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@26:db0cdc5ecc0a, 2015-11-04 (annotated)

Committer:
gallonm
Date:
Wed Nov 04 09:11:52 2015 +0100
Revision:
26:db0cdc5ecc0a
Parent:
24:025afc3fe30f
Child:
28:7c9031e96c22
Settled AlsSetThresholds and AlsGetThresholds.

Modified the function parameters.

Implemented the computation from lux to raw device value.

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 20:dd8390d615bf 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 26:db0cdc5ecc0a 531 status = VL6180x_AlsSetThresholds(dev, 0, 1800);
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 26:db0cdc5ecc0a 728 int VL6180X::VL6180x_AlsSetThresholds(VL6180xDev_t dev, lux_t low, lux_t high) {
gallonm 7:2dc81120c917 729 int status;
gallonm 24:025afc3fe30f 730 uint32_t AlsAnGain, IntPeriod, AlsScaler, GainFix, RawAlsHigh, RawAlsLow;
gallonm 26:db0cdc5ecc0a 731 uint16_t RawThreshLow, RawThreshHigh;
gallonm 24:025afc3fe30f 732 const uint32_t LuxResxIntIme =(uint32_t)(0.56f* DEF_INT_PEFRIOD *(1<<LUXRES_FIX_PREC));
gallonm 26:db0cdc5ecc0a 733 void *ptr;
gallonm 16:0d4776564733 734
gallonm 7:2dc81120c917 735 LOG_FUNCTION_START("%d %d", (int )low, (int)high);
gallonm 24:025afc3fe30f 736 AlsAnGain=VL6180xDevDataGet(dev, AlsGainCode);
gallonm 24:025afc3fe30f 737 IntPeriod=VL6180xDevDataGet(dev, IntegrationPeriod);
gallonm 24:025afc3fe30f 738 AlsScaler=VL6180xDevDataGet(dev, AlsScaler);
gallonm 24:025afc3fe30f 739 GainFix=AlsGainLookUp[AlsAnGain];
gallonm 24:025afc3fe30f 740 IntPeriod++;
gallonm 24:025afc3fe30f 741 RawAlsLow=low*AlsScaler*GainFix;
gallonm 24:025afc3fe30f 742 RawAlsLow=RawAlsLow*IntPeriod;
gallonm 26:db0cdc5ecc0a 743 RawAlsLow=RawAlsLow/LuxResxIntIme;
gallonm 24:025afc3fe30f 744 RawAlsHigh=high*(AlsScaler*GainFix);
gallonm 24:025afc3fe30f 745 RawAlsHigh=RawAlsHigh*IntPeriod;
gallonm 24:025afc3fe30f 746 RawAlsHigh=RawAlsHigh/LuxResxIntIme;
gallonm 26:db0cdc5ecc0a 747 ptr=&RawAlsLow;
gallonm 26:db0cdc5ecc0a 748 RawThreshLow=*(uint16_t*)ptr;
gallonm 26:db0cdc5ecc0a 749 status = VL6180x_WrWord(dev, SYSALS_THRESH_LOW, RawThreshLow);
gallonm 7:2dc81120c917 750 if(!status ){
gallonm 26:db0cdc5ecc0a 751 ptr=&RawAlsHigh;
gallonm 26:db0cdc5ecc0a 752 RawThreshHigh=*(uint16_t*)ptr;
gallonm 26:db0cdc5ecc0a 753 status = VL6180x_WrWord(dev, SYSALS_THRESH_HIGH, RawThreshHigh);
gallonm 7:2dc81120c917 754 }
gallonm 7:2dc81120c917 755 LOG_FUNCTION_END(status) ;
gallonm 7:2dc81120c917 756 return status;
gallonm 7:2dc81120c917 757 }
gallonm 16:0d4776564733 758
gallonm 16:0d4776564733 759
gallonm 7:2dc81120c917 760 int VL6180X::VL6180x_AlsSetAnalogueGain(VL6180xDev_t dev, uint8_t gain) {
gallonm 7:2dc81120c917 761 int status;
gallonm 7:2dc81120c917 762 uint8_t GainTotal;
gallonm 16:0d4776564733 763
gallonm 7:2dc81120c917 764 LOG_FUNCTION_START("%d", (int )gain);
gallonm 7:2dc81120c917 765 gain&=~0x40;
gallonm 7:2dc81120c917 766 if (gain > 7) {
gallonm 7:2dc81120c917 767 gain = 7;
gallonm 7:2dc81120c917 768 }
gallonm 7:2dc81120c917 769 GainTotal = gain|0x40;
gallonm 16:0d4776564733 770
gallonm 7:2dc81120c917 771 status = VL6180x_WrByte(dev, SYSALS_ANALOGUE_GAIN, GainTotal);
gallonm 7:2dc81120c917 772 if( !status){
gallonm 7:2dc81120c917 773 VL6180xDevDataSet(dev, AlsGainCode, gain);
gallonm 7:2dc81120c917 774 }
gallonm 16:0d4776564733 775
gallonm 7:2dc81120c917 776 LOG_FUNCTION_END_FMT(status, "%d %d", (int ) gain, (int )GainTotal);
gallonm 7:2dc81120c917 777 return status;
gallonm 7:2dc81120c917 778 }
gallonm 16:0d4776564733 779
gallonm 7:2dc81120c917 780 int VL6180X::VL6180x_AlsSetInterMeasurementPeriod(VL6180xDev_t dev, uint16_t intermeasurement_period_ms)
gallonm 7:2dc81120c917 781 {
gallonm 7:2dc81120c917 782 int status;
gallonm 16:0d4776564733 783
gallonm 7:2dc81120c917 784 LOG_FUNCTION_START("%d",(int)intermeasurement_period_ms);
gallonm 7:2dc81120c917 785 /* clipping: range is 0-2550ms */
gallonm 7:2dc81120c917 786 if (intermeasurement_period_ms >= 255 *10)
gallonm 7:2dc81120c917 787 intermeasurement_period_ms = 255 *10;
gallonm 7:2dc81120c917 788 status=VL6180x_WrByte(dev, SYSALS_INTERMEASUREMENT_PERIOD, (uint8_t)(intermeasurement_period_ms/10));
gallonm 16:0d4776564733 789
gallonm 7:2dc81120c917 790 LOG_FUNCTION_END_FMT(status, "%d", (int) intermeasurement_period_ms);
gallonm 7:2dc81120c917 791 return status;
gallonm 7:2dc81120c917 792 }
gallonm 16:0d4776564733 793
gallonm 16:0d4776564733 794
gallonm 7:2dc81120c917 795 int VL6180X::VL6180x_AlsSetIntegrationPeriod(VL6180xDev_t dev, uint16_t period_ms)
gallonm 7:2dc81120c917 796 {
gallonm 7:2dc81120c917 797 int status;
gallonm 7:2dc81120c917 798 uint16_t SetIntegrationPeriod;
gallonm 16:0d4776564733 799
gallonm 7:2dc81120c917 800 LOG_FUNCTION_START("%d", (int)period_ms);
gallonm 16:0d4776564733 801
gallonm 7:2dc81120c917 802 if( period_ms>=1 )
gallonm 7:2dc81120c917 803 SetIntegrationPeriod = period_ms - 1;
gallonm 7:2dc81120c917 804 else
gallonm 7:2dc81120c917 805 SetIntegrationPeriod = period_ms;
gallonm 16:0d4776564733 806
gallonm 7:2dc81120c917 807 if (SetIntegrationPeriod > 464) {
gallonm 7:2dc81120c917 808 SetIntegrationPeriod = 464;
gallonm 7:2dc81120c917 809 }
gallonm 7:2dc81120c917 810 else if (SetIntegrationPeriod == 255) {
gallonm 7:2dc81120c917 811 SetIntegrationPeriod++; /* can't write 255 since this causes the device to lock out.*/
gallonm 7:2dc81120c917 812 }
gallonm 16:0d4776564733 813
gallonm 7:2dc81120c917 814 status =VL6180x_WrWord(dev, SYSALS_INTEGRATION_PERIOD, SetIntegrationPeriod);
gallonm 7:2dc81120c917 815 if( !status ){
gallonm 7:2dc81120c917 816 VL6180xDevDataSet(dev, IntegrationPeriod, SetIntegrationPeriod) ;
gallonm 7:2dc81120c917 817 }
gallonm 7:2dc81120c917 818 LOG_FUNCTION_END_FMT(status, "%d", (int)SetIntegrationPeriod);
gallonm 7:2dc81120c917 819 return status;
gallonm 7:2dc81120c917 820 }
gallonm 16:0d4776564733 821
gallonm 7:2dc81120c917 822 #endif /* HAVE_ALS_SUPPORT */
gallonm 16:0d4776564733 823
gallonm 16:0d4776564733 824
gallonm 7:2dc81120c917 825 int VL6180X::VL6180x_RangePollMeasurement(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData)
gallonm 7:2dc81120c917 826 {
gallonm 7:2dc81120c917 827 int status;
gallonm 7:2dc81120c917 828 int ClrStatus;
gallonm 7:2dc81120c917 829 IntrStatus_t IntStatus;
gallonm 16:0d4776564733 830
gallonm 7:2dc81120c917 831 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 832 /* start single range measurement */
gallonm 16:0d4776564733 833
gallonm 16:0d4776564733 834
gallonm 7:2dc81120c917 835 #if VL6180X_SAFE_POLLING_ENTER
gallonm 7:2dc81120c917 836 /* 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 837 status=VL6180x_RangeClearInterrupt(dev);
gallonm 7:2dc81120c917 838 if(status){
gallonm 7:2dc81120c917 839 VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
gallonm 7:2dc81120c917 840 goto done;
gallonm 7:2dc81120c917 841 }
gallonm 7:2dc81120c917 842 #endif
gallonm 7:2dc81120c917 843 /* //![single_shot_snipet] */
gallonm 7:2dc81120c917 844 status=VL6180x_RangeSetSystemMode(dev, MODE_START_STOP|MODE_SINGLESHOT);
gallonm 7:2dc81120c917 845 if( status ){
gallonm 7:2dc81120c917 846 VL6180x_ErrLog("VL6180x_RangeSetSystemMode fail");
gallonm 7:2dc81120c917 847 goto done;
gallonm 7:2dc81120c917 848 }
gallonm 16:0d4776564733 849
gallonm 7:2dc81120c917 850 /* poll for new sample ready */
gallonm 7:2dc81120c917 851 while(1 ){
gallonm 7:2dc81120c917 852 status=VL6180x_RangeGetInterruptStatus(dev, &IntStatus.val);
gallonm 7:2dc81120c917 853 if( status ){
gallonm 7:2dc81120c917 854 break;
gallonm 7:2dc81120c917 855 }
gallonm 7:2dc81120c917 856 if( IntStatus.status.Error !=0 ){
gallonm 7:2dc81120c917 857 VL6180x_ErrLog("GPIO int Error report %d",(int)IntStatus.val);
gallonm 7:2dc81120c917 858 status = RANGE_ERROR;
gallonm 7:2dc81120c917 859 break;
gallonm 7:2dc81120c917 860 }
gallonm 7:2dc81120c917 861 else
gallonm 7:2dc81120c917 862 if( IntStatus.status.Range == RES_INT_STAT_GPIO_NEW_SAMPLE_READY){
gallonm 7:2dc81120c917 863 break;
gallonm 7:2dc81120c917 864 }
mapellil 19:39ea6bab0e5b 865 wait_ms(10);
gallonm 7:2dc81120c917 866 }
gallonm 7:2dc81120c917 867 /* //![single_shot_snipet] */
gallonm 16:0d4776564733 868
gallonm 7:2dc81120c917 869 if ( !status ){
gallonm 7:2dc81120c917 870 status = VL6180x_RangeGetMeasurement(dev, pRangeData);
gallonm 7:2dc81120c917 871 }
gallonm 16:0d4776564733 872
gallonm 7:2dc81120c917 873 /* clear range interrupt source */
gallonm 7:2dc81120c917 874 ClrStatus = VL6180x_RangeClearInterrupt(dev);
gallonm 7:2dc81120c917 875 if( ClrStatus ){
gallonm 7:2dc81120c917 876 VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
gallonm 7:2dc81120c917 877 /* leave initial status if already in error */
gallonm 7:2dc81120c917 878 if( !status ){
gallonm 7:2dc81120c917 879 status=ClrStatus;
gallonm 7:2dc81120c917 880 }
gallonm 7:2dc81120c917 881 }
gallonm 7:2dc81120c917 882 done:
gallonm 7:2dc81120c917 883 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 884 return status;
gallonm 7:2dc81120c917 885 }
gallonm 16:0d4776564733 886
gallonm 16:0d4776564733 887
gallonm 16:0d4776564733 888
gallonm 7:2dc81120c917 889 int VL6180X::VL6180x_RangeGetMeasurement(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData)
gallonm 7:2dc81120c917 890 {
gallonm 7:2dc81120c917 891 int status;
gallonm 7:2dc81120c917 892 uint16_t RawRate;
gallonm 7:2dc81120c917 893 uint8_t RawStatus;
gallonm 16:0d4776564733 894
gallonm 7:2dc81120c917 895 LOG_FUNCTION_START("");
gallonm 16:0d4776564733 896
gallonm 7:2dc81120c917 897 status = VL6180x_RangeGetResult(dev, &pRangeData->range_mm);
gallonm 7:2dc81120c917 898 if( !status ){
gallonm 7:2dc81120c917 899 status = VL6180x_RdWord(dev,RESULT_RANGE_SIGNAL_RATE, &RawRate );
gallonm 7:2dc81120c917 900 if( !status ){
gallonm 7:2dc81120c917 901 pRangeData->signalRate_mcps = VL6180x_9to7Conv(RawRate);
gallonm 7:2dc81120c917 902 status = VL6180x_RdByte(dev, RESULT_RANGE_STATUS, &RawStatus);
gallonm 7:2dc81120c917 903 if( !status ){
gallonm 7:2dc81120c917 904 pRangeData->errorStatus = RawStatus >>4;
gallonm 7:2dc81120c917 905 }
gallonm 7:2dc81120c917 906 else{
gallonm 7:2dc81120c917 907 VL6180x_ErrLog("Rd RESULT_RANGE_STATUS fail");
gallonm 7:2dc81120c917 908 }
gallonm 16:0d4776564733 909 #if VL6180x_WRAP_AROUND_FILTER_SUPPORT || VL6180x_HAVE_DMAX_RANGING
gallonm 7:2dc81120c917 910 status = _GetRateResult(dev, pRangeData);
gallonm 7:2dc81120c917 911 if( status )
gallonm 16:0d4776564733 912 goto error;
gallonm 16:0d4776564733 913 #endif
gallonm 7:2dc81120c917 914 #if VL6180x_WRAP_AROUND_FILTER_SUPPORT
gallonm 7:2dc81120c917 915 /* if enabled run filter */
gallonm 7:2dc81120c917 916 if( _IsWrapArroundActive(dev) ){
gallonm 7:2dc81120c917 917 status=_filter_GetResult(dev, pRangeData);
gallonm 7:2dc81120c917 918 if( !status){
gallonm 7:2dc81120c917 919 /* patch the range status and measure if it is filtered */
gallonm 7:2dc81120c917 920 if( pRangeData->range_mm != pRangeData->FilteredData.range_mm) {
gallonm 7:2dc81120c917 921 pRangeData->errorStatus=RangingFiltered;
gallonm 7:2dc81120c917 922 pRangeData->range_mm = pRangeData->FilteredData.range_mm;
gallonm 7:2dc81120c917 923 }
gallonm 7:2dc81120c917 924 }
gallonm 7:2dc81120c917 925 }
gallonm 7:2dc81120c917 926 #endif
gallonm 16:0d4776564733 927
gallonm 7:2dc81120c917 928 #if VL6180x_HAVE_DMAX_RANGING
gallonm 7:2dc81120c917 929 if(_IsDMaxActive(dev) ){
gallonm 7:2dc81120c917 930 _DMax_Compute(dev, pRangeData);
gallonm 7:2dc81120c917 931 }
gallonm 7:2dc81120c917 932 #endif
gallonm 7:2dc81120c917 933 }
gallonm 7:2dc81120c917 934 else{
gallonm 7:2dc81120c917 935 VL6180x_ErrLog("Rd RESULT_RANGE_SIGNAL_RATE fail");
gallonm 7:2dc81120c917 936 }
gallonm 7:2dc81120c917 937 }
gallonm 7:2dc81120c917 938 else{
gallonm 7:2dc81120c917 939 VL6180x_ErrLog("VL6180x_GetRangeResult fail");
gallonm 7:2dc81120c917 940 }
gallonm 7:2dc81120c917 941 error:
gallonm 7:2dc81120c917 942 LOG_FUNCTION_END_FMT(status, "%d %d %d", (int)pRangeData->range_mm, (int)pRangeData->signalRate_mcps, (int)pRangeData->errorStatus) ;
gallonm 7:2dc81120c917 943 return status;
gallonm 7:2dc81120c917 944 }
gallonm 16:0d4776564733 945
gallonm 16:0d4776564733 946
gallonm 7:2dc81120c917 947 int VL6180X::VL6180x_RangeGetMeasurementIfReady(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData)
gallonm 7:2dc81120c917 948 {
gallonm 7:2dc81120c917 949 int status;
gallonm 7:2dc81120c917 950 IntrStatus_t IntStatus;
gallonm 16:0d4776564733 951
gallonm 7:2dc81120c917 952 LOG_FUNCTION_START();
gallonm 16:0d4776564733 953
gallonm 7:2dc81120c917 954 status = VL6180x_RangeGetInterruptStatus(dev, &IntStatus.val);
gallonm 7:2dc81120c917 955 if( status ==0 ){
gallonm 7:2dc81120c917 956 if( IntStatus.status.Error !=0 ){
gallonm 7:2dc81120c917 957 VL6180x_ErrLog("GPIO int Error report %d",(int)IntStatus.val);
gallonm 7:2dc81120c917 958 status = RANGE_ERROR;
gallonm 7:2dc81120c917 959 }
gallonm 7:2dc81120c917 960 else
gallonm 7:2dc81120c917 961 if( IntStatus.status.Range == RES_INT_STAT_GPIO_NEW_SAMPLE_READY){
gallonm 7:2dc81120c917 962 status = VL6180x_RangeGetMeasurement(dev,pRangeData );
gallonm 7:2dc81120c917 963 if( status == 0){
gallonm 7:2dc81120c917 964 /* clear range interrupt source */
gallonm 7:2dc81120c917 965 status = VL6180x_RangeClearInterrupt(dev);
gallonm 7:2dc81120c917 966 if( status ){
gallonm 7:2dc81120c917 967 VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
gallonm 7:2dc81120c917 968 }
gallonm 7:2dc81120c917 969 }
gallonm 7:2dc81120c917 970 }
gallonm 7:2dc81120c917 971 else{
gallonm 7:2dc81120c917 972 status = NOT_READY;
gallonm 7:2dc81120c917 973 }
gallonm 7:2dc81120c917 974 }
gallonm 7:2dc81120c917 975 else{
gallonm 7:2dc81120c917 976 VL6180x_ErrLog("fail to get interrupt status");
gallonm 7:2dc81120c917 977 }
gallonm 7:2dc81120c917 978 LOG_FUNCTION_END(status) ;
gallonm 7:2dc81120c917 979 return status;
gallonm 7:2dc81120c917 980 }
gallonm 16:0d4776564733 981
gallonm 7:2dc81120c917 982 int VL6180X::VL6180x_FilterSetState(VL6180xDev_t dev, int state){
gallonm 7:2dc81120c917 983 int status;
gallonm 7:2dc81120c917 984 LOG_FUNCTION_START("%d", state);
gallonm 7:2dc81120c917 985 #if VL6180x_WRAP_AROUND_FILTER_SUPPORT
gallonm 7:2dc81120c917 986 VL6180xDevDataSet(dev,WrapAroundFilterActive, state);
gallonm 7:2dc81120c917 987 status = 0;
gallonm 7:2dc81120c917 988 #else
gallonm 7:2dc81120c917 989 status = NOT_SUPPORTED;
gallonm 7:2dc81120c917 990 #endif
gallonm 7:2dc81120c917 991 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 992 return status;
gallonm 7:2dc81120c917 993 }
gallonm 16:0d4776564733 994
gallonm 7:2dc81120c917 995 int VL6180X::VL6180x_FilterGetState(VL6180xDev_t dev){
gallonm 7:2dc81120c917 996 int status;
gallonm 7:2dc81120c917 997 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 998 #if VL6180x_WRAP_AROUND_FILTER_SUPPORT
gallonm 7:2dc81120c917 999 status = VL6180xDevDataGet(dev,WrapAroundFilterActive);
gallonm 7:2dc81120c917 1000 #else
gallonm 7:2dc81120c917 1001 status = 0;
gallonm 7:2dc81120c917 1002 #endif
gallonm 7:2dc81120c917 1003 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1004 return status;
gallonm 7:2dc81120c917 1005 }
gallonm 16:0d4776564733 1006
gallonm 7:2dc81120c917 1007 int VL6180X::VL6180x_RangeGetResult(VL6180xDev_t dev, int32_t *pRange_mm) {
gallonm 7:2dc81120c917 1008 int status;
gallonm 7:2dc81120c917 1009 uint8_t RawRange;
gallonm 7:2dc81120c917 1010 int32_t Upscale;
gallonm 16:0d4776564733 1011
gallonm 7:2dc81120c917 1012 LOG_FUNCTION_START("%p",pRange_mm);
gallonm 16:0d4776564733 1013
gallonm 7:2dc81120c917 1014 status = VL6180x_RdByte(dev, RESULT_RANGE_VAL, &RawRange);
gallonm 7:2dc81120c917 1015 if( !status ){
gallonm 10:4954b09b72d8 1016 Upscale = _GetUpscale(dev);
gallonm 7:2dc81120c917 1017 *pRange_mm= Upscale*(int32_t)RawRange;
gallonm 7:2dc81120c917 1018 }
gallonm 7:2dc81120c917 1019 LOG_FUNCTION_END_FMT(status, "%d", (int)*pRange_mm);
gallonm 7:2dc81120c917 1020 return status;
gallonm 7:2dc81120c917 1021 }
gallonm 16:0d4776564733 1022
gallonm 7:2dc81120c917 1023 int VL6180X::VL6180x_RangeSetRawThresholds(VL6180xDev_t dev, uint8_t low, uint8_t high)
gallonm 7:2dc81120c917 1024 {
gallonm 7:2dc81120c917 1025 int status;
gallonm 7:2dc81120c917 1026 LOG_FUNCTION_START("%d %d", (int) low, (int)high);
gallonm 7:2dc81120c917 1027 /* TODO we can optimize here grouping high/low in a word but that's cpu endianness dependent */
gallonm 7:2dc81120c917 1028 status=VL6180x_WrByte(dev, SYSRANGE_THRESH_HIGH,high);
gallonm 7:2dc81120c917 1029 if( !status){
gallonm 7:2dc81120c917 1030 status=VL6180x_WrByte(dev, SYSRANGE_THRESH_LOW, low);
gallonm 7:2dc81120c917 1031 }
gallonm 16:0d4776564733 1032
gallonm 7:2dc81120c917 1033 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1034 return status;
gallonm 7:2dc81120c917 1035 }
gallonm 16:0d4776564733 1036
gallonm 7:2dc81120c917 1037 int VL6180X::VL6180x_RangeSetThresholds(VL6180xDev_t dev, uint16_t low, uint16_t high, int UseSafeParamHold)
gallonm 7:2dc81120c917 1038 {
gallonm 7:2dc81120c917 1039 int status;
gallonm 7:2dc81120c917 1040 int scale;
gallonm 7:2dc81120c917 1041 LOG_FUNCTION_START("%d %d", (int) low, (int)high);
gallonm 7:2dc81120c917 1042 scale=_GetUpscale(dev,UpscaleFactor);
gallonm 7:2dc81120c917 1043 if( low>scale*255 || high >scale*255){
gallonm 7:2dc81120c917 1044 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1045 }
gallonm 7:2dc81120c917 1046 else{
gallonm 7:2dc81120c917 1047 do{
gallonm 7:2dc81120c917 1048 if( UseSafeParamHold ){
gallonm 7:2dc81120c917 1049 status=VL6180x_SetGroupParamHold(dev, 1);
gallonm 7:2dc81120c917 1050 if( status )
gallonm 7:2dc81120c917 1051 break;
gallonm 7:2dc81120c917 1052 }
gallonm 7:2dc81120c917 1053 status=VL6180x_RangeSetRawThresholds(dev, (uint8_t)(low/scale), (uint8_t)(high/scale));
gallonm 7:2dc81120c917 1054 if( status ){
