rtnRate, pRangeData->rtnAmbRate, pRangeData->errorStatus);
gallonm 7:2dc81120c917 2181 if( FilteredRange<0 ){
gallonm 7:2dc81120c917 2182 status = -1;
gallonm 7:2dc81120c917 2183 break;
gallonm 7:2dc81120c917 2184 }
gallonm 7:2dc81120c917 2185 pRangeData->FilteredData.range_mm= FilteredRange;
gallonm 7:2dc81120c917 2186 pRangeData->FilteredData.rawRange_mm = m_rawRange_mm * scaler;
gallonm 7:2dc81120c917 2187 } while (0);
gallonm 7:2dc81120c917 2188 return status;
gallonm 7:2dc81120c917 2189 }
gallonm 16:0d4776564733 2190
gallonm 7:2dc81120c917 2191 #undef _FilterData
gallonm 7:2dc81120c917 2192 #undef FILTER_STDDEV_SAMPLES
gallonm 7:2dc81120c917 2193 #undef MIN_FILTER_STDDEV_SAMPLES
gallonm 7:2dc81120c917 2194 #undef MIN_FILTER_VALID_STDDEV_SAMPLES
gallonm 7:2dc81120c917 2195 #undef FILTER_INVALID_DISTANCE
gallonm 16:0d4776564733 2196
gallonm 7:2dc81120c917 2197 #endif /* VL6180x_WRAP_AROUND_FILTER_SUPPORT */
gallonm 16:0d4776564733 2198
gallonm 7:2dc81120c917 2199 #ifdef VL6180x_HAVE_RATE_DATA
gallonm 16:0d4776564733 2200
gallonm 7:2dc81120c917 2201 int VL6180X::_GetRateResult(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData) {
gallonm 7:2dc81120c917 2202 uint32_t m_rtnConvTime = 0;
gallonm 7:2dc81120c917 2203 uint32_t m_rtnSignalRate = 0;
gallonm 7:2dc81120c917 2204 uint32_t m_rtnAmbientRate = 0;
gallonm 7:2dc81120c917 2205 uint32_t m_rtnSignalCount = 0;
gallonm 7:2dc81120c917 2206 uint32_t m_rtnAmbientCount = 0;
gallonm 7:2dc81120c917 2207 uint32_t m_refConvTime = 0;
gallonm 7:2dc81120c917 2208 uint32_t cRtnSignalCountMax = 0x7FFFFFFF;
gallonm 7:2dc81120c917 2209 uint32_t cDllPeriods = 6;
gallonm 7:2dc81120c917 2210 uint32_t calcConvTime = 0;
gallonm 16:0d4776564733 2211
gallonm 7:2dc81120c917 2212 int status;
gallonm 16:0d4776564733 2213
gallonm 7:2dc81120c917 2214 do {
gallonm 16:0d4776564733 2215
gallonm 7:2dc81120c917 2216 status = VL6180x_RdDWord(dev, RESULT_RANGE_RETURN_SIGNAL_COUNT, &m_rtnSignalCount);
gallonm 7:2dc81120c917 2217 if (status) {
gallonm 7:2dc81120c917 2218 VL6180x_ErrLog("RESULT_RANGE_RETURN_SIGNAL_COUNT rd fail");
gallonm 7:2dc81120c917 2219 break;
gallonm 7:2dc81120c917 2220 }
gallonm 7:2dc81120c917 2221 if (m_rtnSignalCount > cRtnSignalCountMax) {
gallonm 7:2dc81120c917 2222 m_rtnSignalCount = 0;
gallonm 7:2dc81120c917 2223 }
gallonm 16:0d4776564733 2224
gallonm 7:2dc81120c917 2225 status = VL6180x_RdDWord(dev, RESULT_RANGE_RETURN_AMB_COUNT, &m_rtnAmbientCount);
gallonm 7:2dc81120c917 2226 if (status) {
gallonm 7:2dc81120c917 2227 VL6180x_ErrLog("RESULT_RANGE_RETURN_AMB_COUNTrd fail");
gallonm 7:2dc81120c917 2228 break;
gallonm 7:2dc81120c917 2229 }
gallonm 16:0d4776564733 2230
gallonm 16:0d4776564733 2231
gallonm 7:2dc81120c917 2232 status = VL6180x_RdDWord(dev, RESULT_RANGE_RETURN_CONV_TIME, &m_rtnConvTime);
gallonm 7:2dc81120c917 2233 if (status) {
gallonm 7:2dc81120c917 2234 VL6180x_ErrLog("RESULT_RANGE_RETURN_CONV_TIME rd fail");
gallonm 7:2dc81120c917 2235 break;
gallonm 7:2dc81120c917 2236 }
gallonm 16:0d4776564733 2237
gallonm 7:2dc81120c917 2238 status = VL6180x_RdDWord(dev, RESULT_RANGE_REFERENCE_CONV_TIME, &m_refConvTime);
gallonm 7:2dc81120c917 2239 if (status) {
gallonm 7:2dc81120c917 2240 VL6180x_ErrLog("RESULT_RANGE_REFERENCE_CONV_TIME rd fail");
gallonm 7:2dc81120c917 2241 break;
gallonm 7:2dc81120c917 2242 }
gallonm 16:0d4776564733 2243
gallonm 7:2dc81120c917 2244 pRangeData->rtnConvTime = m_rtnConvTime;
gallonm 7:2dc81120c917 2245 pRangeData->refConvTime = m_refConvTime;
gallonm 16:0d4776564733 2246
gallonm 7:2dc81120c917 2247 calcConvTime = m_refConvTime;
gallonm 7:2dc81120c917 2248 if (m_rtnConvTime > m_refConvTime) {
gallonm 7:2dc81120c917 2249 calcConvTime = m_rtnConvTime;
gallonm 7:2dc81120c917 2250 }
gallonm 7:2dc81120c917 2251 if (calcConvTime == 0)
gallonm 7:2dc81120c917 2252 calcConvTime = 63000;
gallonm 16:0d4776564733 2253
gallonm 7:2dc81120c917 2254 m_rtnSignalRate = (m_rtnSignalCount * 1000) / calcConvTime;
gallonm 7:2dc81120c917 2255 m_rtnAmbientRate = (m_rtnAmbientCount * cDllPeriods * 1000) / calcConvTime;
gallonm 16:0d4776564733 2256
gallonm 7:2dc81120c917 2257 pRangeData->rtnRate = m_rtnSignalRate;
gallonm 7:2dc81120c917 2258 pRangeData->rtnAmbRate = m_rtnAmbientRate;
gallonm 16:0d4776564733 2259
gallonm 16:0d4776564733 2260
gallonm 7:2dc81120c917 2261 } while (0);
gallonm 7:2dc81120c917 2262 return status;
gallonm 7:2dc81120c917 2263 }
gallonm 7:2dc81120c917 2264 #endif /* VL6180x_HAVE_RATE_DATA */
gallonm 16:0d4776564733 2265
gallonm 16:0d4776564733 2266
gallonm 7:2dc81120c917 2267 int VL6180X::VL6180x_DMaxSetState(VL6180xDev_t dev, int state){
gallonm 7:2dc81120c917 2268 int status;
gallonm 7:2dc81120c917 2269 LOG_FUNCTION_START("%d", state);
gallonm 7:2dc81120c917 2270 #if VL6180x_HAVE_DMAX_RANGING
gallonm 7:2dc81120c917 2271 VL6180xDevDataSet(dev,DMaxEnable, state);
gallonm 7:2dc81120c917 2272 if( state ){
gallonm 7:2dc81120c917 2273 status = _DMax_InitData(dev);
gallonm 7:2dc81120c917 2274 }
gallonm 7:2dc81120c917 2275 else {
gallonm 7:2dc81120c917 2276 status = 0;
gallonm 7:2dc81120c917 2277 }
gallonm 7:2dc81120c917 2278 #else
gallonm 7:2dc81120c917 2279 status = NOT_SUPPORTED;
gallonm 7:2dc81120c917 2280 #endif
gallonm 7:2dc81120c917 2281 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 2282 return status;
gallonm 7:2dc81120c917 2283 }
gallonm 16:0d4776564733 2284
gallonm 7:2dc81120c917 2285 int VL6180X::VL6180x_DMaxGetState(VL6180xDev_t dev){
gallonm 7:2dc81120c917 2286 int status;
gallonm 7:2dc81120c917 2287 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 2288 #if VL6180x_HAVE_DMAX_RANGING
gallonm 7:2dc81120c917 2289 status = VL6180xDevDataGet(dev,DMaxEnable);
gallonm 7:2dc81120c917 2290 #else
gallonm 7:2dc81120c917 2291 status = 0;
gallonm 7:2dc81120c917 2292 #endif
gallonm 7:2dc81120c917 2293 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 2294 return status;
gallonm 7:2dc81120c917 2295 }
gallonm 16:0d4776564733 2296
gallonm 16:0d4776564733 2297
gallonm 7:2dc81120c917 2298 #if VL6180x_HAVE_DMAX_RANGING
gallonm 16:0d4776564733 2299
gallonm 4:a5abf7757947 2300 #define _DMaxData(field) VL6180xDevDataGet(dev, DMaxData.field)
gallonm 7:2dc81120c917 2301 /*
gallonm 7:2dc81120c917 2302 * Convert fix point x.7 to KCpount per sec
gallonm 7:2dc81120c917 2303 */
gallonm 16:0d4776564733 2304
gallonm 4:a5abf7757947 2305 #ifndef VL6180x_PLATFORM_PROVIDE_SQRT
gallonm 16:0d4776564733 2306
gallonm 7:2dc81120c917 2307 /*
gallonm 7:2dc81120c917 2308 * 32 bit integer square root with not so bad precision (integer result) and is quite fast
gallonm 7:2dc81120c917 2309 * see http://en.wikipedia.org/wiki/Methods_of_computing_square_roots
gallonm 7:2dc81120c917 2310 */
gallonm 7:2dc81120c917 2311 uint32_t VL6180x_SqrtUint32(uint32_t num) {
gallonm 4:a5abf7757947 2312 uint32_t res = 0;
gallonm 4:a5abf7757947 2313 uint32_t bit = 1 << 30; /* The second-to-top bit is set: 1 << 30 for 32 bits */
gallonm 16:0d4776564733 2314
gallonm 4:a5abf7757947 2315 /* "bit" starts at the highest power of four <= the argument. */
gallonm 4:a5abf7757947 2316 while (bit > num)
gallonm 4:a5abf7757947 2317 bit >>= 2;
gallonm 16:0d4776564733 2318
gallonm 4:a5abf7757947 2319 while (bit != 0) {
gallonm 4:a5abf7757947 2320 if (num >= res + bit) {
gallonm 4:a5abf7757947 2321 num -= res + bit;
gallonm 4:a5abf7757947 2322 res = (res >> 1) + bit;
gallonm 4:a5abf7757947 2323 }
gallonm 4:a5abf7757947 2324 else
gallonm 4:a5abf7757947 2325 res >>= 1;
gallonm 4:a5abf7757947 2326 bit >>= 2;
gallonm 1:1de1ea2994d9 2327 }
gallonm 4:a5abf7757947 2328 return res;
gallonm 4:a5abf7757947 2329 }
gallonm 4:a5abf7757947 2330 #endif
gallonm 16:0d4776564733 2331
gallonm 16:0d4776564733 2332
gallonm 7:2dc81120c917 2333 /* DMax one time init */
gallonm 7:2dc81120c917 2334 void _DMax_OneTimeInit(VL6180xDev_t dev){
gallonm 4:a5abf7757947 2335 _DMaxData(ambTuningWindowFactor_K)=DEF_AMBIENT_TUNING;
gallonm 1:1de1ea2994d9 2336 }
gallonm 16:0d4776564733 2337
gallonm 16:0d4776564733 2338
gallonm 7:2dc81120c917 2339 static uint32_t _DMax_RawValueAtRateKCps(VL6180xDev_t dev, int32_t rate){
gallonm 4:a5abf7757947 2340 uint32_t snrLimit_K;
gallonm 4:a5abf7757947 2341 int32_t DMaxSq;
gallonm 4:a5abf7757947 2342 uint32_t RawDMax;
gallonm 4:a5abf7757947 2343 DMaxFix_t retSignalAt400mm;
gallonm 4:a5abf7757947 2344 uint32_t ambTuningWindowFactor_K;
gallonm 16:0d4776564733 2345
gallonm 16:0d4776564733 2346
gallonm 4:a5abf7757947 2347 ambTuningWindowFactor_K = _DMaxData(ambTuningWindowFactor_K);
gallonm 4:a5abf7757947 2348 snrLimit_K = _DMaxData(snrLimit_K);
gallonm 4:a5abf7757947 2349 retSignalAt400mm = _DMaxData(retSignalAt400mm); /* 12 to 18 bits Kcps */
gallonm 4:a5abf7757947 2350 if( rate > 0 ){
gallonm 4:a5abf7757947 2351 DMaxSq = 400*400*1000 / rate -(400*400/330); /* K of (1/RtnAmb -1/330 )=> 30bit- (12-18)bit => 12-18 bits*/
gallonm 4:a5abf7757947 2352 if( DMaxSq<= 0){
gallonm 4:a5abf7757947 2353 RawDMax = 0;
gallonm 4:a5abf7757947 2354 }
gallonm 4:a5abf7757947 2355 else{
gallonm 4:a5abf7757947 2356 /* value can be more 32 bit so base on raneg apply *retSignalAt400mm before or after division to presevr accuracy */
gallonm 4:a5abf7757947 2357 if( DMaxSq< (2<<12) ){
gallonm 4:a5abf7757947 2358 DMaxSq = DMaxSq*retSignalAt400mm/(snrLimit_K+ambTuningWindowFactor_K); /* max 12 + 12 to 18 -10 => 12-26 bit */