gallonm 7:2dc81120c917 1055 VL6180x_ErrLog("VL6180x_RangeSetRawThresholds fail");
gallonm 7:2dc81120c917 1056 }
gallonm 7:2dc81120c917 1057 if( UseSafeParamHold ){
gallonm 7:2dc81120c917 1058 int HoldStatus;
gallonm 7:2dc81120c917 1059 /* tryt to unset param hold vene if previous fail */
gallonm 7:2dc81120c917 1060 HoldStatus=VL6180x_SetGroupParamHold(dev, 0);
gallonm 7:2dc81120c917 1061 if( !status)
gallonm 7:2dc81120c917 1062 status=HoldStatus;
gallonm 7:2dc81120c917 1063 }
gallonm 7:2dc81120c917 1064 }
gallonm 7:2dc81120c917 1065 while(0);
gallonm 7:2dc81120c917 1066 }
gallonm 16:0d4776564733 1067
gallonm 7:2dc81120c917 1068 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1069 return status;
gallonm 7:2dc81120c917 1070 }
gallonm 16:0d4776564733 1071
gallonm 16:0d4776564733 1072
gallonm 7:2dc81120c917 1073 int VL6180X::VL6180x_RangeGetThresholds(VL6180xDev_t dev, uint16_t *low, uint16_t *high)
gallonm 7:2dc81120c917 1074 {
gallonm 7:2dc81120c917 1075 int status;
gallonm 7:2dc81120c917 1076 uint8_t RawLow, RawHigh;
gallonm 7:2dc81120c917 1077 int scale;
gallonm 16:0d4776564733 1078
gallonm 7:2dc81120c917 1079 LOG_FUNCTION_START("%p %p", low , high);
gallonm 16:0d4776564733 1080
gallonm 7:2dc81120c917 1081 scale=_GetUpscale(dev,UpscaleFactor);
gallonm 7:2dc81120c917 1082 do{
gallonm 7:2dc81120c917 1083 if( high != NULL ){
gallonm 7:2dc81120c917 1084 status=VL6180x_RdByte(dev, SYSRANGE_THRESH_HIGH,&RawHigh);
gallonm 7:2dc81120c917 1085 if( status ){
gallonm 7:2dc81120c917 1086 VL6180x_ErrLog("rd SYSRANGE_THRESH_HIGH fail");
gallonm 7:2dc81120c917 1087 break;
gallonm 7:2dc81120c917 1088 }
gallonm 7:2dc81120c917 1089 *high=(uint16_t)RawHigh*scale;
gallonm 7:2dc81120c917 1090 }
gallonm 7:2dc81120c917 1091 if( low != NULL ) {
gallonm 7:2dc81120c917 1092 status=VL6180x_RdByte(dev, SYSRANGE_THRESH_LOW, &RawLow);
gallonm 7:2dc81120c917 1093 if( status ){
gallonm 7:2dc81120c917 1094 VL6180x_ErrLog("rd SYSRANGE_THRESH_LOW fail");
gallonm 7:2dc81120c917 1095 break;
gallonm 7:2dc81120c917 1096 }
gallonm 7:2dc81120c917 1097 *low=(uint16_t)RawLow*scale;
gallonm 7:2dc81120c917 1098 }
gallonm 7:2dc81120c917 1099 }
gallonm 7:2dc81120c917 1100 while(0);
gallonm 7:2dc81120c917 1101 LOG_FUNCTION_END_FMT(status, "%d %d",(int)*low ,(int)*high);
gallonm 7:2dc81120c917 1102 return status;
gallonm 7:2dc81120c917 1103 }
gallonm 16:0d4776564733 1104
gallonm 16:0d4776564733 1105
gallonm 7:2dc81120c917 1106 int VL6180X::VL6180x_RangeGetInterruptStatus(VL6180xDev_t dev, uint8_t *pIntStatus) {
gallonm 7:2dc81120c917 1107 int status;
gallonm 7:2dc81120c917 1108 uint8_t IntStatus;
gallonm 7:2dc81120c917 1109 LOG_FUNCTION_START("%p", pIntStatus);
gallonm 7:2dc81120c917 1110 /* FIXME we are grouping "error" with over status the user must check implicitly for it
gallonm 7:2dc81120c917 1111 * not just new sample or over status , that will nevr show up in case of error*/
gallonm 7:2dc81120c917 1112 status = VL6180x_RdByte(dev, RESULT_INTERRUPT_STATUS_GPIO, &IntStatus);
gallonm 7:2dc81120c917 1113 *pIntStatus= IntStatus&0xC7;
gallonm 16:0d4776564733 1114
gallonm 7:2dc81120c917 1115 LOG_FUNCTION_END_FMT(status, "%d", (int)*pIntStatus);
gallonm 7:2dc81120c917 1116 return status;
gallonm 7:2dc81120c917 1117 }
gallonm 16:0d4776564733 1118
gallonm 16:0d4776564733 1119
gallonm 7:2dc81120c917 1120 int VL6180X::VL6180x_GetInterruptStatus(VL6180xDev_t dev, uint8_t *IntStatus)
gallonm 7:2dc81120c917 1121 {
gallonm 7:2dc81120c917 1122 int status;
gallonm 7:2dc81120c917 1123 LOG_FUNCTION_START("%p" , IntStatus);
gallonm 7:2dc81120c917 1124 status = VL6180x_RdByte(dev, RESULT_INTERRUPT_STATUS_GPIO, IntStatus);
gallonm 7:2dc81120c917 1125 LOG_FUNCTION_END_FMT(status, "%d", (int)*IntStatus);
gallonm 7:2dc81120c917 1126 return status;
gallonm 7:2dc81120c917 1127 }
gallonm 16:0d4776564733 1128
gallonm 7:2dc81120c917 1129 int VL6180X::VL6180x_ClearInterrupt(VL6180xDev_t dev, uint8_t IntClear )
gallonm 7:2dc81120c917 1130 {
gallonm 7:2dc81120c917 1131 int status;
gallonm 7:2dc81120c917 1132 LOG_FUNCTION_START("%d" ,(int)IntClear);
gallonm 7:2dc81120c917 1133 if( IntClear <= 7 ){
gallonm 7:2dc81120c917 1134 status=VL6180x_WrByte( dev, SYSTEM_INTERRUPT_CLEAR, IntClear);
gallonm 7:2dc81120c917 1135 }
gallonm 7:2dc81120c917 1136 else{
gallonm 7:2dc81120c917 1137 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1138 }
gallonm 7:2dc81120c917 1139 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1140 return status;
gallonm 7:2dc81120c917 1141 }
gallonm 16:0d4776564733 1142
gallonm 16:0d4776564733 1143
gallonm 7:2dc81120c917 1144 int VL6180X::VL6180x_RangeStaticInit(VL6180xDev_t dev)
gallonm 7:2dc81120c917 1145 {
gallonm 7:2dc81120c917 1146 int status;
gallonm 7:2dc81120c917 1147 LOG_FUNCTION_START("");
gallonm 16:0d4776564733 1148
gallonm 7:2dc81120c917 1149 /* REGISTER_TUNING_SR03_270514_CustomerView.txt */
gallonm 7:2dc81120c917 1150 VL6180x_WrByte( dev, 0x0207, 0x01);
gallonm 7:2dc81120c917 1151 VL6180x_WrByte( dev, 0x0208, 0x01);
gallonm 7:2dc81120c917 1152 VL6180x_WrByte( dev, 0x0096, 0x00);
gallonm 7:2dc81120c917 1153 VL6180x_WrByte( dev, 0x0097, 0xfd);
gallonm 7:2dc81120c917 1154 VL6180x_WrByte( dev, 0x00e3, 0x00);
gallonm 7:2dc81120c917 1155 VL6180x_WrByte( dev, 0x00e4, 0x04);
gallonm 7:2dc81120c917 1156 VL6180x_WrByte( dev, 0x00e5, 0x02);
gallonm 7:2dc81120c917 1157 VL6180x_WrByte( dev, 0x00e6, 0x01);
gallonm 7:2dc81120c917 1158 VL6180x_WrByte( dev, 0x00e7, 0x03);
gallonm 7:2dc81120c917 1159 VL6180x_WrByte( dev, 0x00f5, 0x02);
gallonm 7:2dc81120c917 1160 VL6180x_WrByte( dev, 0x00d9, 0x05);
gallonm 7:2dc81120c917 1161 VL6180x_WrByte( dev, 0x00db, 0xce);
gallonm 7:2dc81120c917 1162 VL6180x_WrByte( dev, 0x00dc, 0x03);
gallonm 7:2dc81120c917 1163 VL6180x_WrByte( dev, 0x00dd, 0xf8);
gallonm 7:2dc81120c917 1164 VL6180x_WrByte( dev, 0x009f, 0x00);
gallonm 7:2dc81120c917 1165 VL6180x_WrByte( dev, 0x00a3, 0x3c);
gallonm 7:2dc81120c917 1166 VL6180x_WrByte( dev, 0x00b7, 0x00);
gallonm 7:2dc81120c917 1167 VL6180x_WrByte( dev, 0x00bb, 0x3c);
gallonm 7:2dc81120c917 1168 VL6180x_WrByte( dev, 0x00b2, 0x09);
gallonm 7:2dc81120c917 1169 VL6180x_WrByte( dev, 0x00ca, 0x09);
gallonm 7:2dc81120c917 1170 VL6180x_WrByte( dev, 0x0198, 0x01);
gallonm 7:2dc81120c917 1171 VL6180x_WrByte( dev, 0x01b0, 0x17);
gallonm 7:2dc81120c917 1172 VL6180x_WrByte( dev, 0x01ad, 0x00);
gallonm 7:2dc81120c917 1173 VL6180x_WrByte( dev, 0x00ff, 0x05);
gallonm 7:2dc81120c917 1174 VL6180x_WrByte( dev, 0x0100, 0x05);
gallonm 7:2dc81120c917 1175 VL6180x_WrByte( dev, 0x0199, 0x05);
gallonm 7:2dc81120c917 1176 VL6180x_WrByte( dev, 0x01a6, 0x1b);
gallonm 7:2dc81120c917 1177 VL6180x_WrByte( dev, 0x01ac, 0x3e);
gallonm 7:2dc81120c917 1178 VL6180x_WrByte( dev, 0x01a7, 0x1f);
gallonm 7:2dc81120c917 1179 VL6180x_WrByte( dev, 0x0030, 0x00);
gallonm 16:0d4776564733 1180
gallonm 7:2dc81120c917 1181 /* Recommended : Public registers - See data sheet for more detail */
gallonm 7:2dc81120c917 1182 VL6180x_WrByte( dev, 0x0011, 0x10); /* Enables polling for New Sample ready when measurement completes */
gallonm 7:2dc81120c917 1183 VL6180x_WrByte( dev, 0x010a, 0x30); /* Set the averaging sample period (compromise between lower noise and increased execution time) */
gallonm 7:2dc81120c917 1184 VL6180x_WrByte( dev, 0x003f, 0x46); /* Sets the light and dark gain (upper nibble). Dark gain should not be changed.*/
gallonm 7:2dc81120c917 1185 VL6180x_WrByte( dev, 0x0031, 0xFF); /* sets the # of range measurements after which auto calibration of system is performed */
gallonm 7:2dc81120c917 1186 VL6180x_WrByte( dev, 0x0040, 0x63); /* Set ALS integration time to 100ms */
gallonm 7:2dc81120c917 1187 VL6180x_WrByte( dev, 0x002e, 0x01); /* perform a single temperature calibration of the ranging sensor */
gallonm 16:0d4776564733 1188
gallonm 7:2dc81120c917 1189 /* Optional: Public registers - See data sheet for more detail */
gallonm 7:2dc81120c917 1190 VL6180x_WrByte( dev, 0x001b, 0x09); /* Set default ranging inter-measurement period to 100ms */
gallonm 7:2dc81120c917 1191 VL6180x_WrByte( dev, 0x003e, 0x31); /* Set default ALS inter-measurement period to 500ms */
gallonm 7:2dc81120c917 1192 VL6180x_WrByte( dev, 0x0014, 0x24); /* Configures interrupt on New sample ready */
gallonm 16:0d4776564733 1193
gallonm 16:0d4776564733 1194
gallonm 7:2dc81120c917 1195 status=VL6180x_RangeSetMaxConvergenceTime(dev, 50); /* Calculate ece value on initialization (use max conv) */
gallonm 7:2dc81120c917 1196 LOG_FUNCTION_END(status);
gallonm 16:0d4776564733 1197
gallonm 7:2dc81120c917 1198 return status;
gallonm 7:2dc81120c917 1199 }
gallonm 16:0d4776564733 1200
gallonm 7:2dc81120c917 1201 #if VL6180x_UPSCALE_SUPPORT != 1
gallonm 16:0d4776564733 1202
gallonm 7:2dc81120c917 1203 int VL6180X::_UpscaleInitPatch0(VL6180xDev_t dev){
gallonm 7:2dc81120c917 1204 int status;
gallonm 7:2dc81120c917 1205 uint32_t CalValue=0;
gallonm 7:2dc81120c917 1206 CalValue= VL6180xDevDataGet(dev, Part2PartAmbNVM);
gallonm 7:2dc81120c917 1207 status=VL6180x_WrDWord( dev, 0xDA, CalValue);
gallonm 7:2dc81120c917 1208 return status;
gallonm 7:2dc81120c917 1209 }
gallonm 16:0d4776564733 1210
gallonm 7:2dc81120c917 1211 /* only include up-scaling register setting when up-scale support is configured in */
gallonm 7:2dc81120c917 1212 int VL6180X::VL6180x_UpscaleRegInit(VL6180xDev_t dev)
gallonm 7:2dc81120c917 1213 {
gallonm 7:2dc81120c917 1214 /* apply REGISTER_TUNING_ER02_100614_CustomerView.txt */
gallonm 7:2dc81120c917 1215 VL6180x_WrByte( dev, 0x0207, 0x01);
gallonm 7:2dc81120c917 1216 VL6180x_WrByte( dev, 0x0208, 0x01);
gallonm 7:2dc81120c917 1217 VL6180x_WrByte( dev, 0x0096, 0x00);
gallonm 7:2dc81120c917 1218 VL6180x_WrByte( dev, 0x0097, 0x54);
gallonm 7:2dc81120c917 1219 VL6180x_WrByte( dev, 0x00e3, 0x00);
gallonm 7:2dc81120c917 1220 VL6180x_WrByte( dev, 0x00e4, 0x04);
gallonm 7:2dc81120c917 1221 VL6180x_WrByte( dev, 0x00e5, 0x02);
gallonm 7:2dc81120c917 1222 VL6180x_WrByte( dev, 0x00e6, 0x01);
gallonm 7:2dc81120c917 1223 VL6180x_WrByte( dev, 0x00e7, 0x03);
gallonm 7:2dc81120c917 1224 VL6180x_WrByte( dev, 0x00f5, 0x02);
gallonm 7:2dc81120c917 1225 VL6180x_WrByte( dev, 0x00d9, 0x05);
gallonm 16:0d4776564733 1226
gallonm 7:2dc81120c917 1227 _UpscaleInitPatch0(dev);
gallonm 16:0d4776564733 1228
gallonm 7:2dc81120c917 1229 VL6180x_WrByte( dev, 0x009f, 0x00);
gallonm 7:2dc81120c917 1230 VL6180x_WrByte( dev, 0x00a3, 0x28);
gallonm 7:2dc81120c917 1231 VL6180x_WrByte( dev, 0x00b7, 0x00);
gallonm 7:2dc81120c917 1232 VL6180x_WrByte( dev, 0x00bb, 0x28);
gallonm 7:2dc81120c917 1233 VL6180x_WrByte( dev, 0x00b2, 0x09);
gallonm 7:2dc81120c917 1234 VL6180x_WrByte( dev, 0x00ca, 0x09);
gallonm 7:2dc81120c917 1235 VL6180x_WrByte( dev, 0x0198, 0x01);
gallonm 7:2dc81120c917 1236 VL6180x_WrByte( dev, 0x01b0, 0x17);
gallonm 7:2dc81120c917 1237 VL6180x_WrByte( dev, 0x01ad, 0x00);
gallonm 7:2dc81120c917 1238 VL6180x_WrByte( dev, 0x00ff, 0x05);
gallonm 7:2dc81120c917 1239 VL6180x_WrByte( dev, 0x0100, 0x05);
gallonm 7:2dc81120c917 1240 VL6180x_WrByte( dev, 0x0199, 0x05);
gallonm 7:2dc81120c917 1241 VL6180x_WrByte( dev, 0x01a6, 0x1b);
gallonm 7:2dc81120c917 1242 VL6180x_WrByte( dev, 0x01ac, 0x3e);
gallonm 7:2dc81120c917 1243 VL6180x_WrByte( dev, 0x01a7, 0x1f);
gallonm 7:2dc81120c917 1244 VL6180x_WrByte( dev, 0x0030, 0x00);
gallonm 7:2dc81120c917 1245 VL6180x_WrByte( dev, 0x0011, 0x10);
gallonm 7:2dc81120c917 1246 VL6180x_WrByte( dev, 0x010a, 0x30);
gallonm 7:2dc81120c917 1247 VL6180x_WrByte( dev, 0x003f, 0x46);
gallonm 7:2dc81120c917 1248 VL6180x_WrByte( dev, 0x0031, 0xFF);
gallonm 7:2dc81120c917 1249 VL6180x_WrByte( dev, 0x0040, 0x63);
gallonm 7:2dc81120c917 1250 VL6180x_WrByte( dev, 0x002e, 0x01);
gallonm 7:2dc81120c917 1251 VL6180x_WrByte( dev, 0x002c, 0xff);
gallonm 7:2dc81120c917 1252 VL6180x_WrByte( dev, 0x001b, 0x09);
gallonm 7:2dc81120c917 1253 VL6180x_WrByte( dev, 0x003e, 0x31);
gallonm 7:2dc81120c917 1254 VL6180x_WrByte( dev, 0x0014, 0x24);
gallonm 7:2dc81120c917 1255 #if VL6180x_EXTENDED_RANGE
gallonm 7:2dc81120c917 1256 VL6180x_RangeSetMaxConvergenceTime(dev, 63);
gallonm 7:2dc81120c917 1257 #else
gallonm 7:2dc81120c917 1258 VL6180x_RangeSetMaxConvergenceTime(dev, 50);
gallonm 7:2dc81120c917 1259 #endif
gallonm 7:2dc81120c917 1260 return 0;
gallonm 7:2dc81120c917 1261 }
gallonm 7:2dc81120c917 1262 #else
gallonm 7:2dc81120c917 1263 #define VL6180x_UpscaleRegInit(...) -1
gallonm 7:2dc81120c917 1264 #endif
gallonm 16:0d4776564733 1265
gallonm 7:2dc81120c917 1266 int VL6180X::VL6180x_UpscaleSetScaling(VL6180xDev_t dev, uint8_t scaling)
gallonm 7:2dc81120c917 1267 {
gallonm 7:2dc81120c917 1268 int status;
gallonm 7:2dc81120c917 1269 uint16_t Scaler;
gallonm 7:2dc81120c917 1270 int8_t Offset;
gallonm 16:0d4776564733 1271
gallonm 7:2dc81120c917 1272 LOG_FUNCTION_START("%d",(int) scaling);
gallonm 16:0d4776564733 1273
gallonm 7:2dc81120c917 1274 #ifdef VL6180x_HAVE_UPSCALE_DATA
gallonm 7:2dc81120c917 1275 #define min_scaling 1
gallonm 7:2dc81120c917 1276 #define max_scaling sizeof(ScalerLookUP)/sizeof(ScalerLookUP[0])
gallonm 7:2dc81120c917 1277 #else
gallonm 7:2dc81120c917 1278 /* we are in fixed config so only allow configured factor */
gallonm 7:2dc81120c917 1279 #define min_scaling VL6180x_UPSCALE_SUPPORT
gallonm 7:2dc81120c917 1280 #define max_scaling VL6180x_UPSCALE_SUPPORT
gallonm 7:2dc81120c917 1281 #endif
gallonm 16:0d4776564733 1282
gallonm 7:2dc81120c917 1283 if( scaling>=min_scaling && scaling<= max_scaling ){
gallonm 16:0d4776564733 1284
gallonm 7:2dc81120c917 1285 Scaler = ScalerLookUP[scaling-1];
gallonm 7:2dc81120c917 1286 status = VL6180x_WrWord(dev, RANGE_SCALER, Scaler);
gallonm 7:2dc81120c917 1287 _SetUpscale(dev, scaling );
gallonm 16:0d4776564733 1288
gallonm 7:2dc81120c917 1289 /* Apply scaling on part-2-part offset */
gallonm 7:2dc81120c917 1290 Offset = VL6180xDevDataGet(dev, Part2PartOffsetNVM)/scaling;
gallonm 7:2dc81120c917 1291 status = VL6180x_WrByte(dev, SYSRANGE_PART_TO_PART_RANGE_OFFSET, Offset);
gallonm 7:2dc81120c917 1292 #if ! VL6180x_EXTENDED_RANGE
gallonm 7:2dc81120c917 1293 if( status ==0 ){
gallonm 7:2dc81120c917 1294 status = VL6180x_RangeSetEceState(dev, scaling == 1); /* enable ece only at 1x scaling */
gallonm 7:2dc81120c917 1295 }
gallonm 7:2dc81120c917 1296 if( status == 0 && !VL6180x_EXTENDED_RANGE && scaling!=1 ){
gallonm 16:0d4776564733 1297 status = NOT_GUARANTEED ;
gallonm 7:2dc81120c917 1298 }
gallonm 7:2dc81120c917 1299 #endif
gallonm 7:2dc81120c917 1300 }
gallonm 7:2dc81120c917 1301 else{
gallonm 7:2dc81120c917 1302 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1303 }
gallonm 7:2dc81120c917 1304 #undef min_scaling
gallonm 7:2dc81120c917 1305 #undef max_scaling
gallonm 7:2dc81120c917 1306 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1307 return status;
gallonm 7:2dc81120c917 1308 }
gallonm 16:0d4776564733 1309
gallonm 16:0d4776564733 1310
gallonm 7:2dc81120c917 1311 int VL6180X::VL6180x_UpscaleGetScaling(VL6180xDev_t dev)
gallonm 7:2dc81120c917 1312 {
gallonm 7:2dc81120c917 1313 int status;
gallonm 7:2dc81120c917 1314 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 1315 status=_GetUpscale(dev );
gallonm 7:2dc81120c917 1316 LOG_FUNCTION_END(status);
gallonm 16:0d4776564733 1317
gallonm 7:2dc81120c917 1318 return status;
gallonm 7:2dc81120c917 1319 }
gallonm 16:0d4776564733 1320
gallonm 16:0d4776564733 1321
gallonm 7:2dc81120c917 1322 int VL6180X::VL6180x_UpscaleStaticInit(VL6180xDev_t dev)
gallonm 7:2dc81120c917 1323 {
gallonm 7:2dc81120c917 1324 /* todo make these a fail macro in case only 1x is suppoted */
gallonm 7:2dc81120c917 1325 int status;
gallonm 16:0d4776564733 1326
gallonm 7:2dc81120c917 1327 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 1328 do{
gallonm 7:2dc81120c917 1329 status=VL6180x_UpscaleRegInit(dev);
gallonm 7:2dc81120c917 1330 if( status){
gallonm 7:2dc81120c917 1331 VL6180x_ErrLog("regInit fail");
gallonm 7:2dc81120c917 1332 break;
gallonm 7:2dc81120c917 1333 }
gallonm 7:2dc81120c917 1334 #if VL6180x_EXTENDED_RANGE
gallonm 7:2dc81120c917 1335 status = VL6180x_RangeSetEceState(dev, 0);
gallonm 7:2dc81120c917 1336 if( status){
gallonm 7:2dc81120c917 1337 VL6180x_ErrLog("VL6180x_RangeSetEceState fail");
gallonm 7:2dc81120c917 1338 break;
gallonm 7:2dc81120c917 1339 }
gallonm 7:2dc81120c917 1340 #endif
gallonm 7:2dc81120c917 1341 } while(0);
gallonm 7:2dc81120c917 1342 if( !status){
gallonm 7:2dc81120c917 1343 /* must write the scaler at least once to the device to ensure the scaler is in a known state. */
gallonm 7:2dc81120c917 1344 status=VL6180x_UpscaleSetScaling(dev, _GetUpscale(dev));
gallonm 14:0effa0bbf192 1345 VL6180x_WrByte( dev, SYSTEM_FRESH_OUT_OF_RESET, 0x00); /* change fresh out of set status to 0 */
gallonm 7:2dc81120c917 1346 }
gallonm 7:2dc81120c917 1347 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1348 return status;
gallonm 7:2dc81120c917 1349 }
gallonm 16:0d4776564733 1350
gallonm 16:0d4776564733 1351
gallonm 7:2dc81120c917 1352 int VL6180X::VL6180x_SetGPIOxPolarity(VL6180xDev_t dev, int pin, int active_high)
gallonm 7:2dc81120c917 1353 {
gallonm 7:2dc81120c917 1354 int status;
gallonm 7:2dc81120c917 1355 LOG_FUNCTION_START("%d %d",(int) pin, (int)active_high);
gallonm 16:0d4776564733 1356
gallonm 7:2dc81120c917 1357 if( pin ==0 || pin ==1 ){
gallonm 7:2dc81120c917 1358 uint16_t RegIndex;
gallonm 7:2dc81120c917 1359 uint8_t DataSet;
gallonm 7:2dc81120c917 1360 if( pin==0 )
gallonm 7:2dc81120c917 1361 RegIndex= SYSTEM_MODE_GPIO0;
gallonm 7:2dc81120c917 1362 else
gallonm 7:2dc81120c917 1363 RegIndex= SYSTEM_MODE_GPIO1;
gallonm 16:0d4776564733 1364
gallonm 7:2dc81120c917 1365 if (active_high )
gallonm 7:2dc81120c917 1366 DataSet = GPIOx_POLARITY_SELECT_MASK;
gallonm 7:2dc81120c917 1367 else
gallonm 7:2dc81120c917 1368 DataSet = 0;
gallonm 16:0d4776564733 1369
gallonm 7:2dc81120c917 1370 status = VL6180x_UpdateByte(dev, RegIndex, (uint8_t)~GPIOx_POLARITY_SELECT_MASK, DataSet);
gallonm 7:2dc81120c917 1371 }
gallonm 7:2dc81120c917 1372 else{
gallonm 7:2dc81120c917 1373 VL6180x_ErrLog("Invalid pin param %d", (int)pin);
gallonm 7:2dc81120c917 1374 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1375 }
gallonm 16:0d4776564733 1376
gallonm 7:2dc81120c917 1377 LOG_FUNCTION_END(status);
gallonm 16:0d4776564733 1378
gallonm 7:2dc81120c917 1379 return status;
gallonm 7:2dc81120c917 1380 }
gallonm 16:0d4776564733 1381
gallonm 7:2dc81120c917 1382 int VL6180X::VL6180x_SetGPIOxFunctionality(VL6180xDev_t dev, int pin, uint8_t functionality)
gallonm 7:2dc81120c917 1383 {
gallonm 7:2dc81120c917 1384 int status;
gallonm 16:0d4776564733 1385
gallonm 7:2dc81120c917 1386 LOG_FUNCTION_START("%d %d",(int) pin, (int)functionality);
gallonm 16:0d4776564733 1387
gallonm 7:2dc81120c917 1388 if( ((pin ==0) || (pin ==1)) && IsValidGPIOFunction(functionality) ){
gallonm 7:2dc81120c917 1389 uint16_t RegIndex;
gallonm 16:0d4776564733 1390
gallonm 7:2dc81120c917 1391 if( pin==0 )
gallonm 7:2dc81120c917 1392 RegIndex= SYSTEM_MODE_GPIO0;
gallonm 7:2dc81120c917 1393 else
gallonm 7:2dc81120c917 1394 RegIndex= SYSTEM_MODE_GPIO1;
gallonm 16:0d4776564733 1395
gallonm 7:2dc81120c917 1396 status = VL6180x_UpdateByte(dev, RegIndex, (uint8_t)~GPIOx_FUNCTIONALITY_SELECT_MASK, functionality<<GPIOx_FUNCTIONALITY_SELECT_SHIFT);
gallonm 7:2dc81120c917 1397 if( status){
gallonm 7:2dc81120c917 1398 VL6180x_ErrLog("Update SYSTEM_MODE_GPIO%d fail", (int)pin);
gallonm 7:2dc81120c917 1399 }
gallonm 7:2dc81120c917 1400 }
gallonm 7:2dc81120c917 1401 else{
gallonm 7:2dc81120c917 1402 VL6180x_ErrLog("Invalid pin %d or function %d", (int)pin, (int) functionality);
gallonm 7:2dc81120c917 1403 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1404 }
gallonm 16:0d4776564733 1405
gallonm 7:2dc81120c917 1406 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1407 return status;
gallonm 7:2dc81120c917 1408 }
gallonm 16:0d4776564733 1409
gallonm 16:0d4776564733 1410
gallonm 7:2dc81120c917 1411 int VL6180X::VL6180x_SetupGPIOx(VL6180xDev_t dev, int pin, uint8_t IntFunction, int ActiveHigh)
gallonm 7:2dc81120c917 1412 {
gallonm 7:2dc81120c917 1413 int status;
gallonm 16:0d4776564733 1414
gallonm 7:2dc81120c917 1415 LOG_FUNCTION_START("%d %d",(int) pin, (int)IntFunction);
gallonm 16:0d4776564733 1416
gallonm 7:2dc81120c917 1417 if( ((pin ==0) || (pin ==1)) && IsValidGPIOFunction(IntFunction) ){
gallonm 7:2dc81120c917 1418 uint16_t RegIndex;
gallonm 7:2dc81120c917 1419 uint8_t value=0;
gallonm 16:0d4776564733 1420
gallonm 7:2dc81120c917 1421 if( pin==0 )
gallonm 7:2dc81120c917 1422 RegIndex= SYSTEM_MODE_GPIO0;
gallonm 7:2dc81120c917 1423 else
gallonm 7:2dc81120c917 1424 RegIndex= SYSTEM_MODE_GPIO1;
gallonm 16:0d4776564733 1425
gallonm 7:2dc81120c917 1426 if( ActiveHigh )
gallonm 7:2dc81120c917 1427 value|=GPIOx_POLARITY_SELECT_MASK;
gallonm 16:0d4776564733 1428
gallonm 7:2dc81120c917 1429 value |= IntFunction<<GPIOx_FUNCTIONALITY_SELECT_SHIFT;
gallonm 7:2dc81120c917 1430 status = VL6180x_WrByte(dev, RegIndex, value);
gallonm 7:2dc81120c917 1431 if( status ){
gallonm 7:2dc81120c917 1432 VL6180x_ErrLog("SYSTEM_MODE_GPIO%d wr fail", (int)pin-SYSTEM_MODE_GPIO0);
gallonm 7:2dc81120c917 1433 }
gallonm 7:2dc81120c917 1434 }
gallonm 7:2dc81120c917 1435 else{
gallonm 7:2dc81120c917 1436 VL6180x_ErrLog("Invalid pin %d or function %d", (int)pin, (int) IntFunction);
gallonm 7:2dc81120c917 1437 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1438 }
gallonm 16:0d4776564733 1439
gallonm 7:2dc81120c917 1440 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1441 return status;
gallonm 7:2dc81120c917 1442 }
gallonm 16:0d4776564733 1443
gallonm 16:0d4776564733 1444
gallonm 7:2dc81120c917 1445 int VL6180X::VL6180x_DisableGPIOxOut(VL6180xDev_t dev, int pin) {
gallonm 7:2dc81120c917 1446 int status;
gallonm 16:0d4776564733 1447
gallonm 7:2dc81120c917 1448 LOG_FUNCTION_START("%d",(int)pin);
gallonm 16:0d4776564733 1449
gallonm 7:2dc81120c917 1450 status=VL6180x_SetGPIOxFunctionality(dev, pin, GPIOx_SELECT_OFF);
gallonm 16:0d4776564733 1451
gallonm 7:2dc81120c917 1452 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1453 return status;
gallonm 7:2dc81120c917 1454 }
gallonm 16:0d4776564733 1455
gallonm 16:0d4776564733 1456
gallonm 7:2dc81120c917 1457 int VL6180X::VL6180x_SetupGPIO1(VL6180xDev_t dev, uint8_t IntFunction, int ActiveHigh)
gallonm 7:2dc81120c917 1458 {
gallonm 7:2dc81120c917 1459 int status;
gallonm 7:2dc81120c917 1460 LOG_FUNCTION_START("%d %d",(int)IntFunction, (int)ActiveHigh );
gallonm 7:2dc81120c917 1461 status=VL6180x_SetupGPIOx(dev, 1 , IntFunction, ActiveHigh);
gallonm 7:2dc81120c917 1462 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1463 return status;
gallonm 7:2dc81120c917 1464 }
gallonm 16:0d4776564733 1465
gallonm 7:2dc81120c917 1466 int VL6180X::VL6180x_RangeConfigInterrupt(VL6180xDev_t dev, uint8_t ConfigGpioInt)
gallonm 7:2dc81120c917 1467 {
gallonm 7:2dc81120c917 1468 int status;
gallonm 16:0d4776564733 1469
gallonm 7:2dc81120c917 1470 if( ConfigGpioInt<= CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY){
gallonm 7:2dc81120c917 1471 status = VL6180x_UpdateByte(dev, SYSTEM_INTERRUPT_CONFIG_GPIO, (uint8_t)(~CONFIG_GPIO_RANGE_MASK), ConfigGpioInt);
gallonm 7:2dc81120c917 1472 }
gallonm 7:2dc81120c917 1473 else{
gallonm 7:2dc81120c917 1474 VL6180x_ErrLog("Invalid config mode param %d", (int)ConfigGpioInt);
gallonm 7:2dc81120c917 1475 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1476 }
gallonm 7:2dc81120c917 1477 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1478 return status;
gallonm 7:2dc81120c917 1479 }
gallonm 16:0d4776564733 1480
gallonm 16:0d4776564733 1481
gallonm 7:2dc81120c917 1482 int VL6180X::VL6180x_RangeSetEceFactor(VL6180xDev_t dev, uint16_t FactorM, uint16_t FactorD){
gallonm 7:2dc81120c917 1483 int status;
gallonm 7:2dc81120c917 1484 uint8_t u8;
gallonm 16:0d4776564733 1485
gallonm 7:2dc81120c917 1486 LOG_FUNCTION_START("%d %d", (int)FactorM, (int)FactorD );
gallonm 7:2dc81120c917 1487 do{
gallonm 7:2dc81120c917 1488 /* D cannot be 0 M must be <=D and >= 0 */
gallonm 7:2dc81120c917 1489 if( FactorM <= FactorD && FactorD> 0){
gallonm 7:2dc81120c917 1490 VL6180xDevDataSet(dev, EceFactorM, FactorM);
gallonm 7:2dc81120c917 1491 VL6180xDevDataSet(dev, EceFactorD, FactorD);
gallonm 7:2dc81120c917 1492 /* read and re-apply max conv time to get new ece factor set */
gallonm 7:2dc81120c917 1493 status = VL6180x_RdByte(dev, SYSRANGE_MAX_CONVERGENCE_TIME, &u8);
gallonm 7:2dc81120c917 1494 if( status){
gallonm 7:2dc81120c917 1495 VL6180x_ErrLog("SYSRANGE_MAX_CONVERGENCE_TIME rd fail ");
gallonm 7:2dc81120c917 1496 break;
gallonm 7:2dc81120c917 1497 }
gallonm 7:2dc81120c917 1498 status = VL6180x_RangeSetMaxConvergenceTime(dev, u8);
gallonm 7:2dc81120c917 1499 if( status <0 ){
gallonm 7:2dc81120c917 1500 VL6180x_ErrLog("fail to apply time after ece m/d change");
gallonm 7:2dc81120c917 1501 break;
gallonm 7:2dc81120c917 1502 }
gallonm 7:2dc81120c917 1503 }
gallonm 7:2dc81120c917 1504 else{
gallonm 7:2dc81120c917 1505 VL6180x_ErrLog("invalid factor %d/%d", (int)FactorM, (int)FactorD );
gallonm 7:2dc81120c917 1506 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1507 }
gallonm 7:2dc81120c917 1508 }
gallonm 7:2dc81120c917 1509 while(0);
gallonm 7:2dc81120c917 1510 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1511 return status;
gallonm 7:2dc81120c917 1512 }
gallonm 16:0d4776564733 1513
gallonm 7:2dc81120c917 1514 int VL6180X::VL6180x_RangeSetEceState(VL6180xDev_t dev, int enable ){
gallonm 7:2dc81120c917 1515 int status;
gallonm 7:2dc81120c917 1516 uint8_t or_mask;
gallonm 16:0d4776564733 1517
gallonm 7:2dc81120c917 1518 LOG_FUNCTION_START("%d", (int)enable);
gallonm 7:2dc81120c917 1519 if( enable )
gallonm 7:2dc81120c917 1520 or_mask = RANGE_CHECK_ECE_ENABLE_MASK;
gallonm 7:2dc81120c917 1521 else
gallonm 7:2dc81120c917 1522 or_mask = 0;
gallonm 16:0d4776564733 1523
gallonm 7:2dc81120c917 1524 status =VL6180x_UpdateByte(dev, SYSRANGE_RANGE_CHECK_ENABLES, ~RANGE_CHECK_ECE_ENABLE_MASK, or_mask);
gallonm 7:2dc81120c917 1525 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1526 return status;
gallonm 7:2dc81120c917 1527 }
gallonm 16:0d4776564733 1528
gallonm 16:0d4776564733 1529
gallonm 7:2dc81120c917 1530 int VL6180X::VL6180x_RangeSetMaxConvergenceTime(VL6180xDev_t dev, uint8_t MaxConTime_msec)
gallonm 7:2dc81120c917 1531 {
gallonm 7:2dc81120c917 1532 int status = 0;
gallonm 7:2dc81120c917 1533 LOG_FUNCTION_START("%d",(int)MaxConTime_msec);
gallonm 7:2dc81120c917 1534 do{
gallonm 7:2dc81120c917 1535 status=VL6180x_WrByte(dev, SYSRANGE_MAX_CONVERGENCE_TIME, MaxConTime_msec);
gallonm 7:2dc81120c917 1536 if( status ){
gallonm 7:2dc81120c917 1537 break;
gallonm 7:2dc81120c917 1538 }
gallonm 7:2dc81120c917 1539 status=VL6180x_RangeSetEarlyConvergenceEestimateThreshold(dev);
gallonm 7:2dc81120c917 1540 if( status){
gallonm 7:2dc81120c917 1541 break;
gallonm 7:2dc81120c917 1542 }
gallonm 7:2dc81120c917 1543 status = _DMax_InitData(dev);
gallonm 7:2dc81120c917 1544 }
gallonm 7:2dc81120c917 1545 while(0);
gallonm 7:2dc81120c917 1546 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1547 return status;
gallonm 7:2dc81120c917 1548 }
gallonm 16:0d4776564733 1549
gallonm 7:2dc81120c917 1550 int VL6180X::VL6180x_RangeSetInterMeasPeriod(VL6180xDev_t dev, uint32_t InterMeasTime_msec){
gallonm 7:2dc81120c917 1551 uint8_t SetTime;
gallonm 7:2dc81120c917 1552 int status;
gallonm 16:0d4776564733 1553
gallonm 7:2dc81120c917 1554 LOG_FUNCTION_START("%d",(int)InterMeasTime_msec);
gallonm 7:2dc81120c917 1555 do {
gallonm 7:2dc81120c917 1556 if( InterMeasTime_msec > 2550 ){
gallonm 7:2dc81120c917 1557 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1558 break;
gallonm 7:2dc81120c917 1559 }
gallonm 7:2dc81120c917 1560 /* doc in not 100% clear and confusing about the limit practically all value are OK but 0
gallonm 7:2dc81120c917 1561 * that can hang device in continuous mode */
gallonm 7:2dc81120c917 1562 if( InterMeasTime_msec < 10 ) {
gallonm 7:2dc81120c917 1563 InterMeasTime_msec=10;
gallonm 7:2dc81120c917 1564 }
gallonm 7:2dc81120c917 1565 SetTime=(uint8_t)(InterMeasTime_msec/10);
gallonm 7:2dc81120c917 1566 status=VL6180x_WrByte(dev, SYSRANGE_INTERMEASUREMENT_PERIOD, SetTime);
gallonm 7:2dc81120c917 1567 if( status ){
gallonm 7:2dc81120c917 1568 VL6180x_ErrLog("SYSRANGE_INTERMEASUREMENT_PERIOD wr fail");
gallonm 7:2dc81120c917 1569 }
gallonm 7:2dc81120c917 1570 else
gallonm 7:2dc81120c917 1571 if( SetTime != InterMeasTime_msec /10 ) {
gallonm 7:2dc81120c917 1572 status = MIN_CLIPED; /* on success change status to clip if it did */
gallonm 7:2dc81120c917 1573 }
gallonm 7:2dc81120c917 1574 }while(0);
gallonm 7:2dc81120c917 1575 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1576 return status;
gallonm 7:2dc81120c917 1577 }
gallonm 16:0d4776564733 1578
gallonm 16:0d4776564733 1579
gallonm 7:2dc81120c917 1580 int VL6180X::VL6180x_RangeGetDeviceReady(VL6180xDev_t dev, int * Ready){
gallonm 7:2dc81120c917 1581 int status;
gallonm 7:2dc81120c917 1582 uint8_t u8;
gallonm 7:2dc81120c917 1583 LOG_FUNCTION_START("%p", (int)Ready);
gallonm 7:2dc81120c917 1584 status=VL6180x_RdByte(dev, RESULT_RANGE_STATUS, &u8);
gallonm 7:2dc81120c917 1585 if( !status)
gallonm 7:2dc81120c917 1586 *Ready = u8&RANGE_DEVICE_READY_MASK;
gallonm 7:2dc81120c917 1587 LOG_FUNCTION_END_FMT(status,"%d", *Ready);
gallonm 7:2dc81120c917 1588 return status;
gallonm 7:2dc81120c917 1589 }
gallonm 16:0d4776564733 1590
gallonm 16:0d4776564733 1591
gallonm 7:2dc81120c917 1592 int VL6180X::VL6180x_RangeWaitDeviceReady(VL6180xDev_t dev, int MaxLoop ){
gallonm 7:2dc81120c917 1593 int status; /* if user specify an invalid <=0 loop count we'll return error */
gallonm 7:2dc81120c917 1594 int n;
gallonm 7:2dc81120c917 1595 uint8_t u8;
gallonm 7:2dc81120c917 1596 LOG_FUNCTION_START("%d", (int)MaxLoop);
gallonm 7:2dc81120c917 1597 if( MaxLoop<1){
gallonm 7:2dc81120c917 1598 status=INVALID_PARAMS;
gallonm 7:2dc81120c917 1599 }
gallonm 7:2dc81120c917 1600 else{
gallonm 7:2dc81120c917 1601 for( n=0; n < MaxLoop ; n++){
gallonm 7:2dc81120c917 1602 status=VL6180x_RdByte(dev, RESULT_RANGE_STATUS, &u8);
gallonm 7:2dc81120c917 1603 if( status)
gallonm 7:2dc81120c917 1604 break;
gallonm 7:2dc81120c917 1605 u8 = u8 & RANGE_DEVICE_READY_MASK;
gallonm 7:2dc81120c917 1606 if( u8 )
gallonm 7:2dc81120c917 1607 break;
gallonm 16:0d4776564733 1608
gallonm 7:2dc81120c917 1609 }
gallonm 7:2dc81120c917 1610 if( !status && !u8 ){
gallonm 7:2dc81120c917 1611 status = TIME_OUT;
gallonm 7:2dc81120c917 1612 }
gallonm 7:2dc81120c917 1613 }
gallonm 7:2dc81120c917 1614 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1615 return status;
gallonm 7:2dc81120c917 1616 }
gallonm 16:0d4776564733 1617
gallonm 7:2dc81120c917 1618 int VL6180X::VL6180x_RangeSetSystemMode(VL6180xDev_t dev, uint8_t mode)
gallonm 7:2dc81120c917 1619 {
gallonm 7:2dc81120c917 1620 int status;
gallonm 7:2dc81120c917 1621 LOG_FUNCTION_START("%d", (int)mode);
gallonm 7:2dc81120c917 1622 /* FIXME we are not checking device is ready via @a VL6180x_RangeWaitDeviceReady
gallonm 7:2dc81120c917 1623 * so if called back to back real fast we are not checking
gallonm 7:2dc81120c917 1624 * if previous mode "set" got absorbed => bit 0 must be 0 so that it work
gallonm 7:2dc81120c917 1625 */
gallonm 7:2dc81120c917 1626 if( mode <= 3){
gallonm 7:2dc81120c917 1627 status=VL6180x_WrByte(dev, SYSRANGE_START, mode);
gallonm 7:2dc81120c917 1628 if( status ){
gallonm 7:2dc81120c917 1629 VL6180x_ErrLog("SYSRANGE_START wr fail");
gallonm 7:2dc81120c917 1630 }
gallonm 7:2dc81120c917 1631 }
gallonm 7:2dc81120c917 1632 else{
gallonm 7:2dc81120c917 1633 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1634 }
gallonm 7:2dc81120c917 1635 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1636 return status;
gallonm 7:2dc81120c917 1637 }
gallonm 16:0d4776564733 1638
gallonm 16:0d4776564733 1639
gallonm 7:2dc81120c917 1640 int VL6180X::VL6180x_RangeStartContinuousMode(VL6180xDev_t dev)
gallonm 7:2dc81120c917 1641 {
gallonm 7:2dc81120c917 1642 int status;
gallonm 7:2dc81120c917 1643 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 1644 status= VL6180x_RangeSetSystemMode(dev, MODE_START_STOP | MODE_CONTINUOUS);
gallonm 7:2dc81120c917 1645 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1646 return status;
gallonm 7:2dc81120c917 1647 }
gallonm 16:0d4776564733 1648
gallonm 7:2dc81120c917 1649 int VL6180X::VL6180x_RangeStartSingleShot(VL6180xDev_t dev) {
gallonm 7:2dc81120c917 1650 int status;
gallonm 7:2dc81120c917 1651 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 1652 status = VL6180x_RangeSetSystemMode(dev, MODE_START_STOP|MODE_SINGLESHOT);
gallonm 7:2dc81120c917 1653 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1654 return status;
gallonm 7:2dc81120c917 1655 }
gallonm 16:0d4776564733 1656
gallonm 16:0d4776564733 1657
gallonm 7:2dc81120c917 1658 int VL6180X::VL6180x_RangeSetEarlyConvergenceEestimateThreshold(VL6180xDev_t dev)
gallonm 7:2dc81120c917 1659 {
gallonm 7:2dc81120c917 1660 int status;
gallonm 16:0d4776564733 1661
gallonm 7:2dc81120c917 1662 const uint32_t cMicroSecPerMilliSec = 1000;
gallonm 7:2dc81120c917 1663 const uint32_t cEceSampleTime_us = 500;
gallonm 7:2dc81120c917 1664 uint32_t ece_factor_m = VL6180xDevDataGet(dev, EceFactorM);
gallonm 7:2dc81120c917 1665 uint32_t ece_factor_d = VL6180xDevDataGet(dev, EceFactorD);
gallonm 7:2dc81120c917 1666 uint32_t convergTime_us;
gallonm 7:2dc81120c917 1667 uint32_t fineThresh;
gallonm 7:2dc81120c917 1668 uint32_t eceThresh;
gallonm 7:2dc81120c917 1669 uint8_t u8;
gallonm 7:2dc81120c917 1670 uint32_t maxConv_ms;
gallonm 7:2dc81120c917 1671 int32_t AveTime;
gallonm 16:0d4776564733 1672
gallonm 7:2dc81120c917 1673 LOG_FUNCTION_START("");
gallonm 16:0d4776564733 1674
gallonm 7:2dc81120c917 1675 do{
gallonm 7:2dc81120c917 1676 status = VL6180x_RdByte(dev, SYSRANGE_MAX_CONVERGENCE_TIME, &u8);
gallonm 7:2dc81120c917 1677 if( status ){
gallonm 7:2dc81120c917 1678 VL6180x_ErrLog("SYSRANGE_MAX_CONVERGENCE_TIME rd fail");
gallonm 7:2dc81120c917 1679 break;
gallonm 7:2dc81120c917 1680 }
gallonm 7:2dc81120c917 1681 maxConv_ms = u8;
gallonm 7:2dc81120c917 1682 AveTime = _GetAveTotalTime(dev);
gallonm 7:2dc81120c917 1683 if( AveTime <0 ){
gallonm 7:2dc81120c917 1684 status=-1;
gallonm 7:2dc81120c917 1685 break;
gallonm 7:2dc81120c917 1686 }
gallonm 16:0d4776564733 1687
gallonm 7:2dc81120c917 1688 convergTime_us = maxConv_ms * cMicroSecPerMilliSec - AveTime;
gallonm 7:2dc81120c917 1689 status = VL6180x_RdDWord(dev, 0xB8, &fineThresh);
gallonm 7:2dc81120c917 1690 if( status ) {
gallonm 7:2dc81120c917 1691 VL6180x_ErrLog("reg 0xB8 rd fail");
gallonm 7:2dc81120c917 1692 break;
gallonm 7:2dc81120c917 1693 }
gallonm 7:2dc81120c917 1694 fineThresh*=256;
gallonm 7:2dc81120c917 1695 eceThresh = ece_factor_m * cEceSampleTime_us * fineThresh/(convergTime_us * ece_factor_d);
gallonm 16:0d4776564733 1696
gallonm 7:2dc81120c917 1697 status=VL6180x_WrWord(dev, SYSRANGE_EARLY_CONVERGENCE_ESTIMATE, (uint16_t)eceThresh);
gallonm 7:2dc81120c917 1698 }
gallonm 7:2dc81120c917 1699 while(0);
gallonm 16:0d4776564733 1700
gallonm 7:2dc81120c917 1701 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1702 return status;
gallonm 7:2dc81120c917 1703 }
gallonm 16:0d4776564733 1704
gallonm 7:2dc81120c917 1705 /*
gallonm 7:2dc81120c917 1706 * Return >0 = time
gallonm 7:2dc81120c917 1707 * <0 1 if fail to get read data from device to compute time
gallonm 7:2dc81120c917 1708 */
gallonm 7:2dc81120c917 1709 int32_t VL6180X::_GetAveTotalTime(VL6180xDev_t dev) {