gallonm 4:a5abf7757947 2359 }else{
gallonm 4:a5abf7757947 2360 DMaxSq = DMaxSq/(snrLimit_K+ambTuningWindowFactor_K)*retSignalAt400mm; /* 12 to 18 -10 + 12 to 18 *=> 12-26 bit */
gallonm 4:a5abf7757947 2361 }
gallonm 4:a5abf7757947 2362 RawDMax=VL6180x_SqrtUint32(DMaxSq);
gallonm 4:a5abf7757947 2363 }
gallonm 4:a5abf7757947 2364 }
gallonm 4:a5abf7757947 2365 else{
gallonm 4:a5abf7757947 2366 RawDMax = 0x7FFFFFFF; /* bigest possibmle 32bit signed value */
gallonm 4:a5abf7757947 2367 }
gallonm 4:a5abf7757947 2368 return RawDMax;
gallonm 4:a5abf7757947 2369 }
gallonm 16:0d4776564733 2370
gallonm 7:2dc81120c917 2371 /*
gallonm 7:2dc81120c917 2372 * fetch static data from register to avoid re-read
gallonm 7:2dc81120c917 2373 * precompute all intermediate constant and cliipings
gallonm 7:2dc81120c917 2374 *
gallonm 7:2dc81120c917 2375 * to be re-used/call on changes of :
gallonm 7:2dc81120c917 2376 * 0x2A
gallonm 7:2dc81120c917 2377 * SYSRANGE_MAX_AMBIENT_LEVEL_MULT
gallonm 7:2dc81120c917 2378 * Dev Data XtalkComRate_KCPs
gallonm 7:2dc81120c917 2379 * SYSRANGE_MAX_CONVERGENCE_TIME
gallonm 7:2dc81120c917 2380 * SYSRANGE_RANGE_CHECK_ENABLES mask RANGE_CHECK_RANGE_ENABLE_MASK
gallonm 7:2dc81120c917 2381 * range 0xb8-0xbb (0xbb)
gallonm 7:2dc81120c917 2382 */
gallonm 7:2dc81120c917 2383 int VL6180X::_DMax_InitData(VL6180xDev_t dev){
gallonm 3:454541a079f4 2384 int status, warning;
gallonm 3:454541a079f4 2385 uint8_t u8;
gallonm 3:454541a079f4 2386 uint16_t u16;
gallonm 3:454541a079f4 2387 uint32_t u32;
gallonm 3:454541a079f4 2388 uint32_t Reg2A_KCps;
gallonm 3:454541a079f4 2389 uint32_t RegB8;
gallonm 3:454541a079f4 2390 uint8_t MaxConvTime;
gallonm 3:454541a079f4 2391 uint32_t XTalkCompRate_KCps;
gallonm 3:454541a079f4 2392 uint32_t RangeIgnoreThreshold;
gallonm 3:454541a079f4 2393 int32_t minSignalNeeded;
gallonm 3:454541a079f4 2394 uint8_t SysRangeCheckEn;
gallonm 3:454541a079f4 2395 uint8_t snrLimit;
gallonm 3:454541a079f4 2396 warning=0;
gallonm 16:0d4776564733 2397
gallonm 3:454541a079f4 2398 static const int ROMABLE_DATA MaxConvTimeAdjust=-4;
gallonm 16:0d4776564733 2399
gallonm 3:454541a079f4 2400 LOG_FUNCTION_START("");
gallonm 3:454541a079f4 2401 do{
gallonm 7:2dc81120c917 2402 status = VL6180x_RdByte(dev, 0x02A ,&u8);
gallonm 3:454541a079f4 2403 if( status ){
gallonm 3:454541a079f4 2404 VL6180x_ErrLog("Reg 0x02A rd fail");
gallonm 3:454541a079f4 2405 break;
gallonm 3:454541a079f4 2406 }
gallonm 16:0d4776564733 2407
gallonm 3:454541a079f4 2408 if( u8 == 0 ) {
gallonm 3:454541a079f4 2409 warning = CALIBRATION_WARNING;
gallonm 3:454541a079f4 2410 u8 = 40; /* use a default average value */
gallonm 3:454541a079f4 2411 }
gallonm 3:454541a079f4 2412 Reg2A_KCps = Fix7_2_KCPs(u8); /* convert to KCPs */
gallonm 16:0d4776564733 2413
gallonm 7:2dc81120c917 2414 status = VL6180x_RdByte(dev, SYSRANGE_RANGE_CHECK_ENABLES, &SysRangeCheckEn);
gallonm 3:454541a079f4 2415 if (status) {
gallonm 3:454541a079f4 2416 VL6180x_ErrLog("SYSRANGE_RANGE_CHECK_ENABLES rd fail ");
gallonm 3:454541a079f4 2417 break;
gallonm 3:454541a079f4 2418 }
gallonm 16:0d4776564733 2419
gallonm 7:2dc81120c917 2420 status = VL6180x_RdByte(dev, SYSRANGE_MAX_CONVERGENCE_TIME, &MaxConvTime);
gallonm 3:454541a079f4 2421 if( status){
gallonm 3:454541a079f4 2422 VL6180x_ErrLog("SYSRANGE_MAX_CONVERGENCE_TIME rd fail ");
gallonm 3:454541a079f4 2423 break;
gallonm 3:454541a079f4 2424 }
gallonm 16:0d4776564733 2425
gallonm 7:2dc81120c917 2426 status = VL6180x_RdDWord(dev, 0x0B8, &RegB8);
gallonm 3:454541a079f4 2427 if( status ){
gallonm 3:454541a079f4 2428 VL6180x_ErrLog("reg 0x0B8 rd fail ");
gallonm 3:454541a079f4 2429 break;
gallonm 3:454541a079f4 2430 }
gallonm 16:0d4776564733 2431
gallonm 7:2dc81120c917 2432 status = VL6180x_RdByte(dev, SYSRANGE_MAX_AMBIENT_LEVEL_MULT, &snrLimit);
gallonm 3:454541a079f4 2433 if( status){
gallonm 3:454541a079f4 2434 VL6180x_ErrLog("SYSRANGE_MAX_AMBIENT_LEVEL_MULT rd fail ");
gallonm 3:454541a079f4 2435 break;
gallonm 3:454541a079f4 2436 }
gallonm 3:454541a079f4 2437 _DMaxData(snrLimit_K) = (int32_t)16*1000/snrLimit;
gallonm 3:454541a079f4 2438 XTalkCompRate_KCps = VL6180xDevDataGet(dev, XTalkCompRate_KCps );
gallonm 16:0d4776564733 2439
gallonm 3:454541a079f4 2440 if( Reg2A_KCps >= XTalkCompRate_KCps){
gallonm 3:454541a079f4 2441 _DMaxData(retSignalAt400mm)=( Reg2A_KCps - XTalkCompRate_KCps);
gallonm 3:454541a079f4 2442 }
gallonm 3:454541a079f4 2443 else{
gallonm 3:454541a079f4 2444 _DMaxData(retSignalAt400mm)=0; /* Reg2A_K - XTalkCompRate_KCp <0 is invalid */
gallonm 3:454541a079f4 2445 }
gallonm 16:0d4776564733 2446
gallonm 3:454541a079f4 2447 /* if xtalk range check is off omit it in snr clipping */
gallonm 3:454541a079f4 2448 if( SysRangeCheckEn&RANGE_CHECK_RANGE_ENABLE_MASK ){
gallonm 7:2dc81120c917 2449 status = VL6180x_RdWord(dev, SYSRANGE_RANGE_IGNORE_THRESHOLD, &u16);
gallonm 3:454541a079f4 2450 if( status){
gallonm 3:454541a079f4 2451 VL6180x_ErrLog("SYSRANGE_RANGE_IGNORE_THRESHOLD rd fail ");
gallonm 3:454541a079f4 2452 break;
gallonm 3:454541a079f4 2453 }
gallonm 3:454541a079f4 2454 RangeIgnoreThreshold = Fix7_2_KCPs(u16);
gallonm 3:454541a079f4 2455 }
gallonm 3:454541a079f4 2456 else{
gallonm 3:454541a079f4 2457 RangeIgnoreThreshold = 0;
gallonm 3:454541a079f4 2458 }
gallonm 16:0d4776564733 2459
gallonm 3:454541a079f4 2460 minSignalNeeded = (RegB8*256)/((int32_t)MaxConvTime+(int32_t)MaxConvTimeAdjust); /* KCps 8+8 bit -(1 to 6 bit) => 15-10 bit */
gallonm 3:454541a079f4 2461 /* minSignalNeeded = max ( minSignalNeeded, RangeIgnoreThreshold - XTalkCompRate_KCps) */
gallonm 3:454541a079f4 2462 if( minSignalNeeded <= RangeIgnoreThreshold - XTalkCompRate_KCps )
gallonm 3:454541a079f4 2463 minSignalNeeded = RangeIgnoreThreshold - XTalkCompRate_KCps;
gallonm 16:0d4776564733 2464
gallonm 3:454541a079f4 2465 u32 = (minSignalNeeded*(uint32_t)snrLimit)/16;
gallonm 3:454541a079f4 2466 _DMaxData(ClipSnrLimit ) = _DMax_RawValueAtRateKCps(dev, u32 ); /* clip to dmax to min signal snr limit rate*/
gallonm 3:454541a079f4 2467 }
gallonm 3:454541a079f4 2468 while(0);
gallonm 3:454541a079f4 2469 if( !status )
gallonm 3:454541a079f4 2470 status = warning;
gallonm 3:454541a079f4 2471 LOG_FUNCTION_END(status);
gallonm 3:454541a079f4 2472 return status;
gallonm 1:1de1ea2994d9 2473 }
gallonm 16:0d4776564733 2474
gallonm 7:2dc81120c917 2475 static int _DMax_Compute(VL6180xDev_t dev, VL6180x_RangeData_t *pRange){
gallonm 7:2dc81120c917 2476 uint32_t rtnAmbRate;
gallonm 7:2dc81120c917 2477 int32_t DMax;
gallonm 7:2dc81120c917 2478 int scaling;
gallonm 7:2dc81120c917 2479 uint16_t HwLimitAtScale;
gallonm 7:2dc81120c917 2480 static const int ROMABLE_DATA rtnAmbLowLimit_KCps=330*1000;
gallonm 16:0d4776564733 2481
gallonm 7:2dc81120c917 2482 rtnAmbRate = pRange->rtnAmbRate;
gallonm 7:2dc81120c917 2483 if( rtnAmbRate < rtnAmbLowLimit_KCps ){
gallonm 7:2dc81120c917 2484 DMax = _DMax_RawValueAtRateKCps( dev, rtnAmbRate);
gallonm 7:2dc81120c917 2485 scaling = _GetUpscale(dev);
gallonm 7:2dc81120c917 2486 HwLimitAtScale=UpperLimitLookUP[scaling - 1];
gallonm 16:0d4776564733 2487
gallonm 7:2dc81120c917 2488 if( DMax > _DMaxData(ClipSnrLimit) ){
gallonm 7:2dc81120c917 2489 DMax=_DMaxData(ClipSnrLimit);
gallonm 7:2dc81120c917 2490 }
gallonm 7:2dc81120c917 2491 if( DMax > HwLimitAtScale ){
gallonm 7:2dc81120c917 2492 DMax=HwLimitAtScale;
gallonm 7:2dc81120c917 2493 }
gallonm 7:2dc81120c917 2494 pRange->DMax=DMax;
gallonm 7:2dc81120c917 2495 }
gallonm 7:2dc81120c917 2496 else{
gallonm 7:2dc81120c917 2497 pRange->DMax = 0;
gallonm 7:2dc81120c917 2498 }
gallonm 7:2dc81120c917 2499 return 0;
gallonm 7:2dc81120c917 2500 }
gallonm 16:0d4776564733 2501
gallonm 7:2dc81120c917 2502 #undef _DMaxData
gallonm 3:454541a079f4 2503 #undef Fix7_2_KCPs
gallonm 16:0d4776564733 2504
gallonm 7:2dc81120c917 2505 #endif /* VL6180x_HAVE_DMAX_RANGING */
gallonm 16:0d4776564733 2506
gallonm 16:0d4776564733 2507
gallonm 7:2dc81120c917 2508 /******************************************************************************/
gallonm 7:2dc81120c917 2509 /******************************************************************************/
gallonm 16:0d4776564733 2510
gallonm 16:0d4776564733 2511
gallonm 16:0d4776564733 2512
gallonm 7:2dc81120c917 2513 /****************** Write and read functions from I2C *************************/
gallonm 16:0d4776564733 2514
gallonm 4:a5abf7757947 2515 int VL6180X::VL6180x_WrByte(VL6180xDev_t dev, uint16_t index, uint8_t data)
gallonm 4:a5abf7757947 2516 {
gallonm 16:0d4776564733 2517 int status;
gallonm 16:0d4776564733 2518
gallonm 16:0d4776564733 2519 status=VL6180x_I2CWrite(Device->I2cAddr, index, &data,(uint8_t)1);
gallonm 16:0d4776564733 2520 return status;
gallonm 4:a5abf7757947 2521 }
gallonm 16:0d4776564733 2522
gallonm 4:a5abf7757947 2523 int VL6180X::VL6180x_WrWord(VL6180xDev_t dev, uint16_t index, uint16_t data)
gallonm 4:a5abf7757947 2524 {
gallonm 16:0d4776564733 2525 int status;
gallonm 16:0d4776564733 2526
gallonm 16:0d4776564733 2527 status=VL6180x_I2CWrite(Device->I2cAddr, index, (uint8_t *)&data,(uint8_t)2);
gallonm 16:0d4776564733 2528 return status;
gallonm 4:a5abf7757947 2529 }
gallonm 16:0d4776564733 2530