gallonm 7:2dc81120c917 1710 uint32_t cFwOverhead_us = 24;
gallonm 7:2dc81120c917 1711 uint32_t cVcpSetupTime_us = 70;
gallonm 7:2dc81120c917 1712 uint32_t cPLL2_StartupDelay_us = 200;
gallonm 7:2dc81120c917 1713 uint8_t cMeasMask = 0x07;
gallonm 7:2dc81120c917 1714 uint32_t Samples;
gallonm 7:2dc81120c917 1715 uint32_t SamplePeriod;
gallonm 7:2dc81120c917 1716 uint32_t SingleTime_us;
gallonm 7:2dc81120c917 1717 int32_t TotalAveTime_us;
gallonm 7:2dc81120c917 1718 uint8_t u8;
gallonm 7:2dc81120c917 1719 int status;
gallonm 16:0d4776564733 1720
gallonm 7:2dc81120c917 1721 LOG_FUNCTION_START("");
gallonm 16:0d4776564733 1722
gallonm 7:2dc81120c917 1723 status = VL6180x_RdByte(dev, 0x109, &u8);
gallonm 7:2dc81120c917 1724 if (status) {
gallonm 7:2dc81120c917 1725 VL6180x_ErrLog("rd 0x109 fail");
gallonm 7:2dc81120c917 1726 return -1;
gallonm 7:2dc81120c917 1727 }
gallonm 7:2dc81120c917 1728 Samples = u8 & cMeasMask;
gallonm 7:2dc81120c917 1729 status = VL6180x_RdByte(dev, READOUT_AVERAGING_SAMPLE_PERIOD, &u8);
gallonm 7:2dc81120c917 1730 if (status) {
gallonm 7:2dc81120c917 1731 VL6180x_ErrLog("i2c READOUT_AVERAGING_SAMPLE_PERIOD fail");
gallonm 7:2dc81120c917 1732 return -1;
gallonm 7:2dc81120c917 1733 }
gallonm 7:2dc81120c917 1734 SamplePeriod = u8;
gallonm 7:2dc81120c917 1735 SingleTime_us = cFwOverhead_us + cVcpSetupTime_us + (SamplePeriod * 10);
gallonm 7:2dc81120c917 1736 TotalAveTime_us = (Samples + 1) * SingleTime_us + cPLL2_StartupDelay_us;
gallonm 16:0d4776564733 1737
gallonm 7:2dc81120c917 1738 LOG_FUNCTION_END(TotalAveTime_us);
gallonm 7:2dc81120c917 1739 return TotalAveTime_us;
gallonm 7:2dc81120c917 1740 }
gallonm 16:0d4776564733 1741
gallonm 7:2dc81120c917 1742 #if VL6180x_HAVE_DMAX_RANGING
gallonm 7:2dc81120c917 1743 #define _GetDMaxDataRetSignalAt400mm(dev) VL6180xDevDataGet(dev, DMaxData.retSignalAt400mm)
gallonm 7:2dc81120c917 1744 #else
gallonm 7:2dc81120c917 1745 #define _GetDMaxDataRetSignalAt400mm(dev) 375 // Use a default high value
gallonm 7:2dc81120c917 1746 #endif
gallonm 16:0d4776564733 1747
gallonm 16:0d4776564733 1748
gallonm 7:2dc81120c917 1749 #if VL6180x_WRAP_AROUND_FILTER_SUPPORT
gallonm 16:0d4776564733 1750
gallonm 7:2dc81120c917 1751 #define FILTER_STDDEV_SAMPLES 6
gallonm 7:2dc81120c917 1752 #define MIN_FILTER_STDDEV_SAMPLES 3
gallonm 7:2dc81120c917 1753 #define MIN_FILTER_VALID_STDDEV_SAMPLES 3
gallonm 7:2dc81120c917 1754 #define FILTER_INVALID_DISTANCE 65535
gallonm 16:0d4776564733 1755
gallonm 7:2dc81120c917 1756 #define _FilterData(field) VL6180xDevDataGet(dev, FilterData.field)
gallonm 7:2dc81120c917 1757 /*
gallonm 7:2dc81120c917 1758 * One time init
gallonm 7:2dc81120c917 1759 */
gallonm 7:2dc81120c917 1760 int _filter_Init( VL6180xDev_t dev) {
gallonm 7:2dc81120c917 1761 int i;
gallonm 7:2dc81120c917 1762 _FilterData(MeasurementIndex) = 0;
gallonm 16:0d4776564733 1763
gallonm 7:2dc81120c917 1764 _FilterData(Default_ZeroVal) = 0;
gallonm 7:2dc81120c917 1765 _FilterData(Default_VAVGVal) = 0;
gallonm 7:2dc81120c917 1766 _FilterData(NoDelay_ZeroVal) = 0;
gallonm 7:2dc81120c917 1767 _FilterData(NoDelay_VAVGVal) = 0;
gallonm 7:2dc81120c917 1768 _FilterData(Previous_VAVGDiff) = 0;
gallonm 16:0d4776564733 1769
gallonm 7:2dc81120c917 1770 _FilterData(StdFilteredReads) = 0;
gallonm 16:0d4776564733 1771
gallonm 7:2dc81120c917 1772 for (i = 0; i < FILTER_NBOF_SAMPLES; i++) {
gallonm 7:2dc81120c917 1773 _FilterData(LastTrueRange)[i] = FILTER_INVALID_DISTANCE;
gallonm 7:2dc81120c917 1774 _FilterData(LastReturnRates)[i] = 0;
gallonm 7:2dc81120c917 1775 }
gallonm 7:2dc81120c917 1776 return 0;
gallonm 7:2dc81120c917 1777 }
gallonm 16:0d4776564733 1778
gallonm 16:0d4776564733 1779
gallonm 7:2dc81120c917 1780 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 1781 uint32_t newStdDev;
gallonm 7:2dc81120c917 1782 uint16_t SNR;
gallonm 16:0d4776564733 1783
gallonm 7:2dc81120c917 1784 if (AmbientRate > 0)
gallonm 7:2dc81120c917 1785 SNR = (uint16_t) ((100 * SignalRate) / AmbientRate);
gallonm 7:2dc81120c917 1786 else
gallonm 7:2dc81120c917 1787 SNR = 9999;
gallonm 16:0d4776564733 1788
gallonm 7:2dc81120c917 1789 if (SNR >= StdDevLimitLowLightSNR) {
gallonm 7:2dc81120c917 1790 newStdDev = StdDevLimitLowLight;
gallonm 7:2dc81120c917 1791 } else {
gallonm 7:2dc81120c917 1792 if (SNR <= StdDevLimitHighLightSNR)
gallonm 7:2dc81120c917 1793 newStdDev = StdDevLimitHighLight;
gallonm 7:2dc81120c917 1794 else {
gallonm 7:2dc81120c917 1795 newStdDev = (uint32_t) (StdDevLimitHighLight + (SNR - StdDevLimitHighLightSNR) * (int) (StdDevLimitLowLight - StdDevLimitHighLight) / (StdDevLimitLowLightSNR - StdDevLimitHighLightSNR));
gallonm 7:2dc81120c917 1796 }
gallonm 7:2dc81120c917 1797 }
gallonm 16:0d4776564733 1798
gallonm 7:2dc81120c917 1799 return newStdDev;
gallonm 7:2dc81120c917 1800 }
gallonm 16:0d4776564733 1801
gallonm 16:0d4776564733 1802
gallonm 7:2dc81120c917 1803 /*
gallonm 7:2dc81120c917 1804 * Return <0 on error
gallonm 7:2dc81120c917 1805 */
gallonm 7:2dc81120c917 1806 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 1807 int status;
gallonm 7:2dc81120c917 1808 uint16_t m_newTrueRange_mm = 0;
gallonm 16:0d4776564733 1809
gallonm 7:2dc81120c917 1810 uint16_t i;
gallonm 7:2dc81120c917 1811 uint16_t bypassFilter = 0;
gallonm 16:0d4776564733 1812
gallonm 7:2dc81120c917 1813 uint16_t registerValue;
gallonm 16:0d4776564733 1814
gallonm 7:2dc81120c917 1815 uint32_t register32BitsValue1;
gallonm 7:2dc81120c917 1816 uint32_t register32BitsValue2;
gallonm 16:0d4776564733 1817
gallonm 7:2dc81120c917 1818 uint16_t ValidDistance = 0;
gallonm 16:0d4776564733 1819
gallonm 7:2dc81120c917 1820 uint16_t WrapAroundFlag = 0;
gallonm 7:2dc81120c917 1821 uint16_t NoWrapAroundFlag = 0;
gallonm 7:2dc81120c917 1822 uint16_t NoWrapAroundHighConfidenceFlag = 0;
gallonm 16:0d4776564733 1823
gallonm 7:2dc81120c917 1824 uint16_t FlushFilter = 0;
gallonm 7:2dc81120c917 1825 uint32_t RateChange = 0;
gallonm 16:0d4776564733 1826
gallonm 7:2dc81120c917 1827 uint16_t StdDevSamples = 0;
gallonm 7:2dc81120c917 1828 uint32_t StdDevDistanceSum = 0;
gallonm 7:2dc81120c917 1829 uint32_t StdDevDistanceMean = 0;
gallonm 7:2dc81120c917 1830 uint32_t StdDevDistance = 0;
gallonm 7:2dc81120c917 1831 uint32_t StdDevRateSum = 0;
gallonm 7:2dc81120c917 1832 uint32_t StdDevRateMean = 0;
gallonm 7:2dc81120c917 1833 uint32_t StdDevRate = 0;
gallonm 7:2dc81120c917 1834 uint32_t StdDevLimitWithTargetMove = 0;
gallonm 16:0d4776564733 1835
gallonm 7:2dc81120c917 1836 uint32_t VAVGDiff;
gallonm 7:2dc81120c917 1837 uint32_t IdealVAVGDiff;
gallonm 7:2dc81120c917 1838 uint32_t MinVAVGDiff;
gallonm 7:2dc81120c917 1839 uint32_t MaxVAVGDiff;
gallonm 16:0d4776564733 1840
gallonm 7:2dc81120c917 1841 /* Filter Parameters */
gallonm 7:2dc81120c917 1842 static const uint16_t ROMABLE_DATA WrapAroundLowRawRangeLimit = 60;
gallonm 7:2dc81120c917 1843 static const uint32_t ROMABLE_DATA WrapAroundLowReturnRateLimit_ROM = 800; // Shall be adapted depending on crossTalk
gallonm 7:2dc81120c917 1844 static const uint16_t ROMABLE_DATA WrapAroundLowRawRangeLimit2 = 165;
gallonm 7:2dc81120c917 1845 static const uint32_t ROMABLE_DATA WrapAroundLowReturnRateLimit2_ROM = 180; // Shall be adapted depending on crossTalk and device sensitivity
gallonm 16:0d4776564733 1846
gallonm 7:2dc81120c917 1847 static const uint32_t ROMABLE_DATA WrapAroundLowReturnRateFilterLimit_ROM = 850; // Shall be adapted depending on crossTalk and device sensitivity
gallonm 7:2dc81120c917 1848 static const uint16_t ROMABLE_DATA WrapAroundHighRawRangeFilterLimit = 350;
gallonm 7:2dc81120c917 1849 static const uint32_t ROMABLE_DATA WrapAroundHighReturnRateFilterLimit_ROM = 1400; // Shall be adapted depending on crossTalk and device sensitivity
gallonm 16:0d4776564733 1850
gallonm 7:2dc81120c917 1851 static const uint32_t ROMABLE_DATA WrapAroundMaximumAmbientRateFilterLimit = 7500;
gallonm 16:0d4776564733 1852
gallonm 7:2dc81120c917 1853 /* Temporal filter data and flush values */
gallonm 7:2dc81120c917 1854 static const uint32_t ROMABLE_DATA MinReturnRateFilterFlush = 75;
gallonm 7:2dc81120c917 1855 static const uint32_t ROMABLE_DATA MaxReturnRateChangeFilterFlush = 50;
gallonm 16:0d4776564733 1856
gallonm 7:2dc81120c917 1857 /* STDDEV values and damper values */
gallonm 16:0d4776564733 1858
gallonm 7:2dc81120c917 1859 static const uint32_t ROMABLE_DATA StdDevLimitLowLight = 300;
gallonm 7:2dc81120c917 1860 static const uint32_t ROMABLE_DATA StdDevLimitLowLightSNR = 30; /* 0.3 */
gallonm 7:2dc81120c917 1861 static const uint32_t ROMABLE_DATA StdDevLimitHighLight = 2500;
gallonm 7:2dc81120c917 1862 static const uint32_t ROMABLE_DATA StdDevLimitHighLightSNR = 5; /* 0.05 */
gallonm 16:0d4776564733 1863
gallonm 7:2dc81120c917 1864 static const uint32_t ROMABLE_DATA StdDevHighConfidenceSNRLimit = 8;
gallonm 16:0d4776564733 1865
gallonm 7:2dc81120c917 1866 static const uint32_t ROMABLE_DATA StdDevMovingTargetStdDevLimit = 90000;
gallonm 16:0d4776564733 1867
gallonm 7:2dc81120c917 1868 static const uint32_t ROMABLE_DATA StdDevMovingTargetReturnRateLimit = 3500;
gallonm 7:2dc81120c917 1869 static const uint32_t ROMABLE_DATA StdDevMovingTargetStdDevForReturnRateLimit = 5000;
gallonm 16:0d4776564733 1870
gallonm 7:2dc81120c917 1871 static const uint32_t ROMABLE_DATA MAX_VAVGDiff = 1800;
gallonm 16:0d4776564733 1872
gallonm 7:2dc81120c917 1873 /* WrapAroundDetection variables */
gallonm 7:2dc81120c917 1874 static const uint16_t ROMABLE_DATA WrapAroundNoDelayCheckPeriod = 2;
gallonm 7:2dc81120c917 1875 static const uint16_t ROMABLE_DATA StdFilteredReadsIncrement = 2;
gallonm 7:2dc81120c917 1876 static const uint16_t ROMABLE_DATA StdMaxFilteredReads = 4;
gallonm 7:2dc81120c917 1877
gallonm 7:2dc81120c917 1878 uint32_t SignalRateDMax;
gallonm 7:2dc81120c917 1879 uint32_t WrapAroundLowReturnRateLimit;
gallonm 7:2dc81120c917 1880 uint32_t WrapAroundLowReturnRateLimit2;
gallonm 7:2dc81120c917 1881 uint32_t WrapAroundLowReturnRateFilterLimit;
gallonm 7:2dc81120c917 1882 uint32_t WrapAroundHighReturnRateFilterLimit;
gallonm 16:0d4776564733 1883
gallonm 7:2dc81120c917 1884 uint8_t u8, u8_2;
gallonm 7:2dc81120c917 1885 uint32_t XTalkCompRate_KCps;
gallonm 7:2dc81120c917 1886 uint32_t StdDevLimit = 300;
gallonm 7:2dc81120c917 1887 uint32_t MaxOrInvalidDistance = 255*_GetUpscale(dev);
gallonm 7:2dc81120c917 1888 /* #define MaxOrInvalidDistance (uint16_t) (255 * 3) */
gallonm 16:0d4776564733 1889
gallonm 7:2dc81120c917 1890 /* Check if distance is Valid or not */
gallonm 7:2dc81120c917 1891 switch (errorCode) {
gallonm 7:2dc81120c917 1892 case 0x0C:
gallonm 7:2dc81120c917 1893 m_trueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 1894 ValidDistance = 0;
gallonm 7:2dc81120c917 1895 break;
gallonm 7:2dc81120c917 1896 case 0x0D:
gallonm 7:2dc81120c917 1897 m_trueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 1898 ValidDistance = 1;
gallonm 7:2dc81120c917 1899 break;
gallonm 7:2dc81120c917 1900 case 0x0F:
gallonm 7:2dc81120c917 1901 m_trueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 1902 ValidDistance = 1;
gallonm 7:2dc81120c917 1903 break;
gallonm 7:2dc81120c917 1904 default:
gallonm 7:2dc81120c917 1905 if (m_rawRange_mm >= MaxOrInvalidDistance) {
gallonm 7:2dc81120c917 1906 ValidDistance = 0;
gallonm 7:2dc81120c917 1907 } else {
gallonm 7:2dc81120c917 1908 ValidDistance = 1;
gallonm 7:2dc81120c917 1909 }
gallonm 7:2dc81120c917 1910 break;
gallonm 7:2dc81120c917 1911 }
gallonm 7:2dc81120c917 1912 m_newTrueRange_mm = m_trueRange_mm;
gallonm 7:2dc81120c917 1913
gallonm 7:2dc81120c917 1914 XTalkCompRate_KCps = VL6180xDevDataGet(dev, XTalkCompRate_KCps );
gallonm 16:0d4776564733 1915
gallonm 7:2dc81120c917 1916
gallonm 7:2dc81120c917 1917 //Update signal rate limits depending on crosstalk
gallonm 7:2dc81120c917 1918 SignalRateDMax = (uint32_t)_GetDMaxDataRetSignalAt400mm(dev) + XTalkCompRate_KCps;
gallonm 7:2dc81120c917 1919 WrapAroundLowReturnRateLimit = WrapAroundLowReturnRateLimit_ROM + XTalkCompRate_KCps;
gallonm 7:2dc81120c917 1920 WrapAroundLowReturnRateLimit2 = ((WrapAroundLowReturnRateLimit2_ROM * SignalRateDMax) / 312) + XTalkCompRate_KCps;
gallonm 7:2dc81120c917 1921 WrapAroundLowReturnRateFilterLimit = ((WrapAroundLowReturnRateFilterLimit_ROM * SignalRateDMax) / 312) + XTalkCompRate_KCps;
gallonm 7:2dc81120c917 1922 WrapAroundHighReturnRateFilterLimit = ((WrapAroundHighReturnRateFilterLimit_ROM * SignalRateDMax) / 312) + XTalkCompRate_KCps;
gallonm 16:0d4776564733 1923
gallonm 16:0d4776564733 1924
gallonm 7:2dc81120c917 1925 /* Checks on low range data */
gallonm 7:2dc81120c917 1926 if ((m_rawRange_mm < WrapAroundLowRawRangeLimit) && (m_rtnSignalRate < WrapAroundLowReturnRateLimit)) {
gallonm 7:2dc81120c917 1927 m_newTrueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 1928 bypassFilter = 1;
gallonm 7:2dc81120c917 1929 }
gallonm 7:2dc81120c917 1930 if ((m_rawRange_mm < WrapAroundLowRawRangeLimit2) && (m_rtnSignalRate < WrapAroundLowReturnRateLimit2)) {
gallonm 7:2dc81120c917 1931 m_newTrueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 1932 bypassFilter = 1;
gallonm 7:2dc81120c917 1933 }
gallonm 16:0d4776564733 1934
gallonm 7:2dc81120c917 1935 /* Checks on Ambient rate level */
gallonm 7:2dc81120c917 1936 if (m_rtnAmbientRate > WrapAroundMaximumAmbientRateFilterLimit) {
gallonm 7:2dc81120c917 1937 /* Too high ambient rate */
gallonm 7:2dc81120c917 1938 FlushFilter = 1;
gallonm 7:2dc81120c917 1939 bypassFilter = 1;
gallonm 7:2dc81120c917 1940 }
gallonm 7:2dc81120c917 1941 /* Checks on Filter flush */
gallonm 7:2dc81120c917 1942 if (m_rtnSignalRate < MinReturnRateFilterFlush) {
gallonm 7:2dc81120c917 1943 /* Completely lost target, so flush the filter */
gallonm 7:2dc81120c917 1944 FlushFilter = 1;
gallonm 7:2dc81120c917 1945 bypassFilter = 1;
gallonm 7:2dc81120c917 1946 }
gallonm 7:2dc81120c917 1947 if (_FilterData(LastReturnRates)[0] != 0) {
gallonm 7:2dc81120c917 1948 if (m_rtnSignalRate > _FilterData(LastReturnRates)[0])
gallonm 7:2dc81120c917 1949 RateChange = (100 * (m_rtnSignalRate - _FilterData(LastReturnRates)[0])) / _FilterData(LastReturnRates)[0];
gallonm 7:2dc81120c917 1950 else
gallonm 7:2dc81120c917 1951 RateChange = (100 * (_FilterData(LastReturnRates)[0] - m_rtnSignalRate)) / _FilterData(LastReturnRates)[0];
gallonm 7:2dc81120c917 1952 } else
gallonm 7:2dc81120c917 1953 RateChange = 0;
gallonm 7:2dc81120c917 1954 if (RateChange > MaxReturnRateChangeFilterFlush) {
gallonm 7:2dc81120c917 1955 FlushFilter = 1;
gallonm 7:2dc81120c917 1956 }
gallonm 7:2dc81120c917 1957 /* TODO optimize filter using circular buffer */
gallonm 7:2dc81120c917 1958 if (FlushFilter == 1) {
gallonm 7:2dc81120c917 1959 _FilterData(MeasurementIndex) = 0;
gallonm 7:2dc81120c917 1960 for (i = 0; i < FILTER_NBOF_SAMPLES; i++) {
gallonm 7:2dc81120c917 1961 _FilterData(LastTrueRange)[i] = FILTER_INVALID_DISTANCE;
gallonm 7:2dc81120c917 1962 _FilterData(LastReturnRates)[i] = 0;
gallonm 7:2dc81120c917 1963 }
gallonm 7:2dc81120c917 1964 } else {
gallonm 7:2dc81120c917 1965 for (i = (uint16_t) (FILTER_NBOF_SAMPLES - 1); i > 0; i--) {
gallonm 7:2dc81120c917 1966 _FilterData(LastTrueRange)[i] = _FilterData(LastTrueRange)[i - 1];
gallonm 7:2dc81120c917 1967 _FilterData(LastReturnRates)[i] = _FilterData(LastReturnRates)[i - 1];
gallonm 7:2dc81120c917 1968 }
gallonm 7:2dc81120c917 1969 }
gallonm 7:2dc81120c917 1970 if (ValidDistance == 1)
gallonm 7:2dc81120c917 1971 _FilterData(LastTrueRange)[0] = m_trueRange_mm;
gallonm 7:2dc81120c917 1972 else
gallonm 7:2dc81120c917 1973 _FilterData(LastTrueRange)[0] = FILTER_INVALID_DISTANCE;
gallonm 7:2dc81120c917 1974 _FilterData(LastReturnRates)[0] = m_rtnSignalRate;
gallonm 16:0d4776564733 1975
gallonm 7:2dc81120c917 1976 /* Check if we need to go through the filter or not */
gallonm 7:2dc81120c917 1977 if (!(((m_rawRange_mm < WrapAroundHighRawRangeFilterLimit) && (m_rtnSignalRate < WrapAroundLowReturnRateFilterLimit)) || ((m_rawRange_mm >= WrapAroundHighRawRangeFilterLimit) && (m_rtnSignalRate < WrapAroundHighReturnRateFilterLimit))))
gallonm 7:2dc81120c917 1978 bypassFilter = 1;
gallonm 16:0d4776564733 1979
gallonm 7:2dc81120c917 1980 /* Check which kind of measurement has been made */
gallonm 7:2dc81120c917 1981 status = VL6180x_RdByte(dev, 0x01AC, &u8 );
gallonm 7:2dc81120c917 1982 if( status ){
gallonm 7:2dc81120c917 1983 VL6180x_ErrLog("0x01AC rd fail");
gallonm 7:2dc81120c917 1984 goto done_err;
gallonm 7:2dc81120c917 1985 }
gallonm 7:2dc81120c917 1986 registerValue =u8;
gallonm 16:0d4776564733 1987
gallonm 7:2dc81120c917 1988 /* Read data for filtering */
gallonm 7:2dc81120c917 1989 status = VL6180x_RdByte(dev, 0x10C, &u8 ); /* read only 8 lsb bits */
gallonm 7:2dc81120c917 1990 if( status ){
gallonm 7:2dc81120c917 1991 VL6180x_ErrLog("0x010C rd fail");
gallonm 7:2dc81120c917 1992 goto done_err;
gallonm 7:2dc81120c917 1993 }
gallonm 7:2dc81120c917 1994 register32BitsValue1=u8;
gallonm 7:2dc81120c917 1995 status = VL6180x_RdByte(dev, 0x0110, &u8); /* read only 8 lsb bits */
gallonm 7:2dc81120c917 1996 if( status ){
gallonm 7:2dc81120c917 1997 VL6180x_ErrLog("0x0110 rd fail");
gallonm 7:2dc81120c917 1998 goto done_err;
gallonm 7:2dc81120c917 1999 }
gallonm 7:2dc81120c917 2000 register32BitsValue2 = u8;
gallonm 16:0d4776564733 2001
gallonm 7:2dc81120c917 2002 if (registerValue == 0x3E) {
gallonm 7:2dc81120c917 2003 _FilterData(Default_ZeroVal) = register32BitsValue1;
gallonm 7:2dc81120c917 2004 _FilterData(Default_VAVGVal) = register32BitsValue2;
gallonm 7:2dc81120c917 2005 } else {
gallonm 7:2dc81120c917 2006 _FilterData(NoDelay_ZeroVal) = register32BitsValue1;
gallonm 7:2dc81120c917 2007 _FilterData(NoDelay_VAVGVal) = register32BitsValue2;
gallonm 7:2dc81120c917 2008 }
gallonm 16:0d4776564733 2009
gallonm 7:2dc81120c917 2010 if (bypassFilter == 1) {
gallonm 7:2dc81120c917 2011 /* Do not go through the filter */
gallonm 7:2dc81120c917 2012 if (registerValue != 0x3E) {
gallonm 7:2dc81120c917 2013 status = VL6180x_WrByte(dev, 0x1AC, 0x3E);
gallonm 7:2dc81120c917 2014 if( status ){
gallonm 7:2dc81120c917 2015 VL6180x_ErrLog("0x01AC bypass wr fail");
gallonm 7:2dc81120c917 2016 goto done_err;
gallonm 7:2dc81120c917 2017 }
gallonm 7:2dc81120c917 2018 status = VL6180x_WrByte(dev, 0x0F2, 0x01);
gallonm 7:2dc81120c917 2019 if( status ){
gallonm 7:2dc81120c917 2020 VL6180x_ErrLog("0x0F2 bypass wr fail");
gallonm 7:2dc81120c917 2021 goto done_err;
gallonm 7:2dc81120c917 2022 }
gallonm 7:2dc81120c917 2023 }
gallonm 7:2dc81120c917 2024 /* Set both Default and NoDelay To same value */
gallonm 7:2dc81120c917 2025 _FilterData(Default_ZeroVal) = register32BitsValue1;
gallonm 7:2dc81120c917 2026 _FilterData(Default_VAVGVal) = register32BitsValue2;
gallonm 7:2dc81120c917 2027 _FilterData(NoDelay_ZeroVal) = register32BitsValue1;
gallonm 7:2dc81120c917 2028 _FilterData(NoDelay_VAVGVal) = register32BitsValue2;
gallonm 7:2dc81120c917 2029 _FilterData(MeasurementIndex) = 0;
gallonm 16:0d4776564733 2030
gallonm 7:2dc81120c917 2031 return m_newTrueRange_mm;
gallonm 7:2dc81120c917 2032 }
gallonm 16:0d4776564733 2033
gallonm 7:2dc81120c917 2034 if (_FilterData(MeasurementIndex) % WrapAroundNoDelayCheckPeriod == 0) {
gallonm 7:2dc81120c917 2035 u8=0x3C;
gallonm 16:0d4776564733 2036 u8_2 = 0x05;
gallonm 7:2dc81120c917 2037 } else {
gallonm 7:2dc81120c917 2038 u8=0x3E;
gallonm 7:2dc81120c917 2039 u8_2 = 0x01;
gallonm 7:2dc81120c917 2040 }
gallonm 7:2dc81120c917 2041 status = VL6180x_WrByte(dev, 0x01AC, u8);
gallonm 7:2dc81120c917 2042 if( status ){
gallonm 7:2dc81120c917 2043 VL6180x_ErrLog("0x01AC wr fail");
gallonm 7:2dc81120c917 2044 goto done_err;
gallonm 7:2dc81120c917 2045 }
gallonm 7:2dc81120c917 2046 status = VL6180x_WrByte(dev, 0x0F2, u8_2);
gallonm 7:2dc81120c917 2047 if( status ){
gallonm 7:2dc81120c917 2048 VL6180x_ErrLog("0x0F2 wr fail");
gallonm 7:2dc81120c917 2049 goto done_err;
gallonm 7:2dc81120c917 2050 }
gallonm 16:0d4776564733 2051
gallonm 16:0d4776564733 2052
gallonm 7:2dc81120c917 2053 _FilterData(MeasurementIndex)++;
gallonm 16:0d4776564733 2054
gallonm 7:2dc81120c917 2055 /* Computes current VAVGDiff */
gallonm 7:2dc81120c917 2056 if (_FilterData(Default_VAVGVal) > _FilterData(NoDelay_VAVGVal))
gallonm 7:2dc81120c917 2057 VAVGDiff = _FilterData(Default_VAVGVal) - _FilterData(NoDelay_VAVGVal);
gallonm 7:2dc81120c917 2058 else
gallonm 7:2dc81120c917 2059 VAVGDiff = 0;
gallonm 7:2dc81120c917 2060 _FilterData(Previous_VAVGDiff) = VAVGDiff;
gallonm 16:0d4776564733 2061
gallonm 7:2dc81120c917 2062 /* Check the VAVGDiff */
gallonm 7:2dc81120c917 2063 if (_FilterData(Default_ZeroVal) > _FilterData(NoDelay_ZeroVal))
gallonm 7:2dc81120c917 2064 IdealVAVGDiff = _FilterData(Default_ZeroVal) - _FilterData(NoDelay_ZeroVal);
gallonm 7:2dc81120c917 2065 else
gallonm 7:2dc81120c917 2066 IdealVAVGDiff = _FilterData(NoDelay_ZeroVal) - _FilterData(Default_ZeroVal);
gallonm 7:2dc81120c917 2067 if (IdealVAVGDiff > MAX_VAVGDiff)
gallonm 7:2dc81120c917 2068 MinVAVGDiff = IdealVAVGDiff - MAX_VAVGDiff;
gallonm 7:2dc81120c917 2069 else
gallonm 7:2dc81120c917 2070 MinVAVGDiff = 0;
gallonm 7:2dc81120c917 2071 MaxVAVGDiff = IdealVAVGDiff + MAX_VAVGDiff;
gallonm 7:2dc81120c917 2072 if (VAVGDiff < MinVAVGDiff || VAVGDiff > MaxVAVGDiff) {
gallonm 7:2dc81120c917 2073 WrapAroundFlag = 1;
gallonm 7:2dc81120c917 2074 } else {
gallonm 7:2dc81120c917 2075 /* Go through filtering check */
gallonm 16:0d4776564733 2076
gallonm 7:2dc81120c917 2077 /* StdDevLimit Damper on SNR */
gallonm 7:2dc81120c917 2078 StdDevLimit = _filter_StdDevDamper(m_rtnAmbientRate, m_rtnSignalRate, StdDevLimitLowLight, StdDevLimitLowLightSNR, StdDevLimitHighLight, StdDevLimitHighLightSNR);
gallonm 16:0d4776564733 2079
gallonm 7:2dc81120c917 2080 /* Standard deviations computations */
gallonm 7:2dc81120c917 2081 StdDevSamples = 0;
gallonm 7:2dc81120c917 2082 StdDevDistanceSum = 0;
gallonm 7:2dc81120c917 2083 StdDevDistanceMean = 0;
gallonm 7:2dc81120c917 2084 StdDevDistance = 0;
gallonm 7:2dc81120c917 2085 StdDevRateSum = 0;
gallonm 7:2dc81120c917 2086 StdDevRateMean = 0;
gallonm 7:2dc81120c917 2087 StdDevRate = 0;
gallonm 7:2dc81120c917 2088 for (i = 0; (i < FILTER_NBOF_SAMPLES) && (StdDevSamples < FILTER_STDDEV_SAMPLES); i++) {
gallonm 7:2dc81120c917 2089 if (_FilterData(LastTrueRange)[i] != FILTER_INVALID_DISTANCE) {
gallonm 7:2dc81120c917 2090 StdDevSamples = (uint16_t) (StdDevSamples + 1);
gallonm 7:2dc81120c917 2091 StdDevDistanceSum = (uint32_t) (StdDevDistanceSum + _FilterData(LastTrueRange)[i]);
gallonm 7:2dc81120c917 2092 StdDevRateSum = (uint32_t) (StdDevRateSum + _FilterData(LastReturnRates)[i]);
gallonm 7:2dc81120c917 2093 }
gallonm 7:2dc81120c917 2094 }
gallonm 7:2dc81120c917 2095 if (StdDevSamples > 0) {
gallonm 7:2dc81120c917 2096 StdDevDistanceMean = (uint32_t) (StdDevDistanceSum / StdDevSamples);
gallonm 7:2dc81120c917 2097 StdDevRateMean = (uint32_t) (StdDevRateSum / StdDevSamples);
gallonm 7:2dc81120c917 2098 }
gallonm 7:2dc81120c917 2099 /* TODO optimize shorten Std dev in aisngle loop computation using sum of x2 - (sum of x)2 */
gallonm 7:2dc81120c917 2100 StdDevSamples = 0;
gallonm 7:2dc81120c917 2101 StdDevDistanceSum = 0;
gallonm 7:2dc81120c917 2102 StdDevRateSum = 0;
gallonm 7:2dc81120c917 2103 for (i = 0; (i < FILTER_NBOF_SAMPLES) && (StdDevSamples < FILTER_STDDEV_SAMPLES); i++) {
gallonm 7:2dc81120c917 2104 if (_FilterData(LastTrueRange)[i] != FILTER_INVALID_DISTANCE) {
gallonm 7:2dc81120c917 2105 StdDevSamples = (uint16_t) (StdDevSamples + 1);
gallonm 7:2dc81120c917 2106 StdDevDistanceSum = (uint32_t) (StdDevDistanceSum + (int) (_FilterData(LastTrueRange)[i] - StdDevDistanceMean) * (int) (_FilterData(LastTrueRange)[i] - StdDevDistanceMean));
gallonm 7:2dc81120c917 2107 StdDevRateSum = (uint32_t) (StdDevRateSum + (int) (_FilterData(LastReturnRates)[i] - StdDevRateMean) * (int) (_FilterData(LastReturnRates)[i] - StdDevRateMean));
gallonm 7:2dc81120c917 2108 }
gallonm 7:2dc81120c917 2109 }
gallonm 7:2dc81120c917 2110 if (StdDevSamples >= MIN_FILTER_STDDEV_SAMPLES) {
gallonm 7:2dc81120c917 2111 StdDevDistance = (uint16_t) (StdDevDistanceSum / StdDevSamples);
gallonm 7:2dc81120c917 2112 StdDevRate = (uint16_t) (StdDevRateSum / StdDevSamples);
gallonm 7:2dc81120c917 2113 } else {
gallonm 7:2dc81120c917 2114 StdDevDistance = 0;
gallonm 7:2dc81120c917 2115 StdDevRate = 0;
gallonm 7:2dc81120c917 2116 }
gallonm 16:0d4776564733 2117
gallonm 7:2dc81120c917 2118 /* Check Return rate standard deviation */
gallonm 7:2dc81120c917 2119 if (StdDevRate < StdDevMovingTargetStdDevLimit) {
gallonm 7:2dc81120c917 2120 if (StdDevSamples < MIN_FILTER_VALID_STDDEV_SAMPLES) {
gallonm 7:2dc81120c917 2121 m_newTrueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 2122 } else {
gallonm 7:2dc81120c917 2123 /* Check distance standard deviation */
gallonm 7:2dc81120c917 2124 if (StdDevRate < StdDevMovingTargetReturnRateLimit)
gallonm 7:2dc81120c917 2125 StdDevLimitWithTargetMove = StdDevLimit + (((StdDevMovingTargetStdDevForReturnRateLimit - StdDevLimit) * StdDevRate) / StdDevMovingTargetReturnRateLimit);
gallonm 7:2dc81120c917 2126 else
gallonm 7:2dc81120c917 2127 StdDevLimitWithTargetMove = StdDevMovingTargetStdDevForReturnRateLimit;
gallonm 16:0d4776564733 2128
gallonm 7:2dc81120c917 2129 if ((StdDevDistance * StdDevHighConfidenceSNRLimit) < StdDevLimitWithTargetMove) {
gallonm 7:2dc81120c917 2130 NoWrapAroundHighConfidenceFlag = 1;
gallonm 7:2dc81120c917 2131 } else {
gallonm 7:2dc81120c917 2132 if (StdDevDistance < StdDevLimitWithTargetMove) {
gallonm 7:2dc81120c917 2133 if (StdDevSamples >= MIN_FILTER_VALID_STDDEV_SAMPLES) {
gallonm 7:2dc81120c917 2134 NoWrapAroundFlag = 1;
gallonm 7:2dc81120c917 2135 } else {
gallonm 7:2dc81120c917 2136 m_newTrueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 2137 }
gallonm 7:2dc81120c917 2138 } else {
gallonm 7:2dc81120c917 2139 WrapAroundFlag = 1;
gallonm 7:2dc81120c917 2140 }
gallonm 7:2dc81120c917 2141 }
gallonm 7:2dc81120c917 2142 }
gallonm 7:2dc81120c917 2143 } else {
gallonm 7:2dc81120c917 2144 WrapAroundFlag = 1;
gallonm 7:2dc81120c917 2145 }
gallonm 7:2dc81120c917 2146 }
gallonm 16:0d4776564733 2147
gallonm 7:2dc81120c917 2148 if (m_newTrueRange_mm == MaxOrInvalidDistance) {
gallonm 7:2dc81120c917 2149 if (_FilterData(StdFilteredReads) > 0)
gallonm 7:2dc81120c917 2150 _FilterData(StdFilteredReads) = (uint16_t) (_FilterData(StdFilteredReads) - 1);
gallonm 7:2dc81120c917 2151 } else {
gallonm 7:2dc81120c917 2152 if (WrapAroundFlag == 1) {
gallonm 7:2dc81120c917 2153 m_newTrueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 2154 _FilterData(StdFilteredReads) = (uint16_t) (_FilterData(StdFilteredReads) + StdFilteredReadsIncrement);
gallonm 7:2dc81120c917 2155 if (_FilterData(StdFilteredReads) > StdMaxFilteredReads)
gallonm 7:2dc81120c917 2156 _FilterData(StdFilteredReads) = StdMaxFilteredReads;
gallonm 7:2dc81120c917 2157 } else {
gallonm 7:2dc81120c917 2158 if (NoWrapAroundFlag == 1) {
gallonm 7:2dc81120c917 2159 if (_FilterData(StdFilteredReads) > 0) {
gallonm 7:2dc81120c917 2160 m_newTrueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 2161 if (_FilterData(StdFilteredReads) > StdFilteredReadsIncrement)
gallonm 7:2dc81120c917 2162 _FilterData(StdFilteredReads) = (uint16_t) (_FilterData(StdFilteredReads) - StdFilteredReadsIncrement);
gallonm 7:2dc81120c917 2163 else
gallonm 7:2dc81120c917 2164 _FilterData(StdFilteredReads) = 0;
gallonm 7:2dc81120c917 2165 }
gallonm 7:2dc81120c917 2166 } else {
gallonm 7:2dc81120c917 2167 if (NoWrapAroundHighConfidenceFlag == 1) {
gallonm 7:2dc81120c917 2168 _FilterData(StdFilteredReads) = 0;
gallonm 7:2dc81120c917 2169 }
gallonm 7:2dc81120c917 2170 }
gallonm 7:2dc81120c917 2171 }
gallonm 7:2dc81120c917 2172 }
gallonm 16:0d4776564733 2173
gallonm 7:2dc81120c917 2174 return m_newTrueRange_mm;
gallonm 7:2dc81120c917 2175 done_err:
gallonm 7:2dc81120c917 2176 return -1;
gallonm 16:0d4776564733 2177
gallonm 7:2dc81120c917 2178 #undef MaxOrInvalidDistance
gallonm 7:2dc81120c917 2179 }
gallonm 16:0d4776564733 2180
gallonm 16:0d4776564733 2181
gallonm 7:2dc81120c917 2182 int VL6180X::_filter_GetResult(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData) {
gallonm 7:2dc81120c917 2183 uint32_t m_rawRange_mm = 0;
gallonm 7:2dc81120c917 2184 int32_t FilteredRange;
gallonm 7:2dc81120c917 2185 const uint8_t scaler = _GetUpscale(dev);
gallonm 7:2dc81120c917 2186 uint8_t u8;
gallonm 7:2dc81120c917 2187 int status;
gallonm 16:0d4776564733 2188
gallonm 7:2dc81120c917 2189 do {
gallonm 7:2dc81120c917 2190 status = VL6180x_RdByte(dev, RESULT_RANGE_RAW, &u8);
gallonm 7:2dc81120c917 2191 if (status) {
gallonm 7:2dc81120c917 2192 VL6180x_ErrLog("RESULT_RANGE_RAW rd fail");
gallonm 7:2dc81120c917 2193 break;
gallonm 7:2dc81120c917 2194 }
gallonm 7:2dc81120c917 2195 m_rawRange_mm = u8;
gallonm 16:0d4776564733 2196
gallonm 7:2dc81120c917 2197 FilteredRange = _filter_Start(dev, pRangeData->range_mm, (m_rawRange_mm * scaler), pRangeData->rtnRate, pRangeData->rtnAmbRate, pRangeData->errorStatus);
gallonm 7:2dc81120c917 2198 if( FilteredRange<0 ){
gallonm 7:2dc81120c917 2199 status = -1;
gallonm 7:2dc81120c917 2200 break;
gallonm 7:2dc81120c917 2201 }
gallonm 7:2dc81120c917 2202 pRangeData->FilteredData.range_mm= FilteredRange;
gallonm 7:2dc81120c917 2203 pRangeData->FilteredData.rawRange_mm = m_rawRange_mm * scaler;
gallonm 7:2dc81120c917 2204 } while (0);
gallonm 7:2dc81120c917 2205 return status;
gallonm 7:2dc81120c917 2206 }
gallonm 16:0d4776564733 2207
gallonm 7:2dc81120c917 2208 #undef _FilterData
gallonm 7:2dc81120c917 2209 #undef FILTER_STDDEV_SAMPLES
gallonm 7:2dc81120c917 2210 #undef MIN_FILTER_STDDEV_SAMPLES
gallonm 7:2dc81120c917 2211 #undef MIN_FILTER_VALID_STDDEV_SAMPLES
gallonm 7:2dc81120c917 2212 #undef FILTER_INVALID_DISTANCE
gallonm 16:0d4776564733 2213
gallonm 7:2dc81120c917 2214 #endif /* VL6180x_WRAP_AROUND_FILTER_SUPPORT */
gallonm 16:0d4776564733 2215
gallonm 7:2dc81120c917 2216 #ifdef VL6180x_HAVE_RATE_DATA
gallonm 16:0d4776564733 2217
gallonm 7:2dc81120c917 2218 int VL6180X::_GetRateResult(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData) {
gallonm 7:2dc81120c917 2219 uint32_t m_rtnConvTime = 0;
gallonm 7:2dc81120c917 2220 uint32_t m_rtnSignalRate = 0;
gallonm 7:2dc81120c917 2221 uint32_t m_rtnAmbientRate = 0;
gallonm 7:2dc81120c917 2222 uint32_t m_rtnSignalCount = 0;
gallonm 7:2dc81120c917 2223 uint32_t m_rtnAmbientCount = 0;
gallonm 7:2dc81120c917 2224 uint32_t m_refConvTime = 0;
gallonm 7:2dc81120c917 2225 uint32_t cRtnSignalCountMax = 0x7FFFFFFF;
gallonm 7:2dc81120c917 2226 uint32_t cDllPeriods = 6;
gallonm 7:2dc81120c917 2227 uint32_t calcConvTime = 0;
gallonm 16:0d4776564733 2228
gallonm 7:2dc81120c917 2229 int status;
gallonm 16:0d4776564733 2230
gallonm 7:2dc81120c917 2231 do {
gallonm 16:0d4776564733 2232
gallonm 7:2dc81120c917 2233 status = VL6180x_RdDWord(dev, RESULT_RANGE_RETURN_SIGNAL_COUNT, &m_rtnSignalCount);
gallonm 7:2dc81120c917 2234 if (status) {
gallonm 7:2dc81120c917 2235 VL6180x_ErrLog("RESULT_RANGE_RETURN_SIGNAL_COUNT rd fail");
gallonm 7:2dc81120c917 2236 break;
gallonm 7:2dc81120c917 2237 }
gallonm 7:2dc81120c917 2238 if (m_rtnSignalCount > cRtnSignalCountMax) {
gallonm 7:2dc81120c917 2239 m_rtnSignalCount = 0;
gallonm 7:2dc81120c917 2240 }
gallonm 16:0d4776564733 2241
gallonm 7:2dc81120c917 2242 status = VL6180x_RdDWord(dev, RESULT_RANGE_RETURN_AMB_COUNT, &m_rtnAmbientCount);
gallonm 7:2dc81120c917 2243 if (status) {
gallonm 7:2dc81120c917 2244 VL6180x_ErrLog("RESULT_RANGE_RETURN_AMB_COUNTrd fail");
gallonm 7:2dc81120c917 2245 break;
gallonm 7:2dc81120c917 2246 }
gallonm 16:0d4776564733 2247
gallonm 16:0d4776564733 2248
gallonm 7:2dc81120c917 2249 status = VL6180x_RdDWord(dev, RESULT_RANGE_RETURN_CONV_TIME, &m_rtnConvTime);
gallonm 7:2dc81120c917 2250 if (status) {
gallonm 7:2dc81120c917 2251 VL6180x_ErrLog("RESULT_RANGE_RETURN_CONV_TIME rd fail");
gallonm 7:2dc81120c917 2252 break;
gallonm 7:2dc81120c917 2253 }
gallonm 16:0d4776564733 2254
gallonm 7:2dc81120c917 2255 status = VL6180x_RdDWord(dev, RESULT_RANGE_REFERENCE_CONV_TIME, &m_refConvTime);
gallonm 7:2dc81120c917 2256 if (status) {
gallonm 7:2dc81120c917 2257 VL6180x_ErrLog("RESULT_RANGE_REFERENCE_CONV_TIME rd fail");
gallonm 7:2dc81120c917 2258 break;
gallonm 7:2dc81120c917 2259 }
gallonm 16:0d4776564733 2260
gallonm 7:2dc81120c917 2261 pRangeData->rtnConvTime = m_rtnConvTime;
gallonm 7:2dc81120c917 2262 pRangeData->refConvTime = m_refConvTime;
gallonm 16:0d4776564733 2263
gallonm 7:2dc81120c917 2264 calcConvTime = m_refConvTime;
gallonm 7:2dc81120c917 2265 if (m_rtnConvTime > m_refConvTime) {
gallonm 7:2dc81120c917 2266 calcConvTime = m_rtnConvTime;
gallonm 7:2dc81120c917 2267 }
gallonm 7:2dc81120c917 2268 if (calcConvTime == 0)
gallonm 7:2dc81120c917 2269 calcConvTime = 63000;
gallonm 16:0d4776564733 2270
gallonm 7:2dc81120c917 2271 m_rtnSignalRate = (m_rtnSignalCount * 1000) / calcConvTime;
gallonm 7:2dc81120c917 2272 m_rtnAmbientRate = (m_rtnAmbientCount * cDllPeriods * 1000) / calcConvTime;
gallonm 16:0d4776564733 2273
gallonm 7:2dc81120c917 2274 pRangeData->rtnRate = m_rtnSignalRate;
gallonm 7:2dc81120c917 2275 pRangeData->rtnAmbRate = m_rtnAmbientRate;
gallonm 16:0d4776564733 2276
gallonm 16:0d4776564733 2277
gallonm 7:2dc81120c917 2278 } while (0);
gallonm 7:2dc81120c917 2279 return status;
gallonm 7:2dc81120c917 2280 }
gallonm 7:2dc81120c917 2281 #endif /* VL6180x_HAVE_RATE_DATA */
gallonm 16:0d4776564733 2282
gallonm 16:0d4776564733 2283
gallonm 7:2dc81120c917 2284 int VL6180X::VL6180x_DMaxSetState(VL6180xDev_t dev, int state){
gallonm 7:2dc81120c917 2285 int status;
gallonm 7:2dc81120c917 2286 LOG_FUNCTION_START("%d", state);
gallonm 7:2dc81120c917 2287 #if VL6180x_HAVE_DMAX_RANGING
gallonm 7:2dc81120c917 2288 VL6180xDevDataSet(dev,DMaxEnable, state);
gallonm 7:2dc81120c917 2289 if( state ){
gallonm 7:2dc81120c917 2290 status = _DMax_InitData(dev);
gallonm 7:2dc81120c917 2291 }
gallonm 7:2dc81120c917 2292 else {
gallonm 7:2dc81120c917 2293 status = 0;
gallonm 7:2dc81120c917 2294 }
gallonm 7:2dc81120c917 2295 #else
gallonm 7:2dc81120c917 2296 status = NOT_SUPPORTED;
gallonm 7:2dc81120c917 2297 #endif
gallonm 7:2dc81120c917 2298 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 2299 return status;
gallonm 7:2dc81120c917 2300 }
gallonm 16:0d4776564733 2301
gallonm 7:2dc81120c917 2302 int VL6180X::VL6180x_DMaxGetState(VL6180xDev_t dev){
gallonm 7:2dc81120c917 2303 int status;
gallonm 7:2dc81120c917 2304 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 2305 #if VL6180x_HAVE_DMAX_RANGING
gallonm 7:2dc81120c917 2306 status = VL6180xDevDataGet(dev,DMaxEnable);
gallonm 7:2dc81120c917 2307 #else
gallonm 7:2dc81120c917 2308 status = 0;
gallonm 7:2dc81120c917 2309 #endif
gallonm 7:2dc81120c917 2310 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 2311 return status;
gallonm 7:2dc81120c917 2312 }
gallonm 16:0d4776564733 2313
gallonm 16:0d4776564733 2314
gallonm 7:2dc81120c917 2315 #if VL6180x_HAVE_DMAX_RANGING
gallonm 16:0d4776564733 2316
gallonm 4:a5abf7757947 2317 #define _DMaxData(field) VL6180xDevDataGet(dev, DMaxData.field)
gallonm 7:2dc81120c917 2318 /*
gallonm 7:2dc81120c917 2319 * Convert fix point x.7 to KCpount per sec
gallonm 7:2dc81120c917 2320 */
gallonm 16:0d4776564733 2321
gallonm 4:a5abf7757947 2322 #ifndef VL6180x_PLATFORM_PROVIDE_SQRT
gallonm 16:0d4776564733 2323
gallonm 7:2dc81120c917 2324 /*
gallonm 7:2dc81120c917 2325 * 32 bit integer square root with not so bad precision (integer result) and is quite fast
gallonm 7:2dc81120c917 2326 * see http://en.wikipedia.org/wiki/Methods_of_computing_square_roots