gallonm 4:a5abf7757947 2531 int VL6180X::VL6180x_WrDWord(VL6180xDev_t dev, uint16_t index, uint32_t data)
gallonm 4:a5abf7757947 2532 {
gallonm 16:0d4776564733 2533 int status;
gallonm 16:0d4776564733 2534
gallonm 16:0d4776564733 2535 status=VL6180x_I2CWrite(Device->I2cAddr, index, (uint8_t *)&data,(uint8_t)4);
gallonm 16:0d4776564733 2536 return status;
gallonm 4:a5abf7757947 2537 }
gallonm 16:0d4776564733 2538
gallonm 4:a5abf7757947 2539 int VL6180X::VL6180x_RdByte(VL6180xDev_t dev, uint16_t index, uint8_t *data)
gallonm 4:a5abf7757947 2540 {
gallonm 16:0d4776564733 2541 int status;
gallonm 16:0d4776564733 2542
gallonm 16:0d4776564733 2543 uint8_t buffer;
gallonm 16:0d4776564733 2544 status=VL6180x_I2CRead(Device->I2cAddr, index, &buffer,1);
gallonm 16:0d4776564733 2545 if(!status)
gallonm 16:0d4776564733 2546 {
gallonm 16:0d4776564733 2547 *data=buffer;
gallonm 16:0d4776564733 2548 }
gallonm 16:0d4776564733 2549 return status;
gallonm 4:a5abf7757947 2550 }
gallonm 16:0d4776564733 2551
gallonm 4:a5abf7757947 2552 int VL6180X::VL6180x_RdWord(VL6180xDev_t dev, uint16_t index, uint16_t *data)
gallonm 4:a5abf7757947 2553 {
gallonm 16:0d4776564733 2554 int status;
gallonm 16:0d4776564733 2555
gallonm 16:0d4776564733 2556 uint8_t buffer[2];
gallonm 16:0d4776564733 2557 status=VL6180x_I2CRead(Device->I2cAddr, index, buffer, 2);
gallonm 16:0d4776564733 2558 if(!status)
gallonm 16:0d4776564733 2559 {
gallonm 16:0d4776564733 2560 memcpy(data, buffer, 2);
gallonm 16:0d4776564733 2561 }
gallonm 16:0d4776564733 2562 return status;
gallonm 4:a5abf7757947 2563 }
gallonm 16:0d4776564733 2564
gallonm 4:a5abf7757947 2565 int VL6180X::VL6180x_RdDWord(VL6180xDev_t dev, uint16_t index, uint32_t *data)
gallonm 4:a5abf7757947 2566 {
gallonm 16:0d4776564733 2567 int status;
gallonm 16:0d4776564733 2568 uint8_t buffer[4];
gallonm 16:0d4776564733 2569 status=VL6180x_I2CRead(Device->I2cAddr, index, buffer,4);
gallonm 16:0d4776564733 2570 if(!status)
gallonm 16:0d4776564733 2571 {
gallonm 16:0d4776564733 2572 memcpy(data, buffer, 4);
gallonm 16:0d4776564733 2573 }
gallonm 16:0d4776564733 2574 return status;
gallonm 4:a5abf7757947 2575 }
gallonm 16:0d4776564733 2576
licio.mapelli@st.com 8:f943a1fca15f 2577 int VL6180X::VL6180x_UpdateByte(VL6180xDev_t dev, uint16_t index, uint8_t AndData, uint8_t OrData)
licio.mapelli@st.com 8:f943a1fca15f 2578 {
gallonm 16:0d4776564733 2579 int status;
gallonm 16:0d4776564733 2580 uint8_t buffer;
gallonm 16:0d4776564733 2581
gallonm 16:0d4776564733 2582 status=VL6180x_I2CWrite(Device->I2cAddr, index, (uint8_t *)buffer,(uint8_t)0);
gallonm 16:0d4776564733 2583 if(!status)
gallonm 16:0d4776564733 2584 {
gallonm 16:0d4776564733 2585 /* read data direct onto buffer */
gallonm 16:0d4776564733 2586 status=VL6180x_I2CRead(Device->I2cAddr, index, &buffer,1);
gallonm 16:0d4776564733 2587 if(!status)
gallonm 16:0d4776564733 2588 {
gallonm 16:0d4776564733 2589 buffer=(buffer & AndData)|OrData;
gallonm 16:0d4776564733 2590 status=VL6180x_I2CWrite(Device->I2cAddr, index, &buffer, (uint8_t)1);
gallonm 16:0d4776564733 2591 }
gallonm 16:0d4776564733 2592 }
gallonm 16:0d4776564733 2593 return status;
gallonm 7:2dc81120c917 2594 }
gallonm 16:0d4776564733 2595
gallonm 4:a5abf7757947 2596 int VL6180X::VL6180x_I2CWrite(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t* pBuffer, uint16_t NumByteToWrite)
gallonm 4:a5abf7757947 2597 {
gallonm 16:0d4776564733 2598 int ret;
gallonm 16:0d4776564733 2599 int i;
gallonm 16:0d4776564733 2600 uint8_t tmp[TEMP_BUF_SIZE];
gallonm 16:0d4776564733 2601 uint16_t myRegisterAddr = RegisterAddr;
gallonm 16:0d4776564733 2602 uint16_t WriteDeviceAddr=0;
gallonm 16:0d4776564733 2603
gallonm 16:0d4776564733 2604 /* First, prepare 8 bits device address in 7bits i2ci format */
gallonm 16:0d4776564733 2605 WriteDeviceAddr=DeviceAddr*2;
gallonm 16:0d4776564733 2606 if(NumByteToWrite >= TEMP_BUF_SIZE) return -2;
gallonm 4:a5abf7757947 2607
gallonm 16:0d4776564733 2608 /* then prepare 16 bits register address in BE format. Then, send data and STOP condition */
gallonm 16:0d4776564733 2609 tmp[0] = *(((uint8_t*)&myRegisterAddr)+1);
gallonm 16:0d4776564733 2610 tmp[1] = (uint8_t)RegisterAddr;
gallonm 4:a5abf7757947 2611
gallonm 16:0d4776564733 2612 if(NumByteToWrite>1) /* swap data endianess */
gallonm 16:0d4776564733 2613 {
gallonm 16:0d4776564733 2614 for(i=0;i<NumByteToWrite;i++)
gallonm 16:0d4776564733 2615 {
gallonm 16:0d4776564733 2616 tmp[NumByteToWrite+sizeof(RegisterAddr)-1-i]=pBuffer[i];
gallonm 16:0d4776564733 2617 }
gallonm 16:0d4776564733 2618 }
gallonm 16:0d4776564733 2619 else
gallonm 16:0d4776564733 2620 {
gallonm 16:0d4776564733 2621 memcpy(tmp+sizeof(RegisterAddr), pBuffer, NumByteToWrite);
gallonm 16:0d4776564733 2622 }
gallonm 16:0d4776564733 2623 ret = dev_i2c.write(WriteDeviceAddr, (const char*)tmp, NumByteToWrite+sizeof(RegisterAddr), false);
gallonm 16:0d4776564733 2624
gallonm 16:0d4776564733 2625 if(ret)
gallonm 16:0d4776564733 2626 return -1;
gallonm 16:0d4776564733 2627 return 0;
gallonm 4:a5abf7757947 2628 }
gallonm 16:0d4776564733 2629
gallonm 4:a5abf7757947 2630 int VL6180X::VL6180x_I2CRead(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t* pBuffer, uint16_t NumByteToRead)
gallonm 4:a5abf7757947 2631 {
gallonm 16:0d4776564733 2632 int ret,i;
gallonm 16:0d4776564733 2633 uint8_t tmp[TEMP_BUF_SIZE];
gallonm 16:0d4776564733 2634 uint16_t myRegisterAddr = RegisterAddr;
gallonm 16:0d4776564733 2635 uint16_t myRegisterAddrBE;
gallonm 16:0d4776564733 2636 uint16_t ReadDeviceAddr=DeviceAddr;
gallonm 7:2dc81120c917 2637
gallonm 16:0d4776564733 2638 ReadDeviceAddr=DeviceAddr*2;
gallonm 16:0d4776564733 2639 myRegisterAddrBE = *(((uint8_t*)&myRegisterAddr)+1);
gallonm 16:0d4776564733 2640 *(((uint8_t*)&myRegisterAddrBE)+1) = (uint8_t)myRegisterAddr;
gallonm 4:a5abf7757947 2641
gallonm 16:0d4776564733 2642 /* Send 8 bits device address and 16 bits register address in BE format, with no STOP condition */
gallonm 16:0d4776564733 2643 ret = dev_i2c.write(ReadDeviceAddr, (const char*)&myRegisterAddrBE, sizeof(RegisterAddr), true);
gallonm 16:0d4776564733 2644 if(!ret)
gallonm 16:0d4776564733 2645 {
gallonm 16:0d4776564733 2646 ReadDeviceAddr|=0x001;
gallonm 16:0d4776564733 2647 /* Read data, with STOP condition */
gallonm 16:0d4776564733 2648 ret = dev_i2c.read(ReadDeviceAddr, (char*)tmp, NumByteToRead, false);
gallonm 16:0d4776564733 2649 }
gallonm 16:0d4776564733 2650 if(ret)
gallonm 16:0d4776564733 2651 return -1;
gallonm 16:0d4776564733 2652
gallonm 16:0d4776564733 2653 if(NumByteToRead>1) /* swap data endianess */
gallonm 16:0d4776564733 2654 {
gallonm 16:0d4776564733 2655 for(i=0;i<NumByteToRead;i++)
gallonm 16:0d4776564733 2656 {
gallonm 16:0d4776564733 2657 pBuffer[i] = tmp[NumByteToRead-1-i];
gallonm 16:0d4776564733 2658 }
gallonm 16:0d4776564733 2659 }
gallonm 16:0d4776564733 2660 else
gallonm 16:0d4776564733 2661 {
gallonm 16:0d4776564733 2662 memcpy(pBuffer, tmp, NumByteToRead);
gallonm 16:0d4776564733 2663 }
gallonm 16:0d4776564733 2664 return 0;
gallonm 4:a5abf7757947 2665 }
gallonm 16:0d4776564733 2666
gallonm 16:0d4776564733 2667
gallonm 10:4954b09b72d8 2668 int VL6180X::ReadID()
gallonm 4:a5abf7757947 2669 {
gallonm 16:0d4776564733 2670 int status;
gallonm 16:0d4776564733 2671 uint8_t rl_id=0;
gallonm 16:0d4776564733 2672
gallonm 16:0d4776564733 2673 status=VL6180x_RdByte(Device, IDENTIFICATION_MODEL_ID, &rl_id);
gallonm 16:0d4776564733 2674 if((status==0)&&(rl_id==0xB4))
gallonm 16:0d4776564733 2675 return status;
gallonm 16:0d4776564733 2676 else
gallonm 16:0d4776564733 2677 return INVALID_PARAMS;
gallonm 4:a5abf7757947 2678 }
gallonm 16:0d4776564733 2679
gallonm 16:0d4776564733 2680
gallonm 12:71d589e6fd2c 2681 int VL6180X::InitSensor(uint8_t NewAddr) //FIXME printf da sostituire con VL6180x_ErrLog e poi specificare il contenuto di questa funzione
gallonm 12:71d589e6fd2c 2682 {
gallonm 14:0effa0bbf192 2683 int status;
gallonm 16:0d4776564733 2684
gallonm 12:71d589e6fd2c 2685 VL6180x_Off();
gallonm 12:71d589e6fd2c 2686 VL6180x_On();
gallonm 16:0d4776564733 2687 /*status=VL6180x_WaitDeviceBooted(Device);
gallonm 16:0d4776564733 2688 if(status)
gallonm 16:0d4776564733 2689 printf("WaitDeviceBooted fail\n\r");*/
gallonm 12:71d589e6fd2c 2690 status=IsPresent();
gallonm 12:71d589e6fd2c 2691 if(!status)
gallonm 12:71d589e6fd2c 2692 {
gallonm 16:0d4776564733 2693 Device->Present=1;
gallonm 16:0d4776564733 2694 status=Init();
gallonm 16:0d4776564733 2695 if(status)
gallonm 16:0d4776564733 2696 {
gallonm 16:0d4776564733 2697 printf("Failed to init VL6180X sensor!\n\r");
gallonm 16:0d4776564733 2698 return status;
gallonm 16:0d4776564733 2699 }
gallonm 16:0d4776564733 2700 status=Prepare();
gallonm 16:0d4776564733 2701 if(status)
gallonm 16:0d4776564733 2702 {
gallonm 16:0d4776564733 2703 printf("Failed to prepare VL6180X!\n\r");
gallonm 16:0d4776564733 2704 return status;
gallonm 16:0d4776564733 2705 }
gallonm 16:0d4776564733 2706 if(NewAddr!=DEFAULT_DEVICE_ADDRESS)
gallonm 16:0d4776564733 2707 {
gallonm 16:0d4776564733 2708 status=SetI2CAddress(NewAddr);
gallonm 16:0d4776564733 2709 if(status)
gallonm 16:0d4776564733 2710 {
gallonm 16:0d4776564733 2711 printf("Failed to change I2C address!\n\r");
gallonm 16:0d4776564733 2712 return status;
gallonm 16:0d4776564733 2713 }