gallonm 7:2dc81120c917 2327 */
gallonm 7:2dc81120c917 2328 uint32_t VL6180x_SqrtUint32(uint32_t num) {
gallonm 4:a5abf7757947 2329 uint32_t res = 0;
gallonm 4:a5abf7757947 2330 uint32_t bit = 1 << 30; /* The second-to-top bit is set: 1 << 30 for 32 bits */
gallonm 16:0d4776564733 2331
gallonm 4:a5abf7757947 2332 /* "bit" starts at the highest power of four <= the argument. */
gallonm 4:a5abf7757947 2333 while (bit > num)
gallonm 4:a5abf7757947 2334 bit >>= 2;
gallonm 16:0d4776564733 2335
gallonm 4:a5abf7757947 2336 while (bit != 0) {
gallonm 4:a5abf7757947 2337 if (num >= res + bit) {
gallonm 4:a5abf7757947 2338 num -= res + bit;
gallonm 4:a5abf7757947 2339 res = (res >> 1) + bit;
gallonm 4:a5abf7757947 2340 }
gallonm 4:a5abf7757947 2341 else
gallonm 4:a5abf7757947 2342 res >>= 1;
gallonm 4:a5abf7757947 2343 bit >>= 2;
gallonm 1:1de1ea2994d9 2344 }
gallonm 4:a5abf7757947 2345 return res;
gallonm 4:a5abf7757947 2346 }
gallonm 4:a5abf7757947 2347 #endif
gallonm 16:0d4776564733 2348
gallonm 16:0d4776564733 2349
gallonm 7:2dc81120c917 2350 /* DMax one time init */
gallonm 7:2dc81120c917 2351 void _DMax_OneTimeInit(VL6180xDev_t dev){
gallonm 4:a5abf7757947 2352 _DMaxData(ambTuningWindowFactor_K)=DEF_AMBIENT_TUNING;
gallonm 1:1de1ea2994d9 2353 }
gallonm 16:0d4776564733 2354
gallonm 16:0d4776564733 2355
gallonm 7:2dc81120c917 2356 static uint32_t _DMax_RawValueAtRateKCps(VL6180xDev_t dev, int32_t rate){
gallonm 4:a5abf7757947 2357 uint32_t snrLimit_K;
gallonm 4:a5abf7757947 2358 int32_t DMaxSq;
gallonm 4:a5abf7757947 2359 uint32_t RawDMax;
gallonm 4:a5abf7757947 2360 DMaxFix_t retSignalAt400mm;
gallonm 4:a5abf7757947 2361 uint32_t ambTuningWindowFactor_K;
gallonm 16:0d4776564733 2362
gallonm 16:0d4776564733 2363
gallonm 4:a5abf7757947 2364 ambTuningWindowFactor_K = _DMaxData(ambTuningWindowFactor_K);
gallonm 4:a5abf7757947 2365 snrLimit_K = _DMaxData(snrLimit_K);
gallonm 4:a5abf7757947 2366 retSignalAt400mm = _DMaxData(retSignalAt400mm); /* 12 to 18 bits Kcps */
gallonm 4:a5abf7757947 2367 if( rate > 0 ){
gallonm 4:a5abf7757947 2368 DMaxSq = 400*400*1000 / rate -(400*400/330); /* K of (1/RtnAmb -1/330 )=> 30bit- (12-18)bit => 12-18 bits*/
gallonm 4:a5abf7757947 2369 if( DMaxSq<= 0){
gallonm 4:a5abf7757947 2370 RawDMax = 0;
gallonm 4:a5abf7757947 2371 }
gallonm 4:a5abf7757947 2372 else{
gallonm 4:a5abf7757947 2373 /* value can be more 32 bit so base on raneg apply *retSignalAt400mm before or after division to presevr accuracy */
gallonm 4:a5abf7757947 2374 if( DMaxSq< (2<<12) ){
gallonm 4:a5abf7757947 2375 DMaxSq = DMaxSq*retSignalAt400mm/(snrLimit_K+ambTuningWindowFactor_K); /* max 12 + 12 to 18 -10 => 12-26 bit */
gallonm 4:a5abf7757947 2376 }else{
gallonm 4:a5abf7757947 2377 DMaxSq = DMaxSq/(snrLimit_K+ambTuningWindowFactor_K)*retSignalAt400mm; /* 12 to 18 -10 + 12 to 18 *=> 12-26 bit */
gallonm 4:a5abf7757947 2378 }
gallonm 4:a5abf7757947 2379 RawDMax=VL6180x_SqrtUint32(DMaxSq);
gallonm 4:a5abf7757947 2380 }
gallonm 4:a5abf7757947 2381 }
gallonm 4:a5abf7757947 2382 else{
gallonm 4:a5abf7757947 2383 RawDMax = 0x7FFFFFFF; /* bigest possibmle 32bit signed value */
gallonm 4:a5abf7757947 2384 }
gallonm 4:a5abf7757947 2385 return RawDMax;
gallonm 4:a5abf7757947 2386 }
gallonm 16:0d4776564733 2387
gallonm 7:2dc81120c917 2388 /*
gallonm 7:2dc81120c917 2389 * fetch static data from register to avoid re-read
gallonm 7:2dc81120c917 2390 * precompute all intermediate constant and cliipings
gallonm 7:2dc81120c917 2391 *
gallonm 7:2dc81120c917 2392 * to be re-used/call on changes of :
gallonm 7:2dc81120c917 2393 * 0x2A
gallonm 7:2dc81120c917 2394 * SYSRANGE_MAX_AMBIENT_LEVEL_MULT
gallonm 7:2dc81120c917 2395 * Dev Data XtalkComRate_KCPs
gallonm 7:2dc81120c917 2396 * SYSRANGE_MAX_CONVERGENCE_TIME
gallonm 7:2dc81120c917 2397 * SYSRANGE_RANGE_CHECK_ENABLES mask RANGE_CHECK_RANGE_ENABLE_MASK
gallonm 7:2dc81120c917 2398 * range 0xb8-0xbb (0xbb)
gallonm 7:2dc81120c917 2399 */
gallonm 7:2dc81120c917 2400 int VL6180X::_DMax_InitData(VL6180xDev_t dev){
gallonm 3:454541a079f4 2401 int status, warning;
gallonm 3:454541a079f4 2402 uint8_t u8;
gallonm 3:454541a079f4 2403 uint16_t u16;
gallonm 3:454541a079f4 2404 uint32_t u32;
gallonm 3:454541a079f4 2405 uint32_t Reg2A_KCps;
gallonm 3:454541a079f4 2406 uint32_t RegB8;
gallonm 3:454541a079f4 2407 uint8_t MaxConvTime;
gallonm 3:454541a079f4 2408 uint32_t XTalkCompRate_KCps;
gallonm 3:454541a079f4 2409 uint32_t RangeIgnoreThreshold;
gallonm 3:454541a079f4 2410 int32_t minSignalNeeded;
gallonm 3:454541a079f4 2411 uint8_t SysRangeCheckEn;
gallonm 3:454541a079f4 2412 uint8_t snrLimit;
gallonm 3:454541a079f4 2413 warning=0;
gallonm 16:0d4776564733 2414
gallonm 3:454541a079f4 2415 static const int ROMABLE_DATA MaxConvTimeAdjust=-4;
gallonm 16:0d4776564733 2416
gallonm 3:454541a079f4 2417 LOG_FUNCTION_START("");
gallonm 3:454541a079f4 2418 do{
gallonm 7:2dc81120c917 2419 status = VL6180x_RdByte(dev, 0x02A ,&u8);
gallonm 3:454541a079f4 2420 if( status ){
gallonm 3:454541a079f4 2421 VL6180x_ErrLog("Reg 0x02A rd fail");
gallonm 3:454541a079f4 2422 break;
gallonm 3:454541a079f4 2423 }
gallonm 16:0d4776564733 2424
gallonm 3:454541a079f4 2425 if( u8 == 0 ) {
gallonm 3:454541a079f4 2426 warning = CALIBRATION_WARNING;
gallonm 3:454541a079f4 2427 u8 = 40; /* use a default average value */
gallonm 3:454541a079f4 2428 }
gallonm 3:454541a079f4 2429 Reg2A_KCps = Fix7_2_KCPs(u8); /* convert to KCPs */
gallonm 16:0d4776564733 2430
gallonm 7:2dc81120c917 2431 status = VL6180x_RdByte(dev, SYSRANGE_RANGE_CHECK_ENABLES, &SysRangeCheckEn);
gallonm 3:454541a079f4 2432 if (status) {
gallonm 3:454541a079f4 2433 VL6180x_ErrLog("SYSRANGE_RANGE_CHECK_ENABLES rd fail ");
gallonm 3:454541a079f4 2434 break;
gallonm 3:454541a079f4 2435 }
gallonm 16:0d4776564733 2436
gallonm 7:2dc81120c917 2437 status = VL6180x_RdByte(dev, SYSRANGE_MAX_CONVERGENCE_TIME, &MaxConvTime);
gallonm 3:454541a079f4 2438 if( status){
gallonm 3:454541a079f4 2439 VL6180x_ErrLog("SYSRANGE_MAX_CONVERGENCE_TIME rd fail ");
gallonm 3:454541a079f4 2440 break;
gallonm 3:454541a079f4 2441 }
gallonm 16:0d4776564733 2442
gallonm 7:2dc81120c917 2443 status = VL6180x_RdDWord(dev, 0x0B8, &RegB8);
gallonm 3:454541a079f4 2444 if( status ){
gallonm 3:454541a079f4 2445 VL6180x_ErrLog("reg 0x0B8 rd fail ");
gallonm 3:454541a079f4 2446 break;
gallonm 3:454541a079f4 2447 }
gallonm 16:0d4776564733 2448
gallonm 7:2dc81120c917 2449 status = VL6180x_RdByte(dev, SYSRANGE_MAX_AMBIENT_LEVEL_MULT, &snrLimit);
gallonm 3:454541a079f4 2450 if( status){
gallonm 3:454541a079f4 2451 VL6180x_ErrLog("SYSRANGE_MAX_AMBIENT_LEVEL_MULT rd fail ");
gallonm 3:454541a079f4 2452 break;
gallonm 3:454541a079f4 2453 }
gallonm 3:454541a079f4 2454 _DMaxData(snrLimit_K) = (int32_t)16*1000/snrLimit;
gallonm 3:454541a079f4 2455 XTalkCompRate_KCps = VL6180xDevDataGet(dev, XTalkCompRate_KCps );
gallonm 16:0d4776564733 2456
gallonm 3:454541a079f4 2457 if( Reg2A_KCps >= XTalkCompRate_KCps){
gallonm 3:454541a079f4 2458 _DMaxData(retSignalAt400mm)=( Reg2A_KCps - XTalkCompRate_KCps);
gallonm 3:454541a079f4 2459 }
gallonm 3:454541a079f4 2460 else{
gallonm 3:454541a079f4 2461 _DMaxData(retSignalAt400mm)=0; /* Reg2A_K - XTalkCompRate_KCp <0 is invalid */
gallonm 3:454541a079f4 2462 }
gallonm 16:0d4776564733 2463
gallonm 3:454541a079f4 2464 /* if xtalk range check is off omit it in snr clipping */
gallonm 3:454541a079f4 2465 if( SysRangeCheckEn&RANGE_CHECK_RANGE_ENABLE_MASK ){
gallonm 7:2dc81120c917 2466 status = VL6180x_RdWord(dev, SYSRANGE_RANGE_IGNORE_THRESHOLD, &u16);
gallonm 3:454541a079f4 2467 if( status){
gallonm 3:454541a079f4 2468 VL6180x_ErrLog("SYSRANGE_RANGE_IGNORE_THRESHOLD rd fail ");
gallonm 3:454541a079f4 2469 break;
gallonm 3:454541a079f4 2470 }
gallonm 3:454541a079f4 2471 RangeIgnoreThreshold = Fix7_2_KCPs(u16);
gallonm 3:454541a079f4 2472 }
gallonm 3:454541a079f4 2473 else{
gallonm 3:454541a079f4 2474 RangeIgnoreThreshold = 0;
gallonm 3:454541a079f4 2475 }
gallonm 16:0d4776564733 2476
gallonm 3:454541a079f4 2477 minSignalNeeded = (RegB8*256)/((int32_t)MaxConvTime+(int32_t)MaxConvTimeAdjust); /* KCps 8+8 bit -(1 to 6 bit) => 15-10 bit */
gallonm 3:454541a079f4 2478 /* minSignalNeeded = max ( minSignalNeeded, RangeIgnoreThreshold - XTalkCompRate_KCps) */
gallonm 3:454541a079f4 2479 if( minSignalNeeded <= RangeIgnoreThreshold - XTalkCompRate_KCps )
gallonm 3:454541a079f4 2480 minSignalNeeded = RangeIgnoreThreshold - XTalkCompRate_KCps;
gallonm 16:0d4776564733 2481
gallonm 3:454541a079f4 2482 u32 = (minSignalNeeded*(uint32_t)snrLimit)/16;
gallonm 3:454541a079f4 2483 _DMaxData(ClipSnrLimit ) = _DMax_RawValueAtRateKCps(dev, u32 ); /* clip to dmax to min signal snr limit rate*/
gallonm 3:454541a079f4 2484 }
gallonm 3:454541a079f4 2485 while(0);
gallonm 3:454541a079f4 2486 if( !status )
gallonm 3:454541a079f4 2487 status = warning;
gallonm 3:454541a079f4 2488 LOG_FUNCTION_END(status);
gallonm 3:454541a079f4 2489 return status;
gallonm 1:1de1ea2994d9 2490 }
gallonm 16:0d4776564733 2491
gallonm 7:2dc81120c917 2492 static int _DMax_Compute(VL6180xDev_t dev, VL6180x_RangeData_t *pRange){
gallonm 7:2dc81120c917 2493 uint32_t rtnAmbRate;
gallonm 7:2dc81120c917 2494 int32_t DMax;
gallonm 7:2dc81120c917 2495 int scaling;
gallonm 7:2dc81120c917 2496 uint16_t HwLimitAtScale;
gallonm 7:2dc81120c917 2497 static const int ROMABLE_DATA rtnAmbLowLimit_KCps=330*1000;
gallonm 16:0d4776564733 2498
gallonm 7:2dc81120c917 2499 rtnAmbRate = pRange->rtnAmbRate;
gallonm 7:2dc81120c917 2500 if( rtnAmbRate < rtnAmbLowLimit_KCps ){
gallonm 7:2dc81120c917 2501 DMax = _DMax_RawValueAtRateKCps( dev, rtnAmbRate);
gallonm 7:2dc81120c917 2502 scaling = _GetUpscale(dev);
gallonm 7:2dc81120c917 2503 HwLimitAtScale=UpperLimitLookUP[scaling - 1];
gallonm 16:0d4776564733 2504
gallonm 7:2dc81120c917 2505 if( DMax > _DMaxData(ClipSnrLimit) ){
gallonm 7:2dc81120c917 2506 DMax=_DMaxData(ClipSnrLimit);
gallonm 7:2dc81120c917 2507 }
gallonm 7:2dc81120c917 2508 if( DMax > HwLimitAtScale ){
gallonm 7:2dc81120c917 2509 DMax=HwLimitAtScale;
gallonm 7:2dc81120c917 2510 }
gallonm 7:2dc81120c917 2511 pRange->DMax=DMax;
gallonm 7:2dc81120c917 2512 }
gallonm 7:2dc81120c917 2513 else{
gallonm 7:2dc81120c917 2514 pRange->DMax = 0;
gallonm 7:2dc81120c917 2515 }
gallonm 7:2dc81120c917 2516 return 0;
gallonm 7:2dc81120c917 2517 }
gallonm 16:0d4776564733 2518
gallonm 7:2dc81120c917 2519 #undef _DMaxData
gallonm 3:454541a079f4 2520 #undef Fix7_2_KCPs
gallonm 16:0d4776564733 2521
gallonm 7:2dc81120c917 2522 #endif /* VL6180x_HAVE_DMAX_RANGING */
gallonm 16:0d4776564733 2523
gallonm 16:0d4776564733 2524
gallonm 7:2dc81120c917 2525 /******************************************************************************/
gallonm 7:2dc81120c917 2526 /******************************************************************************/
gallonm 16:0d4776564733 2527
gallonm 16:0d4776564733 2528
gallonm 16:0d4776564733 2529
gallonm 7:2dc81120c917 2530 /****************** Write and read functions from I2C *************************/
gallonm 16:0d4776564733 2531
gallonm 4:a5abf7757947 2532 int VL6180X::VL6180x_WrByte(VL6180xDev_t dev, uint16_t index, uint8_t data)
gallonm 4:a5abf7757947 2533 {
gallonm 16:0d4776564733 2534 int status;
gallonm 16:0d4776564733 2535
gallonm 16:0d4776564733 2536 status=VL6180x_I2CWrite(Device->I2cAddr, index, &data,(uint8_t)1);
gallonm 16:0d4776564733 2537 return status;
gallonm 4:a5abf7757947 2538 }
gallonm 16:0d4776564733 2539
gallonm 4:a5abf7757947 2540 int VL6180X::VL6180x_WrWord(VL6180xDev_t dev, uint16_t index, uint16_t data)
gallonm 4:a5abf7757947 2541 {
gallonm 16:0d4776564733 2542 int status;
gallonm 16:0d4776564733 2543
gallonm 16:0d4776564733 2544 status=VL6180x_I2CWrite(Device->I2cAddr, index, (uint8_t *)&data,(uint8_t)2);
gallonm 16:0d4776564733 2545 return status;
gallonm 4:a5abf7757947 2546 }
gallonm 16:0d4776564733 2547
gallonm 4:a5abf7757947 2548 int VL6180X::VL6180x_WrDWord(VL6180xDev_t dev, uint16_t index, uint32_t data)
gallonm 4:a5abf7757947 2549 {
gallonm 16:0d4776564733 2550 int status;
gallonm 16:0d4776564733 2551
gallonm 16:0d4776564733 2552 status=VL6180x_I2CWrite(Device->I2cAddr, index, (uint8_t *)&data,(uint8_t)4);
gallonm 16:0d4776564733 2553 return status;
gallonm 4:a5abf7757947 2554 }
gallonm 16:0d4776564733 2555
gallonm 4:a5abf7757947 2556 int VL6180X::VL6180x_RdByte(VL6180xDev_t dev, uint16_t index, uint8_t *data)
gallonm 4:a5abf7757947 2557 {
gallonm 16:0d4776564733 2558 int status;
gallonm 16:0d4776564733 2559
gallonm 16:0d4776564733 2560 uint8_t buffer;
gallonm 16:0d4776564733 2561 status=VL6180x_I2CRead(Device->I2cAddr, index, &buffer,1);
gallonm 16:0d4776564733 2562 if(!status)
gallonm 16:0d4776564733 2563 {
gallonm 16:0d4776564733 2564 *data=buffer;
gallonm 16:0d4776564733 2565 }
gallonm 16:0d4776564733 2566 return status;
gallonm 4:a5abf7757947 2567 }
gallonm 16:0d4776564733 2568
gallonm 4:a5abf7757947 2569 int VL6180X::VL6180x_RdWord(VL6180xDev_t dev, uint16_t index, uint16_t *data)
gallonm 4:a5abf7757947 2570 {
gallonm 16:0d4776564733 2571 int status;
gallonm 16:0d4776564733 2572
gallonm 16:0d4776564733 2573 uint8_t buffer[2];
gallonm 16:0d4776564733 2574 status=VL6180x_I2CRead(Device->I2cAddr, index, buffer, 2);
gallonm 16:0d4776564733 2575 if(!status)
gallonm 16:0d4776564733 2576 {
gallonm 16:0d4776564733 2577 memcpy(data, buffer, 2);
gallonm 16:0d4776564733 2578 }
gallonm 16:0d4776564733 2579 return status;
gallonm 4:a5abf7757947 2580 }
gallonm 16:0d4776564733 2581
gallonm 4:a5abf7757947 2582 int VL6180X::VL6180x_RdDWord(VL6180xDev_t dev, uint16_t index, uint32_t *data)
gallonm 4:a5abf7757947 2583 {
gallonm 16:0d4776564733 2584 int status;
gallonm 16:0d4776564733 2585 uint8_t buffer[4];
gallonm 16:0d4776564733 2586 status=VL6180x_I2CRead(Device->I2cAddr, index, buffer,4);
gallonm 16:0d4776564733 2587 if(!status)
gallonm 16:0d4776564733 2588 {
gallonm 16:0d4776564733 2589 memcpy(data, buffer, 4);
gallonm 16:0d4776564733 2590 }
gallonm 16:0d4776564733 2591 return status;
gallonm 4:a5abf7757947 2592 }
gallonm 16:0d4776564733 2593
licio.mapelli@st.com 8:f943a1fca15f 2594 int VL6180X::VL6180x_UpdateByte(VL6180xDev_t dev, uint16_t index, uint8_t AndData, uint8_t OrData)
licio.mapelli@st.com 8:f943a1fca15f 2595 {
gallonm 16:0d4776564733 2596 int status;
gallonm 16:0d4776564733 2597 uint8_t buffer;
gallonm 16:0d4776564733 2598
gallonm 16:0d4776564733 2599 status=VL6180x_I2CWrite(Device->I2cAddr, index, (uint8_t *)buffer,(uint8_t)0);
gallonm 16:0d4776564733 2600 if(!status)
gallonm 16:0d4776564733 2601 {
gallonm 16:0d4776564733 2602 /* read data direct onto buffer */
gallonm 16:0d4776564733 2603 status=VL6180x_I2CRead(Device->I2cAddr, index, &buffer,1);
gallonm 16:0d4776564733 2604 if(!status)
gallonm 16:0d4776564733 2605 {
gallonm 16:0d4776564733 2606 buffer=(buffer & AndData)|OrData;
gallonm 16:0d4776564733 2607 status=VL6180x_I2CWrite(Device->I2cAddr, index, &buffer, (uint8_t)1);
gallonm 16:0d4776564733 2608 }
gallonm 16:0d4776564733 2609 }
gallonm 16:0d4776564733 2610 return status;
gallonm 7:2dc81120c917 2611 }
gallonm 16:0d4776564733 2612
gallonm 4:a5abf7757947 2613 int VL6180X::VL6180x_I2CWrite(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t* pBuffer, uint16_t NumByteToWrite)
gallonm 4:a5abf7757947 2614 {
gallonm 16:0d4776564733 2615 int ret;
gallonm 16:0d4776564733 2616 int i;
gallonm 16:0d4776564733 2617 uint8_t tmp[TEMP_BUF_SIZE];
gallonm 16:0d4776564733 2618 uint16_t myRegisterAddr = RegisterAddr;
gallonm 16:0d4776564733 2619 uint16_t WriteDeviceAddr=0;
gallonm 16:0d4776564733 2620
gallonm 16:0d4776564733 2621 /* First, prepare 8 bits device address in 7bits i2ci format */
gallonm 16:0d4776564733 2622 WriteDeviceAddr=DeviceAddr*2;
gallonm 16:0d4776564733 2623 if(NumByteToWrite >= TEMP_BUF_SIZE) return -2;
gallonm 4:a5abf7757947 2624
gallonm 16:0d4776564733 2625 /* then prepare 16 bits register address in BE format. Then, send data and STOP condition */
gallonm 16:0d4776564733 2626 tmp[0] = *(((uint8_t*)&myRegisterAddr)+1);
gallonm 16:0d4776564733 2627 tmp[1] = (uint8_t)RegisterAddr;
gallonm 4:a5abf7757947 2628
gallonm 16:0d4776564733 2629 if(NumByteToWrite>1) /* swap data endianess */
gallonm 16:0d4776564733 2630 {
gallonm 16:0d4776564733 2631 for(i=0;i<NumByteToWrite;i++)
gallonm 16:0d4776564733 2632 {
gallonm 16:0d4776564733 2633 tmp[NumByteToWrite+sizeof(RegisterAddr)-1-i]=pBuffer[i];
gallonm 16:0d4776564733 2634 }
gallonm 16:0d4776564733 2635 }
gallonm 16:0d4776564733 2636 else
gallonm 16:0d4776564733 2637 {
gallonm 16:0d4776564733 2638 memcpy(tmp+sizeof(RegisterAddr), pBuffer, NumByteToWrite);
gallonm 16:0d4776564733 2639 }
gallonm 16:0d4776564733 2640 ret = dev_i2c.write(WriteDeviceAddr, (const char*)tmp, NumByteToWrite+sizeof(RegisterAddr), false);
gallonm 16:0d4776564733 2641
gallonm 16:0d4776564733 2642 if(ret)
gallonm 16:0d4776564733 2643 return -1;
gallonm 16:0d4776564733 2644 return 0;
gallonm 4:a5abf7757947 2645 }
gallonm 16:0d4776564733 2646
gallonm 4:a5abf7757947 2647 int VL6180X::VL6180x_I2CRead(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t* pBuffer, uint16_t NumByteToRead)
gallonm 4:a5abf7757947 2648 {
gallonm 16:0d4776564733 2649 int ret,i;
gallonm 16:0d4776564733 2650 uint8_t tmp[TEMP_BUF_SIZE];
gallonm 16:0d4776564733 2651 uint16_t myRegisterAddr = RegisterAddr;
gallonm 16:0d4776564733 2652 uint16_t myRegisterAddrBE;
gallonm 16:0d4776564733 2653 uint16_t ReadDeviceAddr=DeviceAddr;
gallonm 7:2dc81120c917 2654
gallonm 16:0d4776564733 2655 ReadDeviceAddr=DeviceAddr*2;
gallonm 16:0d4776564733 2656 myRegisterAddrBE = *(((uint8_t*)&myRegisterAddr)+1);
gallonm 16:0d4776564733 2657 *(((uint8_t*)&myRegisterAddrBE)+1) = (uint8_t)myRegisterAddr;
gallonm 4:a5abf7757947 2658