gallonm 16:0d4776564733 2714 }
gallonm 16:0d4776564733 2715 else
gallonm 16:0d4776564733 2716 {
gallonm 16:0d4776564733 2717 printf("Invalid new address!\n\r");
gallonm 16:0d4776564733 2718 return INVALID_PARAMS;
gallonm 16:0d4776564733 2719 }
gallonm 16:0d4776564733 2720 Device->Ready=1;
gallonm 16:0d4776564733 2721 }
gallonm 16:0d4776564733 2722 VL6180x_RangeSetMaxConvergenceTime(Device,10); //FIXME temporaneo, capire se devo fissare questi valori di default oppure impostarli solo quando faccio la hand gesture
gallonm 16:0d4776564733 2723 VL6180x_RangeSetInterMeasPeriod(Device,10); //FIXME
gallonm 16:0d4776564733 2724 return status;
gallonm 12:71d589e6fd2c 2725 }
gallonm 16:0d4776564733 2726
gallonm 16:0d4776564733 2727
gallonm 14:0effa0bbf192 2728 int VL6180X::StartMeasurement(OperatingMode operating_mode, void (*fptr)(void), MeasureData_t *Data, uint16_t low, uint16_t high)
gallonm 12:71d589e6fd2c 2729 {
gallonm 14:0effa0bbf192 2730 int status, r_status, l_status;
gallonm 16:0d4776564733 2731
gallonm 12:71d589e6fd2c 2732 switch(operating_mode)
gallonm 12:71d589e6fd2c 2733 {
gallonm 16:0d4776564733 2734 case(range_single_shot_polling):
gallonm 16:0d4776564733 2735 r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
gallonm 16:0d4776564733 2736 l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2737 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2738 return RangeMeasPollSingleShot(Data);
gallonm 16:0d4776564733 2739 else
gallonm 16:0d4776564733 2740 return (r_status|l_status);
gallonm 16:0d4776564733 2741
gallonm 14:0effa0bbf192 2742 case(als_single_shot_polling):
gallonm 16:0d4776564733 2743 r_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
gallonm 16:0d4776564733 2744 l_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2745 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2746 return AlsMeasPollSingleShot(Data);
gallonm 16:0d4776564733 2747 else
gallonm 16:0d4776564733 2748 return (r_status|l_status);
gallonm 16:0d4776564733 2749
gallonm 16:0d4776564733 2750 case(range_continuous_polling):
gallonm 16:0d4776564733 2751 r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
gallonm 16:0d4776564733 2752 l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2753 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2754 return RangeMeasPollContinuousMode();
gallonm 16:0d4776564733 2755 else
gallonm 16:0d4776564733 2756 return (r_status|l_status);
gallonm 16:0d4776564733 2757
gallonm 16:0d4776564733 2758 case(als_continuous_polling):
gallonm 16:0d4776564733 2759 r_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
gallonm 16:0d4776564733 2760 l_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2761 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2762 return AlsMeasPollContinuousMode();
gallonm 16:0d4776564733 2763 else
gallonm 16:0d4776564733 2764 return (r_status|l_status);
gallonm 16:0d4776564733 2765
gallonm 14:0effa0bbf192 2766 case(range_continuous_interrupt):
gallonm 16:0d4776564733 2767 r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
gallonm 16:0d4776564733 2768 l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2769 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2770 return RangeMeasIntContinuousMode(fptr);
gallonm 16:0d4776564733 2771 else
gallonm 16:0d4776564733 2772 return (r_status|l_status);
gallonm 16:0d4776564733 2773
gallonm 16:0d4776564733 2774 case(als_continuous_interrupt):
gallonm 16:0d4776564733 2775 l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
gallonm 16:0d4776564733 2776 r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2777 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2778 return AlsMeasIntContinuousMode(fptr);
gallonm 16:0d4776564733 2779 else
gallonm 16:0d4776564733 2780 return (r_status|l_status);
gallonm 16:0d4776564733 2781
gallonm 16:0d4776564733 2782 case(interleaved_mode_interrupt):
gallonm 16:0d4776564733 2783 l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
gallonm 16:0d4776564733 2784 r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2785 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2786 return InterleavedMode(fptr);
gallonm 16:0d4776564733 2787 else
gallonm 16:0d4776564733 2788 return (r_status|l_status);
gallonm 16:0d4776564733 2789
gallonm 14:0effa0bbf192 2790 case(range_continuous_polling_low_threshold):
gallonm 16:0d4776564733 2791 r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_LOW);
gallonm 16:0d4776564733 2792 l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2793 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2794 {
gallonm 14:0effa0bbf192 2795 status=RangeSetLowThreshold(low);
gallonm 16:0d4776564733 2796 if(!status)
gallonm 16:0d4776564733 2797 return RangeMeasPollContinuousMode();
gallonm 16:0d4776564733 2798 else
gallonm 16:0d4776564733 2799 return status;
gallonm 16:0d4776564733 2800 }
gallonm 14:0effa0bbf192 2801 else
gallonm 14:0effa0bbf192 2802 return (r_status|l_status);
gallonm 14:0effa0bbf192 2803
gallonm 16:0d4776564733 2804 case(range_continuous_polling_high_threshold):
gallonm 14:0effa0bbf192 2805 status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_HIGH);
gallonm 16:0d4776564733 2806 status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2807 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2808 {
gallonm 14:0effa0bbf192 2809 status=RangeSetHighThreshold(high);
gallonm 16:0d4776564733 2810 if(!status)
gallonm 16:0d4776564733 2811 return RangeMeasPollContinuousMode();
gallonm 16:0d4776564733 2812 else
gallonm 16:0d4776564733 2813 return status;
gallonm 16:0d4776564733 2814 }
gallonm 14:0effa0bbf192 2815 else
gallonm 14:0effa0bbf192 2816 return (r_status|l_status);
gallonm 16:0d4776564733 2817
gallonm 16:0d4776564733 2818 case(range_continuous_polling_out_of_window):
gallonm 16:0d4776564733 2819 status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW);
gallonm 16:0d4776564733 2820 status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2821 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2822 {
gallonm 14:0effa0bbf192 2823 status=VL6180x_RangeSetThresholds(Device,low,high,1);
gallonm 16:0d4776564733 2824 if(!status)
gallonm 16:0d4776564733 2825 return RangeMeasPollContinuousMode();
gallonm 16:0d4776564733 2826 else
gallonm 16:0d4776564733 2827 return status;
gallonm 16:0d4776564733 2828 }
gallonm 14:0effa0bbf192 2829 else
gallonm 14:0effa0bbf192 2830 return (r_status|l_status);
gallonm 16:0d4776564733 2831
gallonm 14:0effa0bbf192 2832 case(als_continuous_polling_low_threshold):
gallonm 14:0effa0bbf192 2833 status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_LOW);
gallonm 16:0d4776564733 2834 status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2835 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2836 {
gallonm 14:0effa0bbf192 2837 status=AlsSetLowThreshold(low);
gallonm 16:0d4776564733 2838 if(!status)
gallonm 16:0d4776564733 2839 return AlsMeasPollContinuousMode();
gallonm 16:0d4776564733 2840 else
gallonm 16:0d4776564733 2841 return status;
gallonm 16:0d4776564733 2842 }
gallonm 14:0effa0bbf192 2843 else
gallonm 14:0effa0bbf192 2844 return (r_status|l_status);
gallonm 16:0d4776564733 2845
gallonm 16:0d4776564733 2846 case(als_continuous_polling_high_threshold):
gallonm 16:0d4776564733 2847 status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_HIGH);
gallonm 16:0d4776564733 2848 status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2849 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2850 {
gallonm 14:0effa0bbf192 2851 status=AlsSetHighThreshold(high);
gallonm 16:0d4776564733 2852 if(!status)
gallonm 16:0d4776564733 2853 return AlsMeasPollContinuousMode();
gallonm 16:0d4776564733 2854 else
gallonm 16:0d4776564733 2855 return status;
gallonm 16:0d4776564733 2856 }
gallonm 14:0effa0bbf192 2857 else
gallonm 14:0effa0bbf192 2858 return (r_status|l_status);
gallonm 16:0d4776564733 2859
gallonm 16:0d4776564733 2860 case(als_continuous_polling_out_of_window):
gallonm 16:0d4776564733 2861 status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW);
gallonm 16:0d4776564733 2862 status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2863 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2864 {
gallonm 14:0effa0bbf192 2865 status=VL6180x_AlsSetThresholds(Device,low,high);
gallonm 16:0d4776564733 2866 if(!status)
gallonm 16:0d4776564733 2867 return AlsMeasPollContinuousMode();
gallonm 16:0d4776564733 2868 else
gallonm 16:0d4776564733 2869 return status;
gallonm 16:0d4776564733 2870 }
gallonm 14:0effa0bbf192 2871 else
gallonm 14:0effa0bbf192 2872 return (r_status|l_status);
gallonm 16:0d4776564733 2873
gallonm 16:0d4776564733 2874 case(range_continuous_interrupt_low_threshold):
gallonm 16:0d4776564733 2875 status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_LOW);
gallonm 16:0d4776564733 2876 status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2877 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2878 {
gallonm 14:0effa0bbf192 2879 status=RangeSetLowThreshold(low);
gallonm 16:0d4776564733 2880 if(!status)
gallonm 16:0d4776564733 2881 return RangeMeasIntContinuousMode(fptr);
gallonm 16:0d4776564733 2882 else
gallonm 16:0d4776564733 2883 return status;
gallonm 16:0d4776564733 2884 }
gallonm 14:0effa0bbf192 2885 else