gallonm 16:0d4776564733 2659 /* Send 8 bits device address and 16 bits register address in BE format, with no STOP condition */
gallonm 16:0d4776564733 2660 ret = dev_i2c.write(ReadDeviceAddr, (const char*)&myRegisterAddrBE, sizeof(RegisterAddr), true);
gallonm 16:0d4776564733 2661 if(!ret)
gallonm 16:0d4776564733 2662 {
gallonm 16:0d4776564733 2663 ReadDeviceAddr|=0x001;
gallonm 16:0d4776564733 2664 /* Read data, with STOP condition */
gallonm 16:0d4776564733 2665 ret = dev_i2c.read(ReadDeviceAddr, (char*)tmp, NumByteToRead, false);
gallonm 16:0d4776564733 2666 }
gallonm 16:0d4776564733 2667 if(ret)
gallonm 16:0d4776564733 2668 return -1;
gallonm 16:0d4776564733 2669
gallonm 16:0d4776564733 2670 if(NumByteToRead>1) /* swap data endianess */
gallonm 16:0d4776564733 2671 {
gallonm 16:0d4776564733 2672 for(i=0;i<NumByteToRead;i++)
gallonm 16:0d4776564733 2673 {
gallonm 16:0d4776564733 2674 pBuffer[i] = tmp[NumByteToRead-1-i];
gallonm 16:0d4776564733 2675 }
gallonm 16:0d4776564733 2676 }
gallonm 16:0d4776564733 2677 else
gallonm 16:0d4776564733 2678 {
gallonm 16:0d4776564733 2679 memcpy(pBuffer, tmp, NumByteToRead);
gallonm 16:0d4776564733 2680 }
gallonm 16:0d4776564733 2681 return 0;
gallonm 4:a5abf7757947 2682 }
gallonm 16:0d4776564733 2683
gallonm 16:0d4776564733 2684
gallonm 10:4954b09b72d8 2685 int VL6180X::ReadID()
gallonm 4:a5abf7757947 2686 {
gallonm 16:0d4776564733 2687 int status;
gallonm 16:0d4776564733 2688 uint8_t rl_id=0;
gallonm 16:0d4776564733 2689
gallonm 16:0d4776564733 2690 status=VL6180x_RdByte(Device, IDENTIFICATION_MODEL_ID, &rl_id);
gallonm 16:0d4776564733 2691 if((status==0)&&(rl_id==0xB4))
gallonm 16:0d4776564733 2692 return status;
gallonm 16:0d4776564733 2693 else
gallonm 16:0d4776564733 2694 return INVALID_PARAMS;
gallonm 4:a5abf7757947 2695 }
gallonm 16:0d4776564733 2696
gallonm 16:0d4776564733 2697
gallonm 20:dd8390d615bf 2698 int VL6180X::InitSensor(uint8_t NewAddr)
gallonm 12:71d589e6fd2c 2699 {
gallonm 14:0effa0bbf192 2700 int status;
gallonm 16:0d4776564733 2701
gallonm 12:71d589e6fd2c 2702 VL6180x_Off();
gallonm 12:71d589e6fd2c 2703 VL6180x_On();
gallonm 20:dd8390d615bf 2704 status=VL6180x_WaitDeviceBooted(Device);
gallonm 20:dd8390d615bf 2705 if(status)
gallonm 23:dfb5ccc7b780 2706 VL6180x_ErrLog("WaitDeviceBooted fail\n\r");
gallonm 12:71d589e6fd2c 2707 status=IsPresent();
gallonm 12:71d589e6fd2c 2708 if(!status)
gallonm 12:71d589e6fd2c 2709 {
gallonm 16:0d4776564733 2710 Device->Present=1;
gallonm 16:0d4776564733 2711 status=Init();
gallonm 16:0d4776564733 2712 if(status)
gallonm 16:0d4776564733 2713 {
gallonm 16:0d4776564733 2714 printf("Failed to init VL6180X sensor!\n\r");
gallonm 16:0d4776564733 2715 return status;
gallonm 16:0d4776564733 2716 }
gallonm 16:0d4776564733 2717 status=Prepare();
gallonm 16:0d4776564733 2718 if(status)
gallonm 16:0d4776564733 2719 {
gallonm 16:0d4776564733 2720 printf("Failed to prepare VL6180X!\n\r");
gallonm 16:0d4776564733 2721 return status;
gallonm 16:0d4776564733 2722 }
gallonm 16:0d4776564733 2723 if(NewAddr!=DEFAULT_DEVICE_ADDRESS)
gallonm 16:0d4776564733 2724 {
gallonm 16:0d4776564733 2725 status=SetI2CAddress(NewAddr);
gallonm 16:0d4776564733 2726 if(status)
gallonm 16:0d4776564733 2727 {
gallonm 16:0d4776564733 2728 printf("Failed to change I2C address!\n\r");
gallonm 16:0d4776564733 2729 return status;
gallonm 16:0d4776564733 2730 }
gallonm 16:0d4776564733 2731 }
gallonm 16:0d4776564733 2732 else
gallonm 16:0d4776564733 2733 {
gallonm 16:0d4776564733 2734 printf("Invalid new address!\n\r");
gallonm 16:0d4776564733 2735 return INVALID_PARAMS;
gallonm 16:0d4776564733 2736 }
gallonm 16:0d4776564733 2737 Device->Ready=1;
gallonm 16:0d4776564733 2738 }
gallonm 16:0d4776564733 2739 return status;
gallonm 12:71d589e6fd2c 2740 }
gallonm 16:0d4776564733 2741
gallonm 16:0d4776564733 2742
gallonm 24:025afc3fe30f 2743 int VL6180X::StartMeasurement(OperatingMode operating_mode, void (*fptr)(void), uint16_t low, uint16_t high)
gallonm 12:71d589e6fd2c 2744 {
gallonm 14:0effa0bbf192 2745 int status, r_status, l_status;
gallonm 16:0d4776564733 2746
gallonm 12:71d589e6fd2c 2747 switch(operating_mode)
gallonm 12:71d589e6fd2c 2748 {
gallonm 16:0d4776564733 2749 case(range_single_shot_polling):
gallonm 16:0d4776564733 2750 r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
gallonm 16:0d4776564733 2751 l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2752 if((!r_status)&&(!l_status))
gallonm 24:025afc3fe30f 2753 return RangeMeasPollSingleShot();
gallonm 16:0d4776564733 2754 else
gallonm 16:0d4776564733 2755 return (r_status|l_status);
gallonm 16:0d4776564733 2756
gallonm 14:0effa0bbf192 2757 case(als_single_shot_polling):
gallonm 16:0d4776564733 2758 r_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
gallonm 16:0d4776564733 2759 l_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2760 if((!r_status)&&(!l_status))
gallonm 24:025afc3fe30f 2761 return AlsMeasPollSingleShot();
gallonm 16:0d4776564733 2762 else
gallonm 16:0d4776564733 2763 return (r_status|l_status);
gallonm 16:0d4776564733 2764
gallonm 16:0d4776564733 2765 case(range_continuous_polling):
gallonm 16:0d4776564733 2766 r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
gallonm 16:0d4776564733 2767 l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2768 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2769 return RangeMeasPollContinuousMode();
gallonm 16:0d4776564733 2770 else
gallonm 16:0d4776564733 2771 return (r_status|l_status);
gallonm 16:0d4776564733 2772
gallonm 16:0d4776564733 2773 case(als_continuous_polling):
gallonm 16:0d4776564733 2774 r_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
gallonm 16:0d4776564733 2775 l_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2776 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2777 return AlsMeasPollContinuousMode();
gallonm 16:0d4776564733 2778 else
gallonm 16:0d4776564733 2779 return (r_status|l_status);
gallonm 16:0d4776564733 2780
gallonm 14:0effa0bbf192 2781 case(range_continuous_interrupt):
gallonm 16:0d4776564733 2782 r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
gallonm 16:0d4776564733 2783 l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2784 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2785 return RangeMeasIntContinuousMode(fptr);
gallonm 16:0d4776564733 2786 else
gallonm 16:0d4776564733 2787 return (r_status|l_status);
gallonm 16:0d4776564733 2788
gallonm 16:0d4776564733 2789 case(als_continuous_interrupt):
gallonm 16:0d4776564733 2790 l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
gallonm 16:0d4776564733 2791 r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2792 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2793 return AlsMeasIntContinuousMode(fptr);
gallonm 16:0d4776564733 2794 else
gallonm 16:0d4776564733 2795 return (r_status|l_status);
gallonm 16:0d4776564733 2796
gallonm 16:0d4776564733 2797 case(interleaved_mode_interrupt):
gallonm 16:0d4776564733 2798 l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
gallonm 16:0d4776564733 2799 r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2800 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2801 return InterleavedMode(fptr);
gallonm 16:0d4776564733 2802 else
gallonm 16:0d4776564733 2803 return (r_status|l_status);
gallonm 16:0d4776564733 2804
gallonm 14:0effa0bbf192 2805 case(range_continuous_polling_low_threshold):
gallonm 16:0d4776564733 2806 r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_LOW);
gallonm 16:0d4776564733 2807 l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2808 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2809 {
gallonm 14:0effa0bbf192 2810 status=RangeSetLowThreshold(low);
gallonm 16:0d4776564733 2811 if(!status)
gallonm 16:0d4776564733 2812 return RangeMeasPollContinuousMode();
gallonm 16:0d4776564733 2813 else
gallonm 16:0d4776564733 2814 return status;
gallonm 16:0d4776564733 2815 }
gallonm 14:0effa0bbf192 2816 else
gallonm 14:0effa0bbf192 2817 return (r_status|l_status);
gallonm 14:0effa0bbf192 2818
gallonm 16:0d4776564733 2819 case(range_continuous_polling_high_threshold):
gallonm 14:0effa0bbf192 2820 status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_HIGH);
gallonm 16:0d4776564733 2821 status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2822 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2823 {
gallonm 14:0effa0bbf192 2824 status=RangeSetHighThreshold(high);
gallonm 16:0d4776564733 2825 if(!status)
gallonm 16:0d4776564733 2826 return RangeMeasPollContinuousMode();
gallonm 16:0d4776564733 2827 else
gallonm 16:0d4776564733 2828 return status;
gallonm 16:0d4776564733 2829 }
gallonm 14:0effa0bbf192 2830 else
gallonm 14:0effa0bbf192 2831 return (r_status|l_status);
gallonm 16:0d4776564733 2832
gallonm 16:0d4776564733 2833 case(range_continuous_polling_out_of_window):
gallonm 16:0d4776564733 2834 status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW);
gallonm 16:0d4776564733 2835 status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2836 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2837 {
gallonm 14:0effa0bbf192 2838 status=VL6180x_RangeSetThresholds(Device,low,high,1);
gallonm 16:0d4776564733 2839 if(!status)
gallonm 16:0d4776564733 2840 return RangeMeasPollContinuousMode();
gallonm 16:0d4776564733 2841 else
gallonm 16:0d4776564733 2842 return status;
gallonm 16:0d4776564733 2843 }
gallonm 14:0effa0bbf192 2844 else
gallonm 14:0effa0bbf192 2845 return (r_status|l_status);
gallonm 16:0d4776564733 2846
gallonm 14:0effa0bbf192 2847 case(als_continuous_polling_low_threshold):
gallonm 14:0effa0bbf192 2848 status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_LOW);
gallonm 16:0d4776564733 2849 status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2850 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2851 {
gallonm 14:0effa0bbf192 2852 status=AlsSetLowThreshold(low);
gallonm 16:0d4776564733 2853 if(!status)
gallonm 16:0d4776564733 2854 return AlsMeasPollContinuousMode();
gallonm 16:0d4776564733 2855 else
gallonm 16:0d4776564733 2856 return status;
gallonm 16:0d4776564733 2857 }
gallonm 14:0effa0bbf192 2858 else
gallonm 14:0effa0bbf192 2859 return (r_status|l_status);
gallonm 16:0d4776564733 2860
gallonm 16:0d4776564733 2861 case(als_continuous_polling_high_threshold):
gallonm 16:0d4776564733 2862 status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_HIGH);
gallonm 16:0d4776564733 2863 status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2864 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2865 {
gallonm 14:0effa0bbf192 2866 status=AlsSetHighThreshold(high);
gallonm 16:0d4776564733 2867 if(!status)
gallonm 16:0d4776564733 2868 return AlsMeasPollContinuousMode();
gallonm 16:0d4776564733 2869 else
gallonm 16:0d4776564733 2870 return status;
gallonm 16:0d4776564733 2871 }
gallonm 14:0effa0bbf192 2872 else
gallonm 14:0effa0bbf192 2873 return (r_status|l_status);
gallonm 16:0d4776564733 2874
gallonm 16:0d4776564733 2875 case(als_continuous_polling_out_of_window):
gallonm 16:0d4776564733 2876 status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW);
gallonm 16:0d4776564733 2877 status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2878 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2879 {
gallonm 14:0effa0bbf192 2880 status=VL6180x_AlsSetThresholds(Device,low,high);
gallonm 16:0d4776564733 2881 if(!status)
gallonm 16:0d4776564733 2882 return AlsMeasPollContinuousMode();
gallonm 16:0d4776564733 2883 else
gallonm 16:0d4776564733 2884 return status;
gallonm 16:0d4776564733 2885 }
gallonm 14:0effa0bbf192 2886 else
gallonm 14:0effa0bbf192 2887 return (r_status|l_status);
gallonm 16:0d4776564733 2888
gallonm 16:0d4776564733 2889 case(range_continuous_interrupt_low_threshold):
gallonm 16:0d4776564733 2890 status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_LOW);
gallonm 16:0d4776564733 2891 status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2892 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2893 {
gallonm 14:0effa0bbf192 2894 status=RangeSetLowThreshold(low);
gallonm 16:0d4776564733 2895 if(!status)
gallonm 16:0d4776564733 2896 return RangeMeasIntContinuousMode(fptr);
gallonm 16:0d4776564733 2897 else
gallonm 16:0d4776564733 2898 return status;
gallonm 16:0d4776564733 2899 }
gallonm 14:0effa0bbf192 2900 else
gallonm 16:0d4776564733 2901 return (r_status|l_status);
gallonm 16:0d4776564733 2902
gallonm 26:db0cdc5ecc0a 2903 case(range_continuous_interrupt_high_threshold):
gallonm 16:0d4776564733 2904 status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_HIGH);
gallonm 16:0d4776564733 2905 status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2906 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2907 {
gallonm 14:0effa0bbf192 2908 status=RangeSetHighThreshold(high);
gallonm 16:0d4776564733 2909 if(!status)
gallonm 16:0d4776564733 2910 return RangeMeasIntContinuousMode(fptr);
gallonm 16:0d4776564733 2911 else
gallonm 16:0d4776564733 2912 return status;
gallonm 16:0d4776564733 2913 }
gallonm 14:0effa0bbf192 2914 else
gallonm 14:0effa0bbf192 2915 return (r_status|l_status);
gallonm 16:0d4776564733 2916
gallonm 16:0d4776564733 2917 case(range_continuous_interrupt_out_of_window):
gallonm 16:0d4776564733 2918 status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW);
gallonm 16:0d4776564733 2919 status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2920 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2921 {
gallonm 14:0effa0bbf192 2922 status=VL6180x_RangeSetThresholds(Device,low,high,1);
gallonm 16:0d4776564733 2923 if(!status)
gallonm 16:0d4776564733 2924 return RangeMeasIntContinuousMode(fptr);
gallonm 16:0d4776564733 2925 else
gallonm 16:0d4776564733 2926 return status;
gallonm 16:0d4776564733 2927 }
gallonm 14:0effa0bbf192 2928 else
gallonm 14:0effa0bbf192 2929 return (r_status|l_status);
gallonm 16:0d4776564733 2930
gallonm 16:0d4776564733 2931 case(als_continuous_interrupt_low_threshold):
gallonm 16:0d4776564733 2932 status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_LOW);
gallonm 16:0d4776564733 2933 status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2934 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2935 {
gallonm 14:0effa0bbf192 2936 status=AlsSetLowThreshold(low);
gallonm 16:0d4776564733 2937 if(!status)
gallonm 16:0d4776564733 2938 return AlsMeasIntContinuousMode(fptr);
gallonm 16:0d4776564733 2939 else
gallonm 16:0d4776564733 2940 return status;
gallonm 16:0d4776564733 2941 }
gallonm 14:0effa0bbf192 2942 else
gallonm 16:0d4776564733 2943 return (r_status|l_status);
gallonm 16:0d4776564733 2944
gallonm 16:0d4776564733 2945 case(als_continuous_interrupt_high_threshold):
gallonm 16:0d4776564733 2946 status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_HIGH);
gallonm 16:0d4776564733 2947 status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2948 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2949 {
gallonm 14:0effa0bbf192 2950 status=AlsSetHighThreshold(high);
gallonm 16:0d4776564733 2951 if(!status)
gallonm 16:0d4776564733 2952 return AlsMeasIntContinuousMode(fptr);
gallonm 16:0d4776564733 2953 else
gallonm 16:0d4776564733 2954 return status;
gallonm 16:0d4776564733 2955 }
gallonm 14:0effa0bbf192 2956 else
gallonm 14:0effa0bbf192 2957 return (r_status|l_status);
gallonm 16:0d4776564733 2958
gallonm 16:0d4776564733 2959 case(als_continuous_interrupt_out_of_window):
gallonm 16:0d4776564733 2960 status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW);
gallonm 16:0d4776564733 2961 status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2962 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2963 {
gallonm 14:0effa0bbf192 2964 status=VL6180x_AlsSetThresholds(Device,low,high);
gallonm 16:0d4776564733 2965 if(!status)
gallonm 16:0d4776564733 2966 return AlsMeasIntContinuousMode(fptr);
gallonm 16:0d4776564733 2967 else
gallonm 16:0d4776564733 2968 return status;
gallonm 16:0d4776564733 2969 }
gallonm 14:0effa0bbf192 2970 else
gallonm 14:0effa0bbf192 2971 return (r_status|l_status);
gallonm 16:0d4776564733 2972
gallonm 16:0d4776564733 2973 default:
gallonm 16:0d4776564733 2974 return INVALID_PARAMS;
gallonm 16:0d4776564733 2975 }
gallonm 12:71d589e6fd2c 2976 }
gallonm 16:0d4776564733 2977
gallonm 16:0d4776564733 2978
gallonm 12:71d589e6fd2c 2979 int VL6180X::GetRangeError(MeasureData_t *Data, VL6180x_RangeData_t RangeData)
gallonm 12:71d589e6fd2c 2980 {
gallonm 16:0d4776564733 2981 Data->range_error=RangeData.errorStatus;
gallonm 16:0d4776564733 2982 if(Data->range_error!=0)
gallonm 16:0d4776564733 2983 {
gallonm 14:0effa0bbf192 2984 VL6180x_ErrLog("Range error %d",Data->range_error);
gallonm 14:0effa0bbf192 2985 return RANGE_ERROR;
gallonm 16:0d4776564733 2986 }
gallonm 16:0d4776564733 2987 return NoError_;
gallonm 12:71d589e6fd2c 2988 }
gallonm 16:0d4776564733 2989
gallonm 16:0d4776564733 2990
gallonm 12:71d589e6fd2c 2991 int VL6180X::GetAlsError(MeasureData_t *Data, VL6180x_AlsData_t AlsData)
gallonm 12:71d589e6fd2c 2992 {
gallonm 16:0d4776564733 2993 Data->als_error=AlsData.errorStatus;
gallonm 16:0d4776564733 2994 if(Data->als_error!=0)
gallonm 16:0d4776564733 2995 {
gallonm 14:0effa0bbf192 2996 VL6180x_ErrLog("Light error %d",Data->light_error);
gallonm 16:0d4776564733 2997 return API_ERROR;
gallonm 16:0d4776564733 2998 }
gallonm 16:0d4776564733 2999 return NoError_;
gallonm 12:71d589e6fd2c 3000 }
gallonm 16:0d4776564733 3001
gallonm 16:0d4776564733 3002
gallonm 24:025afc3fe30f 3003 int VL6180X::RangeMeasPollSingleShot()
gallonm 12:71d589e6fd2c 3004 {
gallonm 16:0d4776564733 3005 int status;
gallonm 24:025afc3fe30f 3006
gallonm 24:025afc3fe30f 3007 status=VL6180x_RangeClearInterrupt(Device);
gallonm 24:025afc3fe30f 3008 if(status)
gallonm 16:0d4776564733 3009 {