gallonm 16:0d4776564733 2886 return (r_status|l_status);
gallonm 16:0d4776564733 2887
gallonm 16:0d4776564733 2888 case(range_continuous_interrrupt_high_threshold):
gallonm 16:0d4776564733 2889 status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_HIGH);
gallonm 16:0d4776564733 2890 status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2891 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2892 {
gallonm 14:0effa0bbf192 2893 status=RangeSetHighThreshold(high);
gallonm 16:0d4776564733 2894 if(!status)
gallonm 16:0d4776564733 2895 return RangeMeasIntContinuousMode(fptr);
gallonm 16:0d4776564733 2896 else
gallonm 16:0d4776564733 2897 return status;
gallonm 16:0d4776564733 2898 }
gallonm 14:0effa0bbf192 2899 else
gallonm 14:0effa0bbf192 2900 return (r_status|l_status);
gallonm 16:0d4776564733 2901
gallonm 16:0d4776564733 2902 case(range_continuous_interrupt_out_of_window):
gallonm 16:0d4776564733 2903 status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW);
gallonm 16:0d4776564733 2904 status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2905 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2906 {
gallonm 14:0effa0bbf192 2907 status=VL6180x_RangeSetThresholds(Device,low,high,1);
gallonm 16:0d4776564733 2908 if(!status)
gallonm 16:0d4776564733 2909 return RangeMeasIntContinuousMode(fptr);
gallonm 16:0d4776564733 2910 else
gallonm 16:0d4776564733 2911 return status;
gallonm 16:0d4776564733 2912 }
gallonm 14:0effa0bbf192 2913 else
gallonm 14:0effa0bbf192 2914 return (r_status|l_status);
gallonm 16:0d4776564733 2915
gallonm 16:0d4776564733 2916 case(als_continuous_interrupt_low_threshold):
gallonm 16:0d4776564733 2917 status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_LOW);
gallonm 16:0d4776564733 2918 status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2919 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2920 {
gallonm 14:0effa0bbf192 2921 status=AlsSetLowThreshold(low);
gallonm 16:0d4776564733 2922 if(!status)
gallonm 16:0d4776564733 2923 return AlsMeasIntContinuousMode(fptr);
gallonm 16:0d4776564733 2924 else
gallonm 16:0d4776564733 2925 return status;
gallonm 16:0d4776564733 2926 }
gallonm 14:0effa0bbf192 2927 else
gallonm 16:0d4776564733 2928 return (r_status|l_status);
gallonm 16:0d4776564733 2929
gallonm 16:0d4776564733 2930 case(als_continuous_interrupt_high_threshold):
gallonm 16:0d4776564733 2931 status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_HIGH);
gallonm 16:0d4776564733 2932 status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2933 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2934 {
gallonm 14:0effa0bbf192 2935 status=AlsSetHighThreshold(high);
gallonm 16:0d4776564733 2936 if(!status)
gallonm 16:0d4776564733 2937 return AlsMeasIntContinuousMode(fptr);
gallonm 16:0d4776564733 2938 else
gallonm 16:0d4776564733 2939 return status;
gallonm 16:0d4776564733 2940 }
gallonm 14:0effa0bbf192 2941 else
gallonm 14:0effa0bbf192 2942 return (r_status|l_status);
gallonm 16:0d4776564733 2943
gallonm 16:0d4776564733 2944 case(als_continuous_interrupt_out_of_window):
gallonm 16:0d4776564733 2945 status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW);
gallonm 16:0d4776564733 2946 status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2947 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2948 {
gallonm 14:0effa0bbf192 2949 status=VL6180x_AlsSetThresholds(Device,low,high);
gallonm 16:0d4776564733 2950 if(!status)
gallonm 16:0d4776564733 2951 return AlsMeasIntContinuousMode(fptr);
gallonm 16:0d4776564733 2952 else
gallonm 16:0d4776564733 2953 return status;
gallonm 16:0d4776564733 2954 }
gallonm 14:0effa0bbf192 2955 else
gallonm 14:0effa0bbf192 2956 return (r_status|l_status);
gallonm 16:0d4776564733 2957
gallonm 16:0d4776564733 2958 default:
gallonm 16:0d4776564733 2959 return INVALID_PARAMS;
gallonm 16:0d4776564733 2960 }
gallonm 12:71d589e6fd2c 2961 }
gallonm 16:0d4776564733 2962
gallonm 16:0d4776564733 2963
gallonm 12:71d589e6fd2c 2964 int VL6180X::GetRangeError(MeasureData_t *Data, VL6180x_RangeData_t RangeData)
gallonm 12:71d589e6fd2c 2965 {
gallonm 16:0d4776564733 2966 Data->range_error=RangeData.errorStatus;
gallonm 16:0d4776564733 2967 if(Data->range_error!=0)
gallonm 16:0d4776564733 2968 {
gallonm 14:0effa0bbf192 2969 VL6180x_ErrLog("Range error %d",Data->range_error);
gallonm 14:0effa0bbf192 2970 return RANGE_ERROR;
gallonm 16:0d4776564733 2971 }
gallonm 16:0d4776564733 2972 return NoError_;
gallonm 12:71d589e6fd2c 2973 }
gallonm 16:0d4776564733 2974
gallonm 16:0d4776564733 2975
gallonm 12:71d589e6fd2c 2976 int VL6180X::GetAlsError(MeasureData_t *Data, VL6180x_AlsData_t AlsData)
gallonm 12:71d589e6fd2c 2977 {
gallonm 16:0d4776564733 2978 Data->als_error=AlsData.errorStatus;
gallonm 16:0d4776564733 2979 if(Data->als_error!=0)
gallonm 16:0d4776564733 2980 {
gallonm 14:0effa0bbf192 2981 VL6180x_ErrLog("Light error %d",Data->light_error);
gallonm 16:0d4776564733 2982 return API_ERROR;
gallonm 16:0d4776564733 2983 }
gallonm 16:0d4776564733 2984 return NoError_;
gallonm 12:71d589e6fd2c 2985 }
gallonm 16:0d4776564733 2986
gallonm 16:0d4776564733 2987
gallonm 12:71d589e6fd2c 2988 int VL6180X::RangeMeasPollSingleShot(MeasureData_t *Data)
gallonm 12:71d589e6fd2c 2989 {
gallonm 16:0d4776564733 2990 VL6180x_RangeData_t RangeData;
gallonm 16:0d4776564733 2991 int status;
gallonm 16:0d4776564733 2992
gallonm 16:0d4776564733 2993 status=RangePollMeasurement(&RangeData);
gallonm 16:0d4776564733 2994 if(!status)
gallonm 16:0d4776564733 2995 {
gallonm 16:0d4776564733 2996 status=GetRangeError(Data, RangeData);
gallonm 16:0d4776564733 2997 if(!status)
gallonm 16:0d4776564733 2998 Data->range_mm=RangeData.range_mm;
gallonm 16:0d4776564733 2999 else
gallonm 16:0d4776564733 3000 Data->range_mm=0xFFFFFFFF;
gallonm 16:0d4776564733 3001 }
gallonm 16:0d4776564733 3002 return status;
gallonm 16:0d4776564733 3003 }
gallonm 16:0d4776564733 3004
gallonm 16:0d4776564733 3005
gallonm 12:71d589e6fd2c 3006 int VL6180X::AlsMeasPollSingleShot(MeasureData_t *Data)
gallonm 12:71d589e6fd2c 3007 {
gallonm 16:0d4776564733 3008 VL6180x_AlsData_t AlsData;
gallonm 16:0d4776564733 3009 int status;
gallonm 16:0d4776564733 3010
gallonm 16:0d4776564733 3011 status=AlsPollMeasurement(&AlsData);
gallonm 16:0d4776564733 3012 if(!status)
gallonm 16:0d4776564733 3013 {
gallonm 16:0d4776564733 3014 status=GetAlsError(Data, AlsData);
gallonm 16:0d4776564733 3015 if(!status)
gallonm 16:0d4776564733 3016 Data->lux=AlsData.lux;
gallonm 16:0d4776564733 3017 else
gallonm 16:0d4776564733 3018 Data->lux=0xFFFFFFFF;
gallonm 16:0d4776564733 3019 }
gallonm 16:0d4776564733 3020 return status;
gallonm 12:71d589e6fd2c 3021 }
gallonm 16:0d4776564733 3022
gallonm 16:0d4776564733 3023
gallonm 14:0effa0bbf192 3024 int VL6180X::RangeMeasPollContinuousMode()
gallonm 12:71d589e6fd2c 3025 {
gallonm 12:71d589e6fd2c 3026 int status;
gallonm 16:0d4776564733 3027
gallonm 16:0d4776564733 3028 status=VL6180x_RangeClearInterrupt(Device);
gallonm 16:0d4776564733 3029 if(status)
gallonm 16:0d4776564733 3030 {
gallonm 16:0d4776564733 3031 VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
gallonm 16:0d4776564733 3032 return status;
gallonm 16:0d4776564733 3033 }
gallonm 16:0d4776564733 3034 status=VL6180x_ClearErrorInterrupt(Device);
gallonm 16:0d4776564733 3035 if(status)
gallonm 16:0d4776564733 3036 {
gallonm 16:0d4776564733 3037 VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
gallonm 16:0d4776564733 3038 return status;
gallonm 16:0d4776564733 3039 }
gallonm 16:0d4776564733 3040 return RangeStartContinuousMode();
gallonm 12:71d589e6fd2c 3041 }
gallonm 16:0d4776564733 3042
gallonm 16:0d4776564733 3043
gallonm 14:0effa0bbf192 3044 int VL6180X::AlsMeasPollContinuousMode()
gallonm 12:71d589e6fd2c 3045 {
gallonm 16:0d4776564733 3046 int status;
gallonm 16:0d4776564733 3047
gallonm 16:0d4776564733 3048 status=VL6180x_AlsClearInterrupt(Device);
gallonm 16:0d4776564733 3049 if(status)
gallonm 16:0d4776564733 3050 {
gallonm 16:0d4776564733 3051 VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
gallonm 16:0d4776564733 3052 return status;
gallonm 16:0d4776564733 3053 }
gallonm 16:0d4776564733 3054 status=VL6180x_ClearErrorInterrupt(Device);
gallonm 16:0d4776564733 3055 if(status)
gallonm 16:0d4776564733 3056 {
gallonm 16:0d4776564733 3057 VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
gallonm 16:0d4776564733 3058 return status;
gallonm 16:0d4776564733 3059 }
gallonm 16:0d4776564733 3060 return AlsStartContinuousMode();
gallonm 12:71d589e6fd2c 3061 }
gallonm 16:0d4776564733 3062
gallonm 16:0d4776564733 3063
gallonm 14:0effa0bbf192 3064 int VL6180X::AlsGetMeasurementIfReady(VL6180xDev_t dev, VL6180x_AlsData_t *pAlsData)
gallonm 12:71d589e6fd2c 3065 {
gallonm 14:0effa0bbf192 3066 int status;
gallonm 16:0d4776564733 3067 uint8_t IntStatus;
gallonm 16:0d4776564733 3068
gallonm 16:0d4776564733 3069 status=VL6180x_AlsGetInterruptStatus(dev, &IntStatus);
gallonm 16:0d4776564733 3070 if(!status)
gallonm 16:0d4776564733 3071 {
gallonm 16:0d4776564733 3072 if(IntStatus==RES_INT_STAT_GPIO_NEW_SAMPLE_READY)
gallonm 16:0d4776564733 3073 {
gallonm 16:0d4776564733 3074 status = VL6180x_AlsGetMeasurement(dev, pAlsData);
gallonm 16:0d4776564733 3075 if(!status)
gallonm 16:0d4776564733 3076 {
gallonm 16:0d4776564733 3077 status=VL6180x_AlsClearInterrupt(Device);
gallonm 14:0effa0bbf192 3078 if(status)
gallonm 14:0effa0bbf192 3079 VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
gallonm 16:0d4776564733 3080 }
gallonm 16:0d4776564733 3081 }
gallonm 16:0d4776564733 3082 else
gallonm 16:0d4776564733 3083 status=NOT_READY;
gallonm 16:0d4776564733 3084 }
gallonm 16:0d4776564733 3085 else
gallonm 16:0d4776564733 3086 VL6180x_ErrLog("Failed to get interrupt status");
gallonm 16:0d4776564733 3087 return status;
gallonm 12:71d589e6fd2c 3088 }
gallonm 16:0d4776564733 3089
gallonm 16:0d4776564733 3090
gallonm 12:71d589e6fd2c 3091 int VL6180X::RangeMeasIntContinuousMode(void (*fptr)(void))
gallonm 12:71d589e6fd2c 3092 {
gallonm 16:0d4776564733 3093 int status, ClrStatus;
gallonm 16:0d4776564733 3094
gallonm 16:0d4776564733 3095 EnableInterruptMeasureDetectionIRQ();
gallonm 16:0d4776564733 3096 AttachInterruptMeasureDetectionIRQ(fptr);
gallonm 16:0d4776564733 3097 status=SetupGPIO1(GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT, 1);
gallonm 16:0d4776564733 3098 ClrStatus=VL6180x_ClearAllInterrupt(Device);
gallonm 16:0d4776564733 3099 if(ClrStatus)
gallonm 16:0d4776564733 3100 VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
gallonm 12:71d589e6fd2c 3101 if(!status)
gallonm 16:0d4776564733 3102 status=RangeStartContinuousMode();
gallonm 16:0d4776564733 3103 return status;
gallonm 12:71d589e6fd2c 3104 }
gallonm 16:0d4776564733 3105
gallonm 16:0d4776564733 3106
gallonm 12:71d589e6fd2c 3107 int VL6180X::AlsMeasIntContinuousMode(void (*fptr)(void))
gallonm 12:71d589e6fd2c 3108 {
gallonm 14:0effa0bbf192 3109 int status, ClrStatus;
gallonm 16:0d4776564733 3110
gallonm 16:0d4776564733 3111 EnableInterruptMeasureDetectionIRQ();
gallonm 12:71d589e6fd2c 3112 AttachInterruptMeasureDetectionIRQ(fptr);
gallonm 12:71d589e6fd2c 3113 status=SetupGPIO1(GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT, 1);
gallonm 16:0d4776564733 3114 ClrStatus=VL6180x_ClearAllInterrupt(Device);
gallonm 16:0d4776564733 3115 if(ClrStatus)
gallonm 16:0d4776564733 3116 VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
gallonm 12:71d589e6fd2c 3117 if(!status)
gallonm 16:0d4776564733 3118 status=AlsStartContinuousMode();
gallonm 16:0d4776564733 3119 return status;
gallonm 16:0d4776564733 3120 }
gallonm 16:0d4776564733 3121
gallonm 16:0d4776564733 3122
gallonm 12:71d589e6fd2c 3123 int VL6180X::StartInterleavedMode()
gallonm 12:71d589e6fd2c 3124 {
gallonm 16:0d4776564733 3125 int status;
gallonm 16:0d4776564733 3126 uint16_t integration_period, intermeasurement_period_ms;
gallonm 16:0d4776564733 3127 uint8_t max_convergence_time;
gallonm 16:0d4776564733 3128 uint8_t buf;
gallonm 16:0d4776564733 3129
gallonm 12:71d589e6fd2c 3130 status=VL6180x_WrByte(Device, 0x2A3, 1);
gallonm 12:71d589e6fd2c 3131 if(status)
gallonm 12:71d589e6fd2c 3132 {
gallonm 16:0d4776564733 3133 VL6180x_ErrLog("Failed to write INTERLEAVED_MODE_ENABLE!\n\r");
gallonm 16:0d4776564733 3134 return status;
gallonm 16:0d4776564733 3135 }
gallonm 16:0d4776564733 3136 status=VL6180x_RdByte(Device, SYSRANGE_MAX_CONVERGENCE_TIME, &max_convergence_time);
gallonm 16:0d4776564733 3137 if(status)
gallonm 16:0d4776564733 3138 {
gallonm 16:0d4776564733 3139 VL6180x_ErrLog("Failed to read SYSRANGE_MAX_CONVERGENCE_TIME!\n\r");
gallonm 16:0d4776564733 3140 return status;
gallonm 16:0d4776564733 3141 }
gallonm 16:0d4776564733 3142 status=VL6180x_RdWord(Device, SYSALS_INTEGRATION_PERIOD, &integration_period);
gallonm 16:0d4776564733 3143 if(status)
gallonm 12:71d589e6fd2c 3144 {
gallonm 16:0d4776564733 3145 VL6180x_ErrLog("Failed to read SYSALS_INTEGRATION_PERIOD!\n\r");
gallonm 16:0d4776564733 3146 return status;
gallonm 16:0d4776564733 3147 }
gallonm 16:0d4776564733 3148 max_convergence_time&=0x3F;
gallonm 16:0d4776564733 3149 integration_period&=0x01FF;
gallonm 16:0d4776564733 3150 intermeasurement_period_ms=((max_convergence_time+5)+(integration_period*1.1));
gallonm 16:0d4776564733 3151 intermeasurement_period_ms=(intermeasurement_period_ms/0.9)+10;
gallonm 16:0d4776564733 3152 intermeasurement_period_ms=200;
gallonm 16:0d4776564733 3153 status=VL6180x_AlsSetInterMeasurementPeriod(Device, intermeasurement_period_ms);
gallonm 16:0d4776564733 3154 VL6180x_RdByte(Device, 0x03E, &buf);
gallonm 16:0d4776564733 3155 if(status)
gallonm 16:0d4776564733 3156 {
gallonm 16:0d4776564733 3157 VL6180x_ErrLog("Failed to write SYSALS_INTERMEASUREMENT_PERIOD!\n\r");
gallonm 16:0d4776564733 3158 return status;
gallonm 16:0d4776564733 3159 }
gallonm 16:0d4776564733 3160 return AlsStartContinuousMode();
gallonm 12:71d589e6fd2c 3161 }
gallonm 16:0d4776564733 3162
gallonm 16:0d4776564733 3163
gallonm 12:71d589e6fd2c 3164 int VL6180X::InterleavedMode(void (*fptr)(void))
gallonm 12:71d589e6fd2c 3165 {
gallonm 16:0d4776564733 3166 int status, ClrStatus;
gallonm 16:0d4776564733 3167
gallonm 16:0d4776564733 3168 EnableInterruptMeasureDetectionIRQ();
gallonm 16:0d4776564733 3169 AttachInterruptMeasureDetectionIRQ(fptr);
gallonm 16:0d4776564733 3170 status=SetupGPIO1(GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT, 1);
gallonm 16:0d4776564733 3171 ClrStatus=VL6180x_ClearAllInterrupt(Device);
gallonm 16:0d4776564733 3172 if(ClrStatus)
gallonm 16:0d4776564733 3173 VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
gallonm 16:0d4776564733 3174 if(!status)
gallonm 14:0effa0bbf192 3175 status=StartInterleavedMode();
gallonm 16:0d4776564733 3176 return status;
gallonm 14:0effa0bbf192 3177 }
gallonm 16:0d4776564733 3178
gallonm 16:0d4776564733 3179
gallonm 14:0effa0bbf192 3180 int VL6180X::HandleIRQ(OperatingMode operating_mode, MeasureData_t *Data)
gallonm 14:0effa0bbf192 3181 {
gallonm 16:0d4776564733 3182 int status;
gallonm 16:0d4776564733 3183
gallonm 16:0d4776564733 3184 EnableInterruptMeasureDetectionIRQ();
gallonm 16:0d4776564733 3185 status=GetMeasurement(operating_mode, Data);
gallonm 16:0d4776564733 3186 return status;
gallonm 12:71d589e6fd2c 3187 }
gallonm 16:0d4776564733 3188
gallonm 16:0d4776564733 3189
gallonm 14:0effa0bbf192 3190 int VL6180X::RangeSetLowThreshold(uint16_t threshold)
gallonm 14:0effa0bbf192 3191 {
gallonm 16:0d4776564733 3192 int status;
gallonm 16:0d4776564733 3193 uint16_t low, high;
gallonm 16:0d4776564733 3194
gallonm 16:0d4776564733 3195 status=VL6180x_RangeGetThresholds(Device, &low, &high);
gallonm 16:0d4776564733 3196 if(!status)
gallonm 16:0d4776564733 3197 status=VL6180x_RangeSetThresholds(Device, threshold, high, 1);
gallonm 16:0d4776564733 3198 return status;
gallonm 14:0effa0bbf192 3199 }
gallonm 16:0d4776564733 3200
gallonm 16:0d4776564733 3201
gallonm 14:0effa0bbf192 3202 int VL6180X::RangeSetHighThreshold(uint16_t threshold)
gallonm 12:71d589e6fd2c 3203 {
gallonm 16:0d4776564733 3204 int status;
gallonm 16:0d4776564733 3205 uint16_t low, high;
gallonm 16:0d4776564733 3206
gallonm 16:0d4776564733 3207 status=VL6180x_RangeGetThresholds(Device, &low, &high);
gallonm 16:0d4776564733 3208 if(!status)
gallonm 16:0d4776564733 3209 status=VL6180x_RangeSetThresholds(Device, low, threshold, 1);
gallonm 16:0d4776564733 3210 return status;
gallonm 12:71d589e6fd2c 3211 }
gallonm 16:0d4776564733 3212
gallonm 16:0d4776564733 3213
gallonm 14:0effa0bbf192 3214 int VL6180X::AlsSetLowThreshold(uint16_t threshold)
gallonm 14:0effa0bbf192 3215 {
gallonm 16:0d4776564733 3216 int status;
gallonm 16:0d4776564733 3217 uint16_t low, high;
gallonm 16:0d4776564733 3218
gallonm 16:0d4776564733 3219 status=VL6180x_AlsGetThresholds(Device, &low, &high);
gallonm 16:0d4776564733 3220 if(!status)
gallonm 16:0d4776564733 3221 status=VL6180x_AlsSetThresholds(Device, threshold, high);
gallonm 16:0d4776564733 3222 return status;
gallonm 14:0effa0bbf192 3223 }
gallonm 16:0d4776564733 3224
gallonm 16:0d4776564733 3225
gallonm 14:0effa0bbf192 3226 int VL6180X::AlsSetHighThreshold(uint16_t threshold)
gallonm 14:0effa0bbf192 3227 {
gallonm 16:0d4776564733 3228 int status;
gallonm 16:0d4776564733 3229 uint16_t low, high;
gallonm 16:0d4776564733 3230
gallonm 16:0d4776564733 3231 status=VL6180x_AlsGetThresholds(Device, &low, &high);
gallonm 16:0d4776564733 3232 if(!status)
gallonm 16:0d4776564733 3233 status=VL6180x_AlsSetThresholds(Device, low, threshold);
gallonm 16:0d4776564733 3234 return status;
gallonm 14:0effa0bbf192 3235 }
gallonm 16:0d4776564733 3236
gallonm 16:0d4776564733 3237
gallonm 16:0d4776564733 3238 int VL6180X::VL6180x_AlsGetThresholds(VL6180xDev_t dev, uint16_t *low, uint16_t *high)
gallonm 14:0effa0bbf192 3239 {
gallonm 14:0effa0bbf192 3240 int status;
gallonm 16:0d4776564733 3241
gallonm 16:0d4776564733 3242 status=VL6180x_RdWord(dev, SYSALS_THRESH_LOW, low);
gallonm 16:0d4776564733 3243 if(status)
gallonm 16:0d4776564733 3244 {
gallonm 16:0d4776564733 3245 VL6180x_ErrLog("rd SYSALS_THRESH_LOW fail");
gallonm 16:0d4776564733 3246 return status;
gallonm 16:0d4776564733 3247 }
gallonm 16:0d4776564733 3248 status=VL6180x_RdWord(dev, SYSALS_THRESH_HIGH, high);
gallonm 16:0d4776564733 3249 if(status)
gallonm 16:0d4776564733 3250 {
gallonm 16:0d4776564733 3251 VL6180x_ErrLog("rd SYSALS_THRESH_HIGH fail");
gallonm 16:0d4776564733 3252 return status;
gallonm 16:0d4776564733 3253 }
gallonm 16:0d4776564733 3254 return status;
gallonm 14:0effa0bbf192 3255 }
gallonm 16:0d4776564733 3256
gallonm 16:0d4776564733 3257
gallonm 14:0effa0bbf192 3258 int VL6180X::GetMeasurement(OperatingMode operating_mode, MeasureData_t *Data)
gallonm 14:0effa0bbf192 3259 {
gallonm 16:0d4776564733 3260 switch(operating_mode)
gallonm 16:0d4776564733 3261 {
gallonm 16:0d4776564733 3262 case(range_continuous_polling):
gallonm 16:0d4776564733 3263 case(range_continuous_interrupt):
gallonm 16:0d4776564733 3264 case(range_continuous_polling_low_threshold):
gallonm 16:0d4776564733 3265 case(range_continuous_polling_high_threshold):
gallonm 16:0d4776564733 3266 case(range_continuous_polling_out_of_window):
gallonm 16:0d4776564733 3267 case(range_continuous_interrupt_low_threshold):
gallonm 16:0d4776564733 3268 case(range_continuous_interrrupt_high_threshold):
gallonm 16:0d4776564733 3269 case(range_continuous_interrupt_out_of_window):
gallonm 16:0d4776564733 3270 return GetRangeMeas(operating_mode, Data);
gallonm 16:0d4776564733 3271
gallonm 16:0d4776564733 3272 case(als_continuous_polling):
gallonm 16:0d4776564733 3273 case(als_continuous_interrupt):
gallonm 16:0d4776564733 3274 case(als_continuous_polling_low_threshold):
gallonm 16:0d4776564733 3275 case(als_continuous_polling_high_threshold):
gallonm 16:0d4776564733 3276 case(als_continuous_polling_out_of_window):
gallonm 16:0d4776564733 3277 case(als_continuous_interrupt_low_threshold):
gallonm 16:0d4776564733 3278 case(als_continuous_interrupt_high_threshold):
gallonm 16:0d4776564733 3279 case(als_continuous_interrupt_out_of_window):
gallonm 16:0d4776564733 3280 return GetAlsMeas(operating_mode, Data);
gallonm 16:0d4776564733 3281
gallonm 16:0d4776564733 3282 case(interleaved_mode_interrupt):
gallonm 16:0d4776564733 3283 return GetRangeAlsMeas(Data);
gallonm 16:0d4776564733 3284
gallonm 16:0d4776564733 3285 default:
gallonm 16:0d4776564733 3286 return INVALID_PARAMS;
gallonm 16:0d4776564733 3287 }
gallonm 14:0effa0bbf192 3288 }
gallonm 16:0d4776564733 3289
gallonm 16:0d4776564733 3290
gallonm 14:0effa0bbf192 3291 int VL6180X::GetRangeMeas(OperatingMode operating_mode, MeasureData_t *Data)
gallonm 14:0effa0bbf192 3292 {
gallonm 14:0effa0bbf192 3293 VL6180x_RangeData_t RangeData;
gallonm 16:0d4776564733 3294 int status, ClrStatus;
gallonm 16:0d4776564733 3295 IntrStatus_t IntStatus;
gallonm 16:0d4776564733 3296
gallonm 16:0d4776564733 3297 status=VL6180x_RangeGetInterruptStatus(Device, &IntStatus.val);
gallonm 16:0d4776564733 3298 if(!status)
gallonm 16:0d4776564733 3299 {
gallonm 16:0d4776564733 3300 Data->int_error=IntStatus.status.Error;
gallonm 16:0d4776564733 3301 if(IntStatus.status.Error!=0)
gallonm 16:0d4776564733 3302 {
gallonm 14:0effa0bbf192 3303 VL6180x_ErrLog("GPIO int Error report %d",(int)IntStatus.val);
gallonm 16:0d4776564733 3304 status=RANGE_ERROR;
gallonm 14:0effa0bbf192 3305 }
gallonm 16:0d4776564733 3306 }
gallonm 16:0d4776564733 3307 else
gallonm 16:0d4776564733 3308 {
gallonm 16:0d4776564733 3309 VL6180x_ErrLog("Failed to read RESULT_INTERRUPT_STATUS_GPIO");
gallonm 16:0d4776564733 3310 }
gallonm 16:0d4776564733 3311 ClrStatus=VL6180x_RangeClearInterrupt(Device);
gallonm 16:0d4776564733 3312 if(ClrStatus)
gallonm 16:0d4776564733 3313 {
gallonm 16:0d4776564733 3314 VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
gallonm 16:0d4776564733 3315 }
gallonm 16:0d4776564733 3316 ClrStatus=VL6180x_ClearErrorInterrupt(Device);
gallonm 16:0d4776564733 3317 if(ClrStatus)
gallonm 16:0d4776564733 3318 {
gallonm 16:0d4776564733 3319 VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
gallonm 16:0d4776564733 3320 }
gallonm 16:0d4776564733 3321 if(status)
gallonm 16:0d4776564733 3322 return status;
gallonm 16:0d4776564733 3323 if((operating_mode==range_continuous_polling)||(operating_mode==range_continuous_interrupt))
gallonm 16:0d4776564733 3324 {
gallonm 16:0d4776564733 3325 if(IntStatus.status.Range==RES_INT_STAT_GPIO_NEW_SAMPLE_READY)
gallonm 16:0d4776564733 3326 status=VL6180x_RangeGetMeasurement(Device, &RangeData);
gallonm 16:0d4776564733 3327 else
gallonm 16:0d4776564733 3328 return NOT_READY;
gallonm 16:0d4776564733 3329 }
gallonm 16:0d4776564733 3330 else if((operating_mode==range_continuous_polling_low_threshold)||(operating_mode==range_continuous_interrupt_low_threshold))
gallonm 16:0d4776564733 3331 {
gallonm 16:0d4776564733 3332 if(IntStatus.status.Range==RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD)
gallonm 16:0d4776564733 3333 status=VL6180x_RangeGetMeasurement(Device, &RangeData);
gallonm 16:0d4776564733 3334 else
gallonm 16:0d4776564733 3335 return NOT_READY;
gallonm 16:0d4776564733 3336 }
gallonm 16:0d4776564733 3337 else if((operating_mode==range_continuous_polling_high_threshold)||(operating_mode==range_continuous_interrrupt_high_threshold))
gallonm 16:0d4776564733 3338 {
gallonm 16:0d4776564733 3339 if(IntStatus.status.Range==RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD)
gallonm 16:0d4776564733 3340 status=VL6180x_RangeGetMeasurement(Device, &RangeData);
gallonm 16:0d4776564733 3341 else
gallonm 16:0d4776564733 3342 return NOT_READY;
gallonm 16:0d4776564733 3343 }
gallonm 16:0d4776564733 3344 else if((operating_mode==range_continuous_polling_out_of_window)||(operating_mode==range_continuous_interrupt_out_of_window))
gallonm 16:0d4776564733 3345 {
gallonm 16:0d4776564733 3346 if(IntStatus.status.Range==RES_INT_STAT_GPIO_OUT_OF_WINDOW)
gallonm 16:0d4776564733 3347 status=VL6180x_RangeGetMeasurement(Device, &RangeData);
gallonm 16:0d4776564733 3348 else
gallonm 16:0d4776564733 3349 return NOT_READY;
gallonm 16:0d4776564733 3350 }
gallonm 16:0d4776564733 3351 if(!status)
gallonm 16:0d4776564733 3352 {
gallonm 16:0d4776564733 3353 status=GetRangeError(Data, RangeData);
gallonm 16:0d4776564733 3354 if(!status)
gallonm 16:0d4776564733 3355 Data->range_mm=RangeData.range_mm;
gallonm 16:0d4776564733 3356 else
gallonm 16:0d4776564733 3357 Data->range_mm=0xFFFFFFFF;
gallonm 16:0d4776564733 3358 }
gallonm 16:0d4776564733 3359 return status;
gallonm 14:0effa0bbf192 3360 }
gallonm 16:0d4776564733 3361
gallonm 16:0d4776564733 3362
gallonm 14:0effa0bbf192 3363 int VL6180X::GetAlsMeas(OperatingMode operating_mode, MeasureData_t *Data)
gallonm 14:0effa0bbf192 3364 {
gallonm 14:0effa0bbf192 3365 VL6180x_AlsData_t AlsData;
gallonm 16:0d4776564733 3366 int status, ClrStatus;
gallonm 16:0d4776564733 3367 uint8_t IntStatus;
gallonm 16:0d4776564733 3368
gallonm 16:0d4776564733 3369 status=VL6180x_AlsGetInterruptStatus(Device, &IntStatus);
gallonm 16:0d4776564733 3370 if(status)
gallonm 16:0d4776564733 3371 {
gallonm 16:0d4776564733 3372 VL6180x_ErrLog("Failed to read RESULT_INTERRUPT_STATUS_GPIO");
gallonm 16:0d4776564733 3373 }
gallonm 16:0d4776564733 3374 ClrStatus=VL6180x_AlsClearInterrupt(Device);
gallonm 16:0d4776564733 3375 if(ClrStatus)
gallonm 16:0d4776564733 3376 {
gallonm 16:0d4776564733 3377 VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
gallonm 16:0d4776564733 3378 }
gallonm 16:0d4776564733 3379 ClrStatus=VL6180x_ClearErrorInterrupt(Device);
gallonm 16:0d4776564733 3380 if(ClrStatus)
gallonm 16:0d4776564733 3381 {
gallonm 16:0d4776564733 3382 VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
gallonm 16:0d4776564733 3383 }
gallonm 16:0d4776564733 3384 if(status)
gallonm 16:0d4776564733 3385 return status;
gallonm 16:0d4776564733 3386 if((operating_mode==als_continuous_polling)||(operating_mode==als_continuous_interrupt))
gallonm 16:0d4776564733 3387 {
gallonm 16:0d4776564733 3388 if(IntStatus==RES_INT_STAT_GPIO_NEW_SAMPLE_READY)
gallonm 16:0d4776564733 3389 status=VL6180x_AlsGetMeasurement(Device, &AlsData);
gallonm 16:0d4776564733 3390 else
gallonm 16:0d4776564733 3391 return NOT_READY;
gallonm 16:0d4776564733 3392 }
gallonm 16:0d4776564733 3393 else if((operating_mode==als_continuous_polling_low_threshold)||(operating_mode==als_continuous_interrupt_low_threshold))
gallonm 16:0d4776564733 3394 {
gallonm 16:0d4776564733 3395 if(IntStatus==RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD)
gallonm 16:0d4776564733 3396 status=VL6180x_AlsGetMeasurement(Device, &AlsData);
gallonm 16:0d4776564733 3397 else
gallonm 16:0d4776564733 3398 return NOT_READY;
gallonm 16:0d4776564733 3399 }
gallonm 16:0d4776564733 3400 else if((operating_mode==als_continuous_polling_high_threshold)||(operating_mode==als_continuous_interrupt_high_threshold))
gallonm 16:0d4776564733 3401 {
gallonm 16:0d4776564733 3402 if(IntStatus==RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD)
gallonm 16:0d4776564733 3403 status=VL6180x_AlsGetMeasurement(Device, &AlsData);
gallonm 16:0d4776564733 3404 else
gallonm 16:0d4776564733 3405 return NOT_READY;
gallonm 16:0d4776564733 3406 }
gallonm 16:0d4776564733 3407 else if((operating_mode==als_continuous_polling_out_of_window)||(operating_mode==als_continuous_interrupt_out_of_window))
gallonm 16:0d4776564733 3408 {
gallonm 16:0d4776564733 3409 if(IntStatus==RES_INT_STAT_GPIO_OUT_OF_WINDOW)
gallonm 16:0d4776564733 3410 status=VL6180x_AlsGetMeasurement(Device, &AlsData);
gallonm 16:0d4776564733 3411 else
gallonm 16:0d4776564733 3412 return NOT_READY;
gallonm 16:0d4776564733 3413 }
gallonm 16:0d4776564733 3414 if(!status)
gallonm 16:0d4776564733 3415 {
gallonm 16:0d4776564733 3416 status=GetAlsError(Data, AlsData);
gallonm 16:0d4776564733 3417 if(!status)
gallonm 16:0d4776564733 3418 Data->lux=AlsData.lux;
gallonm 16:0d4776564733 3419 else
gallonm 16:0d4776564733 3420 Data->lux=0xFFFFFFFF;
gallonm 16:0d4776564733 3421 }
gallonm 16:0d4776564733 3422 return status;
gallonm 14:0effa0bbf192 3423 }
gallonm 16:0d4776564733 3424
gallonm 16:0d4776564733 3425
gallonm 14:0effa0bbf192 3426 int VL6180X::GetRangeAlsMeas(MeasureData_t *Data)
gallonm 14:0effa0bbf192 3427 {
gallonm 14:0effa0bbf192 3428 int status, ClrStatus, r_status, l_status;
gallonm 16:0d4776564733 3429 IntrStatus_t IntStatus;
gallonm 16:0d4776564733 3430 VL6180x_RangeData_t RangeData;
gallonm 16:0d4776564733 3431 VL6180x_AlsData_t AlsData;
gallonm 16:0d4776564733 3432
gallonm 16:0d4776564733 3433 status=VL6180x_RdByte(Device, RESULT_INTERRUPT_STATUS_GPIO, &IntStatus.val);
gallonm 16:0d4776564733 3434 if(!status)
gallonm 16:0d4776564733 3435 {
gallonm 16:0d4776564733 3436 Data->int_error=IntStatus.status.Error;
gallonm 16:0d4776564733 3437 if(IntStatus.status.Error!=0)
gallonm 16:0d4776564733 3438 {
gallonm 14:0effa0bbf192 3439 VL6180x_ErrLog("GPIO int Error report %d",(int)IntStatus.val);
gallonm 16:0d4776564733 3440 status=RANGE_ERROR;
gallonm 14:0effa0bbf192 3441 }
gallonm 16:0d4776564733 3442 }
gallonm 16:0d4776564733 3443 else
gallonm 16:0d4776564733 3444 {
gallonm 16:0d4776564733 3445 VL6180x_ErrLog("Failed to read RESULT_INTERRUPT_STATUS_GPIO");
gallonm 16:0d4776564733 3446 }
gallonm 16:0d4776564733 3447 ClrStatus=VL6180x_ClearAllInterrupt(Device);
gallonm 16:0d4776564733 3448 if(ClrStatus)
gallonm 16:0d4776564733 3449 VL6180x_ErrLog("VL6180x_ClearAllInterrupt fail");
gallonm 16:0d4776564733 3450 if(status)
gallonm 16:0d4776564733 3451 return status;
gallonm 16:0d4776564733 3452
gallonm 16:0d4776564733 3453 if(IntStatus.status.Als==RES_INT_STAT_GPIO_NEW_SAMPLE_READY)
gallonm 16:0d4776564733 3454 {
gallonm 16:0d4776564733 3455 r_status=VL6180x_RangeGetMeasurement(Device, &RangeData);
gallonm 16:0d4776564733 3456 l_status=VL6180x_AlsGetMeasurement(Device, &AlsData);
gallonm 16:0d4776564733 3457 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 3458 {
gallonm 16:0d4776564733 3459 r_status=GetRangeError(Data, RangeData);
gallonm 16:0d4776564733 3460 l_status=GetAlsError(Data, AlsData);
gallonm 16:0d4776564733 3461 if(!r_status)
gallonm 16:0d4776564733 3462 Data->range_mm=RangeData.range_mm;
gallonm 16:0d4776564733 3463 else
gallonm 16:0d4776564733 3464 Data->range_mm=0xFFFFFFFF;
gallonm 16:0d4776564733 3465 if(!l_status)
gallonm 16:0d4776564733 3466 Data->lux=AlsData.lux;
gallonm 16:0d4776564733 3467 else
gallonm 16:0d4776564733 3468 Data->lux=0xFFFFFFFF;
gallonm 16:0d4776564733 3469 status=r_status|l_status;
gallonm 16:0d4776564733 3470 }
gallonm 16:0d4776564733 3471 else
gallonm 16:0d4776564733 3472 {
gallonm 16:0d4776564733 3473 status=r_status|l_status;
gallonm 16:0d4776564733 3474 }
gallonm 16:0d4776564733 3475 }
gallonm 16:0d4776564733 3476 else
gallonm 16:0d4776564733 3477 return NOT_READY;
gallonm 16:0d4776564733 3478 return status;
gallonm 14:0effa0bbf192 3479 }
gallonm 16:0d4776564733 3480
gallonm 16:0d4776564733 3481
gallonm 14:0effa0bbf192 3482 int VL6180X::StopMeasurement(OperatingMode operating_mode)
gallonm 14:0effa0bbf192 3483 {
gallonm 16:0d4776564733 3484 int status;
gallonm 16:0d4776564733 3485
gallonm 16:0d4776564733 3486 switch(operating_mode)
gallonm 16:0d4776564733 3487 {
gallonm 16:0d4776564733 3488 case(range_single_shot_polling):
gallonm 16:0d4776564733 3489 case(range_continuous_polling):
gallonm 16:0d4776564733 3490 case(range_continuous_interrupt):
gallonm 16:0d4776564733 3491 case(range_continuous_polling_low_threshold):
gallonm 16:0d4776564733 3492 case(range_continuous_polling_high_threshold):
gallonm 16:0d4776564733 3493 case(range_continuous_polling_out_of_window):
gallonm 16:0d4776564733 3494 case(range_continuous_interrupt_low_threshold):
gallonm 16:0d4776564733 3495 case(range_continuous_interrrupt_high_threshold):
gallonm 16:0d4776564733 3496 case(range_continuous_interrupt_out_of_window):
gallonm 16:0d4776564733 3497 return StopRangeMeasurement(operating_mode);
gallonm 16:0d4776564733 3498
gallonm 16:0d4776564733 3499 case(als_single_shot_polling):
gallonm 16:0d4776564733 3500 case(als_continuous_polling):
gallonm 16:0d4776564733 3501 case(als_continuous_interrupt):
gallonm 16:0d4776564733 3502 case(als_continuous_polling_low_threshold):
gallonm 16:0d4776564733 3503 case(als_continuous_polling_high_threshold):
gallonm 16:0d4776564733 3504 case(als_continuous_polling_out_of_window):
gallonm 16:0d4776564733 3505 case(als_continuous_interrupt_low_threshold):
gallonm 16:0d4776564733 3506 case(als_continuous_interrupt_high_threshold):
gallonm 16:0d4776564733 3507 case(als_continuous_interrupt_out_of_window):
gallonm 16:0d4776564733 3508 return StopAlsMeasurement(operating_mode);
gallonm 16:0d4776564733 3509
gallonm 16:0d4776564733 3510 case(interleaved_mode_interrupt):
gallonm 16:0d4776564733 3511 status=StopRangeMeasurement(range_continuous_interrupt);
gallonm 16:0d4776564733 3512 if(!status)
gallonm 16:0d4776564733 3513 return StopAlsMeasurement(als_continuous_interrupt);
gallonm 16:0d4776564733 3514 else return status;
gallonm 16:0d4776564733 3515
gallonm 16:0d4776564733 3516 default:
gallonm 16:0d4776564733 3517 return INVALID_PARAMS;
gallonm 16:0d4776564733 3518 }
gallonm 14:0effa0bbf192 3519 }
gallonm 16:0d4776564733 3520
gallonm 16:0d4776564733 3521
gallonm 14:0effa0bbf192 3522 int VL6180X::StopRangeMeasurement(OperatingMode operating_mode)
gallonm 14:0effa0bbf192 3523 {
gallonm 16:0d4776564733 3524 int status;
gallonm 16:0d4776564733 3525
gallonm 16:0d4776564733 3526 if(operating_mode==range_single_shot_polling)
gallonm 16:0d4776564733 3527 status=VL6180x_RangeSetSystemMode(Device, MODE_SINGLESHOT);
gallonm 16:0d4776564733 3528 else
gallonm 16:0d4776564733 3529 status=VL6180x_RangeSetSystemMode(Device, MODE_START_STOP|MODE_SINGLESHOT);
gallonm 16:0d4776564733 3530 if(status)
gallonm 16:0d4776564733 3531 return status;
gallonm 16:0d4776564733 3532 status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 3533 if(status)
gallonm 16:0d4776564733 3534 {
gallonm 16:0d4776564733 3535 VL6180x_ErrLog("VL6180x_RangeConfigInterrupt fail"\n\r);
gallonm 16:0d4776564733 3536 return status;
gallonm 16:0d4776564733 3537 }
gallonm 16:0d4776564733 3538 status=VL6180x_RangeClearInterrupt(Device);
gallonm 16:0d4776564733 3539 if(status)
gallonm 16:0d4776564733 3540 {
gallonm 16:0d4776564733 3541 VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
gallonm 16:0d4776564733 3542 return status;
gallonm 16:0d4776564733 3543 }
gallonm 16:0d4776564733 3544 status=VL6180x_ClearErrorInterrupt(Device);
gallonm 16:0d4776564733 3545 if(status)
gallonm 16:0d4776564733 3546 {
gallonm 16:0d4776564733 3547 VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
gallonm 16:0d4776564733 3548 return status;
gallonm 16:0d4776564733 3549 }
gallonm 16:0d4776564733 3550 status=VL6180x_RangeSetRawThresholds(Device, 10, 200);
gallonm 16:0d4776564733 3551 if(status)
gallonm 16:0d4776564733 3552 VL6180x_ErrLog("VL6180x_RangeSetThresholds fail");
gallonm 16:0d4776564733 3553 return status;
gallonm 14:0effa0bbf192 3554 }
gallonm 16:0d4776564733 3555
gallonm 16:0d4776564733 3556
gallonm 14:0effa0bbf192 3557 int VL6180X::StopAlsMeasurement(OperatingMode operating_mode)
gallonm 14:0effa0bbf192 3558 {
gallonm 16:0d4776564733 3559 int status;
gallonm 16:0d4776564733 3560
gallonm 16:0d4776564733 3561 if(operating_mode==als_single_shot_polling)
gallonm 16:0d4776564733 3562 status=VL6180x_AlsSetSystemMode(Device, MODE_SINGLESHOT);
gallonm 16:0d4776564733 3563 else
gallonm 16:0d4776564733 3564 status=VL6180x_AlsSetSystemMode(Device, MODE_START_STOP|MODE_SINGLESHOT);
gallonm 16:0d4776564733 3565 if(status)
gallonm 16:0d4776564733 3566 return status;
gallonm 16:0d4776564733 3567 status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 3568 if(status)
gallonm 16:0d4776564733 3569 {
gallonm 16:0d4776564733 3570 VL6180x_ErrLog("VL6180x_AlsConfigInterrupt fail"\n\r);
gallonm 16:0d4776564733 3571 return status;
gallonm 16:0d4776564733 3572 }
gallonm 16:0d4776564733 3573 status=VL6180x_AlsClearInterrupt(Device);
gallonm 16:0d4776564733 3574 if(status)
gallonm 16:0d4776564733 3575 {
gallonm 16:0d4776564733 3576 VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
gallonm 16:0d4776564733 3577 return status;
gallonm 16:0d4776564733 3578 }
gallonm 16:0d4776564733 3579 status=VL6180x_ClearErrorInterrupt(Device);
gallonm 16:0d4776564733 3580 if(status)
gallonm 16:0d4776564733 3581 {
gallonm 16:0d4776564733 3582 VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
gallonm 16:0d4776564733 3583 return status;
gallonm 16:0d4776564733 3584 }
gallonm 16:0d4776564733 3585 status=VL6180x_AlsSetThresholds(Device, 0x0, 0xFF);
gallonm 16:0d4776564733 3586 if(status)
gallonm 16:0d4776564733 3587 VL6180x_ErrLog("VL6180x_AlsSetThresholds fail");
gallonm 16:0d4776564733 3588 return status;
gallonm 14:0effa0bbf192 3589 }
gallonm 16:0d4776564733 3590
gallonm 16:0d4776564733 3591
gallonm 16:0d4776564733 3592
gallonm 16:0d4776564733 3593
gallonm 16:0d4776564733 3594 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/