gallonm 24:025afc3fe30f 3010 VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
gallonm 24:025afc3fe30f 3011 return status;
gallonm 16:0d4776564733 3012 }
gallonm 24:025afc3fe30f 3013 status=VL6180x_ClearErrorInterrupt(Device);
gallonm 24:025afc3fe30f 3014 if(status)
gallonm 24:025afc3fe30f 3015 {
gallonm 24:025afc3fe30f 3016 VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
gallonm 24:025afc3fe30f 3017 return status;
gallonm 24:025afc3fe30f 3018 }
gallonm 24:025afc3fe30f 3019 return RangeStartSingleShot();
gallonm 16:0d4776564733 3020 }
gallonm 16:0d4776564733 3021
gallonm 16:0d4776564733 3022
gallonm 24:025afc3fe30f 3023 int VL6180X::AlsMeasPollSingleShot()
gallonm 12:71d589e6fd2c 3024 {
gallonm 24:025afc3fe30f 3025 int status;
gallonm 24:025afc3fe30f 3026
gallonm 24:025afc3fe30f 3027 status=VL6180x_AlsClearInterrupt(Device);
gallonm 24:025afc3fe30f 3028 if(status)
gallonm 16:0d4776564733 3029 {
gallonm 24:025afc3fe30f 3030 VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
gallonm 24:025afc3fe30f 3031 return status;
gallonm 16:0d4776564733 3032 }
gallonm 24:025afc3fe30f 3033 status=VL6180x_ClearErrorInterrupt(Device);
gallonm 24:025afc3fe30f 3034 if(status)
gallonm 24:025afc3fe30f 3035 {
gallonm 24:025afc3fe30f 3036 VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
gallonm 24:025afc3fe30f 3037 return status;
gallonm 24:025afc3fe30f 3038 }
gallonm 24:025afc3fe30f 3039 return AlsStartSingleShot();
gallonm 12:71d589e6fd2c 3040 }
gallonm 16:0d4776564733 3041
gallonm 16:0d4776564733 3042
gallonm 14:0effa0bbf192 3043 int VL6180X::RangeMeasPollContinuousMode()
gallonm 12:71d589e6fd2c 3044 {
gallonm 12:71d589e6fd2c 3045 int status;
gallonm 16:0d4776564733 3046
gallonm 16:0d4776564733 3047 status=VL6180x_RangeClearInterrupt(Device);
gallonm 16:0d4776564733 3048 if(status)
gallonm 16:0d4776564733 3049 {
gallonm 16:0d4776564733 3050 VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
gallonm 16:0d4776564733 3051 return status;
gallonm 16:0d4776564733 3052 }
gallonm 16:0d4776564733 3053 status=VL6180x_ClearErrorInterrupt(Device);
gallonm 16:0d4776564733 3054 if(status)
gallonm 16:0d4776564733 3055 {
gallonm 16:0d4776564733 3056 VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
gallonm 16:0d4776564733 3057 return status;
gallonm 16:0d4776564733 3058 }
gallonm 16:0d4776564733 3059 return RangeStartContinuousMode();
gallonm 12:71d589e6fd2c 3060 }
gallonm 16:0d4776564733 3061
gallonm 16:0d4776564733 3062
gallonm 14:0effa0bbf192 3063 int VL6180X::AlsMeasPollContinuousMode()
gallonm 12:71d589e6fd2c 3064 {
gallonm 16:0d4776564733 3065 int status;
gallonm 16:0d4776564733 3066
gallonm 16:0d4776564733 3067 status=VL6180x_AlsClearInterrupt(Device);
gallonm 16:0d4776564733 3068 if(status)
gallonm 16:0d4776564733 3069 {
gallonm 16:0d4776564733 3070 VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
gallonm 16:0d4776564733 3071 return status;
gallonm 16:0d4776564733 3072 }
gallonm 16:0d4776564733 3073 status=VL6180x_ClearErrorInterrupt(Device);
gallonm 16:0d4776564733 3074 if(status)
gallonm 16:0d4776564733 3075 {
gallonm 16:0d4776564733 3076 VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
gallonm 16:0d4776564733 3077 return status;
gallonm 16:0d4776564733 3078 }
gallonm 16:0d4776564733 3079 return AlsStartContinuousMode();
gallonm 12:71d589e6fd2c 3080 }
gallonm 16:0d4776564733 3081
gallonm 16:0d4776564733 3082
gallonm 14:0effa0bbf192 3083 int VL6180X::AlsGetMeasurementIfReady(VL6180xDev_t dev, VL6180x_AlsData_t *pAlsData)
gallonm 12:71d589e6fd2c 3084 {
gallonm 14:0effa0bbf192 3085 int status;
gallonm 16:0d4776564733 3086 uint8_t IntStatus;
gallonm 16:0d4776564733 3087
gallonm 16:0d4776564733 3088 status=VL6180x_AlsGetInterruptStatus(dev, &IntStatus);
gallonm 16:0d4776564733 3089 if(!status)
gallonm 16:0d4776564733 3090 {
gallonm 16:0d4776564733 3091 if(IntStatus==RES_INT_STAT_GPIO_NEW_SAMPLE_READY)
gallonm 16:0d4776564733 3092 {
gallonm 16:0d4776564733 3093 status = VL6180x_AlsGetMeasurement(dev, pAlsData);
gallonm 16:0d4776564733 3094 if(!status)
gallonm 16:0d4776564733 3095 {
gallonm 16:0d4776564733 3096 status=VL6180x_AlsClearInterrupt(Device);
gallonm 14:0effa0bbf192 3097 if(status)
gallonm 14:0effa0bbf192 3098 VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
gallonm 16:0d4776564733 3099 }
gallonm 16:0d4776564733 3100 }
gallonm 16:0d4776564733 3101 else
gallonm 16:0d4776564733 3102 status=NOT_READY;
gallonm 16:0d4776564733 3103 }
gallonm 16:0d4776564733 3104 else
gallonm 16:0d4776564733 3105 VL6180x_ErrLog("Failed to get interrupt status");
gallonm 16:0d4776564733 3106 return status;
gallonm 12:71d589e6fd2c 3107 }
gallonm 16:0d4776564733 3108
gallonm 16:0d4776564733 3109
gallonm 12:71d589e6fd2c 3110 int VL6180X::RangeMeasIntContinuousMode(void (*fptr)(void))
gallonm 12:71d589e6fd2c 3111 {
gallonm 16:0d4776564733 3112 int status, ClrStatus;
gallonm 16:0d4776564733 3113
gallonm 16:0d4776564733 3114 EnableInterruptMeasureDetectionIRQ();
gallonm 16:0d4776564733 3115 AttachInterruptMeasureDetectionIRQ(fptr);
gallonm 16:0d4776564733 3116 status=SetupGPIO1(GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT, 1);
gallonm 16:0d4776564733 3117 ClrStatus=VL6180x_ClearAllInterrupt(Device);
gallonm 16:0d4776564733 3118 if(ClrStatus)
gallonm 16:0d4776564733 3119 VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
gallonm 12:71d589e6fd2c 3120 if(!status)
gallonm 16:0d4776564733 3121 status=RangeStartContinuousMode();
gallonm 16:0d4776564733 3122 return status;
gallonm 12:71d589e6fd2c 3123 }
gallonm 16:0d4776564733 3124
gallonm 16:0d4776564733 3125
gallonm 12:71d589e6fd2c 3126 int VL6180X::AlsMeasIntContinuousMode(void (*fptr)(void))
gallonm 12:71d589e6fd2c 3127 {
gallonm 14:0effa0bbf192 3128 int status, ClrStatus;
gallonm 16:0d4776564733 3129
gallonm 16:0d4776564733 3130 EnableInterruptMeasureDetectionIRQ();
gallonm 12:71d589e6fd2c 3131 AttachInterruptMeasureDetectionIRQ(fptr);
gallonm 12:71d589e6fd2c 3132 status=SetupGPIO1(GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT, 1);
gallonm 16:0d4776564733 3133 ClrStatus=VL6180x_ClearAllInterrupt(Device);
gallonm 16:0d4776564733 3134 if(ClrStatus)
gallonm 16:0d4776564733 3135 VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
gallonm 12:71d589e6fd2c 3136 if(!status)
gallonm 16:0d4776564733 3137 status=AlsStartContinuousMode();
gallonm 16:0d4776564733 3138 return status;
gallonm 16:0d4776564733 3139 }
gallonm 16:0d4776564733 3140
gallonm 16:0d4776564733 3141
gallonm 12:71d589e6fd2c 3142 int VL6180X::StartInterleavedMode()
gallonm 12:71d589e6fd2c 3143 {
gallonm 16:0d4776564733 3144 int status;
gallonm 16:0d4776564733 3145 uint16_t integration_period, intermeasurement_period_ms;
gallonm 16:0d4776564733 3146 uint8_t max_convergence_time;
gallonm 16:0d4776564733 3147 uint8_t buf;
gallonm 16:0d4776564733 3148
gallonm 12:71d589e6fd2c 3149 status=VL6180x_WrByte(Device, 0x2A3, 1);
gallonm 12:71d589e6fd2c 3150 if(status)
gallonm 12:71d589e6fd2c 3151 {
gallonm 16:0d4776564733 3152 VL6180x_ErrLog("Failed to write INTERLEAVED_MODE_ENABLE!\n\r");
gallonm 16:0d4776564733 3153 return status;
gallonm 16:0d4776564733 3154 }
gallonm 16:0d4776564733 3155 status=VL6180x_RdByte(Device, SYSRANGE_MAX_CONVERGENCE_TIME, &max_convergence_time);
gallonm 16:0d4776564733 3156 if(status)
gallonm 16:0d4776564733 3157 {
gallonm 16:0d4776564733 3158 VL6180x_ErrLog("Failed to read SYSRANGE_MAX_CONVERGENCE_TIME!\n\r");
gallonm 16:0d4776564733 3159 return status;
gallonm 16:0d4776564733 3160 }
gallonm 16:0d4776564733 3161 status=VL6180x_RdWord(Device, SYSALS_INTEGRATION_PERIOD, &integration_period);
gallonm 16:0d4776564733 3162 if(status)
gallonm 12:71d589e6fd2c 3163 {
gallonm 16:0d4776564733 3164 VL6180x_ErrLog("Failed to read SYSALS_INTEGRATION_PERIOD!\n\r");
gallonm 16:0d4776564733 3165 return status;
gallonm 16:0d4776564733 3166 }
gallonm 16:0d4776564733 3167 max_convergence_time&=0x3F;
gallonm 16:0d4776564733 3168 integration_period&=0x01FF;
gallonm 16:0d4776564733 3169 intermeasurement_period_ms=((max_convergence_time+5)+(integration_period*1.1));
gallonm 16:0d4776564733 3170 intermeasurement_period_ms=(intermeasurement_period_ms/0.9)+10;
gallonm 16:0d4776564733 3171 intermeasurement_period_ms=200;
gallonm 16:0d4776564733 3172 status=VL6180x_AlsSetInterMeasurementPeriod(Device, intermeasurement_period_ms);
gallonm 16:0d4776564733 3173 VL6180x_RdByte(Device, 0x03E, &buf);
gallonm 16:0d4776564733 3174 if(status)
gallonm 16:0d4776564733 3175 {
gallonm 16:0d4776564733 3176 VL6180x_ErrLog("Failed to write SYSALS_INTERMEASUREMENT_PERIOD!\n\r");
gallonm 20:dd8390d615bf 3177 return status;
gallonm 16:0d4776564733 3178 }
gallonm 16:0d4776564733 3179 return AlsStartContinuousMode();
gallonm 12:71d589e6fd2c 3180 }
gallonm 16:0d4776564733 3181
gallonm 16:0d4776564733 3182
gallonm 12:71d589e6fd2c 3183 int VL6180X::InterleavedMode(void (*fptr)(void))
gallonm 12:71d589e6fd2c 3184 {
gallonm 16:0d4776564733 3185 int status, ClrStatus;
gallonm 16:0d4776564733 3186
gallonm 16:0d4776564733 3187 EnableInterruptMeasureDetectionIRQ();
gallonm 16:0d4776564733 3188 AttachInterruptMeasureDetectionIRQ(fptr);
gallonm 16:0d4776564733 3189 status=SetupGPIO1(GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT, 1);
gallonm 16:0d4776564733 3190 ClrStatus=VL6180x_ClearAllInterrupt(Device);
gallonm 16:0d4776564733 3191 if(ClrStatus)
gallonm 16:0d4776564733 3192 VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
gallonm 16:0d4776564733 3193 if(!status)
gallonm 14:0effa0bbf192 3194 status=StartInterleavedMode();
gallonm 16:0d4776564733 3195 return status;
gallonm 14:0effa0bbf192 3196 }
gallonm 16:0d4776564733 3197
gallonm 16:0d4776564733 3198
gallonm 14:0effa0bbf192 3199 int VL6180X::HandleIRQ(OperatingMode operating_mode, MeasureData_t *Data)
gallonm 14:0effa0bbf192 3200 {
gallonm 16:0d4776564733 3201 int status;
gallonm 16:0d4776564733 3202
gallonm 16:0d4776564733 3203 EnableInterruptMeasureDetectionIRQ();
gallonm 16:0d4776564733 3204 status=GetMeasurement(operating_mode, Data);
gallonm 16:0d4776564733 3205 return status;
gallonm 12:71d589e6fd2c 3206 }
gallonm 16:0d4776564733 3207
gallonm 16:0d4776564733 3208
gallonm 14:0effa0bbf192 3209 int VL6180X::RangeSetLowThreshold(uint16_t threshold)
gallonm 14:0effa0bbf192 3210 {
gallonm 16:0d4776564733 3211 int status;
gallonm 16:0d4776564733 3212 uint16_t low, high;
gallonm 16:0d4776564733 3213
gallonm 16:0d4776564733 3214 status=VL6180x_RangeGetThresholds(Device, &low, &high);
gallonm 16:0d4776564733 3215 if(!status)
gallonm 16:0d4776564733 3216 status=VL6180x_RangeSetThresholds(Device, threshold, high, 1);
gallonm 16:0d4776564733 3217 return status;
gallonm 14:0effa0bbf192 3218 }
gallonm 16:0d4776564733 3219
gallonm 16:0d4776564733 3220
gallonm 14:0effa0bbf192 3221 int VL6180X::RangeSetHighThreshold(uint16_t threshold)
gallonm 12:71d589e6fd2c 3222 {
gallonm 16:0d4776564733 3223 int status;
gallonm 16:0d4776564733 3224 uint16_t low, high;
gallonm 16:0d4776564733 3225
gallonm 16:0d4776564733 3226 status=VL6180x_RangeGetThresholds(Device, &low, &high);
gallonm 16:0d4776564733 3227 if(!status)
gallonm 16:0d4776564733 3228 status=VL6180x_RangeSetThresholds(Device, low, threshold, 1);
gallonm 16:0d4776564733 3229 return status;
gallonm 12:71d589e6fd2c 3230 }
gallonm 16:0d4776564733 3231
gallonm 16:0d4776564733 3232
gallonm 14:0effa0bbf192 3233 int VL6180X::AlsSetLowThreshold(uint16_t threshold)
gallonm 14:0effa0bbf192 3234 {
gallonm 16:0d4776564733 3235 int status;
gallonm 26:db0cdc5ecc0a 3236 lux_t low, high;
gallonm 16:0d4776564733 3237
gallonm 26:db0cdc5ecc0a 3238 status=AlsGetThresholds(Device, &low, &high);
gallonm 16:0d4776564733 3239 if(!status)
gallonm 16:0d4776564733 3240 status=VL6180x_AlsSetThresholds(Device, threshold, high);
gallonm 16:0d4776564733 3241 return status;
gallonm 14:0effa0bbf192 3242 }
gallonm 16:0d4776564733 3243
gallonm 16:0d4776564733 3244
gallonm 14:0effa0bbf192 3245 int VL6180X::AlsSetHighThreshold(uint16_t threshold)
gallonm 14:0effa0bbf192 3246 {
gallonm 16:0d4776564733 3247 int status;
gallonm 26:db0cdc5ecc0a 3248 lux_t low, high;
gallonm 16:0d4776564733 3249
gallonm 26:db0cdc5ecc0a 3250 status=AlsGetThresholds(Device, &low, &high);
gallonm 16:0d4776564733 3251 if(!status)
gallonm 16:0d4776564733 3252 status=VL6180x_AlsSetThresholds(Device, low, threshold);
gallonm 16:0d4776564733 3253 return status;
gallonm 14:0effa0bbf192 3254 }
gallonm 16:0d4776564733 3255
gallonm 16:0d4776564733 3256
gallonm 26:db0cdc5ecc0a 3257 int VL6180X::AlsGetThresholds(VL6180xDev_t dev, lux_t *low, lux_t *high)
gallonm 14:0effa0bbf192 3258 {
gallonm 14:0effa0bbf192 3259 int status;
gallonm 26:db0cdc5ecc0a 3260 uint16_t RawAlsLow, RawAlsHigh;
gallonm 26:db0cdc5ecc0a 3261 uint32_t luxLowValue, luxHighValue, IntPeriod, AlsAnGain, GainFix, AlsScaler;
gallonm 26:db0cdc5ecc0a 3262 const uint32_t LuxResxIntIme =(uint32_t)(0.56f* DEF_INT_PEFRIOD *(1<<LUXRES_FIX_PREC));
gallonm 16:0d4776564733 3263
gallonm 26:db0cdc5ecc0a 3264 status=VL6180x_RdWord(dev, SYSALS_THRESH_LOW, &RawAlsLow);
gallonm 16:0d4776564733 3265 if(status)
gallonm 16:0d4776564733 3266 {
gallonm 16:0d4776564733 3267 VL6180x_ErrLog("rd SYSALS_THRESH_LOW fail");
gallonm 16:0d4776564733 3268 return status;
gallonm 16:0d4776564733 3269 }
gallonm 26:db0cdc5ecc0a 3270 status=VL6180x_RdWord(dev, SYSALS_THRESH_HIGH, &RawAlsHigh);
gallonm 16:0d4776564733 3271 if(status)
gallonm 16:0d4776564733 3272 {
gallonm 16:0d4776564733 3273 VL6180x_ErrLog("rd SYSALS_THRESH_HIGH fail");
gallonm 16:0d4776564733 3274 return status;
gallonm 16:0d4776564733 3275 }
gallonm 26:db0cdc5ecc0a 3276 AlsAnGain=VL6180xDevDataGet(dev, AlsGainCode);
gallonm 26:db0cdc5ecc0a 3277 IntPeriod=VL6180xDevDataGet(dev, IntegrationPeriod);
gallonm 26:db0cdc5ecc0a 3278 AlsScaler=VL6180xDevDataGet(dev, AlsScaler);
gallonm 26:db0cdc5ecc0a 3279 GainFix=AlsGainLookUp[AlsAnGain];
gallonm 26:db0cdc5ecc0a 3280 IntPeriod++;
gallonm 26:db0cdc5ecc0a 3281 luxLowValue=(uint32_t)RawAlsLow*LuxResxIntIme;
gallonm 26:db0cdc5ecc0a 3282 luxLowValue=luxLowValue/IntPeriod;
gallonm 26:db0cdc5ecc0a 3283 luxLowValue=luxLowValue/(AlsScaler*GainFix);
gallonm 26:db0cdc5ecc0a 3284 luxHighValue=(uint32_t)RawAlsHigh*LuxResxIntIme;
gallonm 26:db0cdc5ecc0a 3285 luxHighValue=luxHighValue/IntPeriod;
gallonm 26:db0cdc5ecc0a 3286 luxHighValue=luxHighValue/(AlsScaler*GainFix);
gallonm 26:db0cdc5ecc0a 3287 *low=luxLowValue;
gallonm 26:db0cdc5ecc0a 3288 *high=luxHighValue;
gallonm 16:0d4776564733 3289 return status;
gallonm 14:0effa0bbf192 3290 }
gallonm 16:0d4776564733 3291
gallonm 16:0d4776564733 3292
gallonm 14:0effa0bbf192 3293 int VL6180X::GetMeasurement(OperatingMode operating_mode, MeasureData_t *Data)
gallonm 14:0effa0bbf192 3294 {
gallonm 16:0d4776564733 3295 switch(operating_mode)
gallonm 16:0d4776564733 3296 {
gallonm 24:025afc3fe30f 3297 case(range_single_shot_polling):
gallonm 16:0d4776564733 3298 case(range_continuous_polling):
gallonm 16:0d4776564733 3299 case(range_continuous_interrupt):
gallonm 16:0d4776564733 3300 case(range_continuous_polling_low_threshold):
gallonm 16:0d4776564733 3301 case(range_continuous_polling_high_threshold):
gallonm 16:0d4776564733 3302 case(range_continuous_polling_out_of_window):
gallonm 16:0d4776564733 3303 case(range_continuous_interrupt_low_threshold):
gallonm 26:db0cdc5ecc0a 3304 case(range_continuous_interrupt_high_threshold):
gallonm 16:0d4776564733 3305 case(range_continuous_interrupt_out_of_window):
gallonm 16:0d4776564733 3306 return GetRangeMeas(operating_mode, Data);
gallonm 16:0d4776564733 3307
gallonm 24:025afc3fe30f 3308 case(als_single_shot_polling):
gallonm 16:0d4776564733 3309 case(als_continuous_polling):
gallonm 16:0d4776564733 3310 case(als_continuous_interrupt):
gallonm 16:0d4776564733 3311 case(als_continuous_polling_low_threshold):
gallonm 16:0d4776564733 3312 case(als_continuous_polling_high_threshold):
gallonm 16:0d4776564733 3313 case(als_continuous_polling_out_of_window):
gallonm 16:0d4776564733 3314 case(als_continuous_interrupt_low_threshold):
gallonm 16:0d4776564733 3315 case(als_continuous_interrupt_high_threshold):
gallonm 16:0d4776564733 3316 case(als_continuous_interrupt_out_of_window):
gallonm 16:0d4776564733 3317 return GetAlsMeas(operating_mode, Data);
gallonm 16:0d4776564733 3318
gallonm 16:0d4776564733 3319 case(interleaved_mode_interrupt):
gallonm 16:0d4776564733 3320 return GetRangeAlsMeas(Data);
gallonm 16:0d4776564733 3321
gallonm 16:0d4776564733 3322 default:
gallonm 16:0d4776564733 3323 return INVALID_PARAMS;
gallonm 16:0d4776564733 3324 }
gallonm 14:0effa0bbf192 3325 }
gallonm 16:0d4776564733 3326
gallonm 16:0d4776564733 3327
gallonm 14:0effa0bbf192 3328 int VL6180X::GetRangeMeas(OperatingMode operating_mode, MeasureData_t *Data)
gallonm 14:0effa0bbf192 3329 {
gallonm 14:0effa0bbf192 3330 VL6180x_RangeData_t RangeData;
gallonm 16:0d4776564733 3331 int status, ClrStatus;
gallonm 16:0d4776564733 3332 IntrStatus_t IntStatus;
gallonm 16:0d4776564733 3333
gallonm 16:0d4776564733 3334 status=VL6180x_RangeGetInterruptStatus(Device, &IntStatus.val);
gallonm 16:0d4776564733 3335 if(!status)
gallonm 16:0d4776564733 3336 {
gallonm 16:0d4776564733 3337 Data->int_error=IntStatus.status.Error;
gallonm 16:0d4776564733 3338 if(IntStatus.status.Error!=0)
gallonm 16:0d4776564733 3339 {
gallonm 14:0effa0bbf192 3340 VL6180x_ErrLog("GPIO int Error report %d",(int)IntStatus.val);
gallonm 16:0d4776564733 3341 status=RANGE_ERROR;
gallonm 14:0effa0bbf192 3342 }
gallonm 16:0d4776564733 3343 }
gallonm 16:0d4776564733 3344 else
gallonm 16:0d4776564733 3345 {
gallonm 16:0d4776564733 3346 VL6180x_ErrLog("Failed to read RESULT_INTERRUPT_STATUS_GPIO");
gallonm 16:0d4776564733 3347 }
gallonm 16:0d4776564733 3348 ClrStatus=VL6180x_RangeClearInterrupt(Device);
gallonm 16:0d4776564733 3349 if(ClrStatus)
gallonm 16:0d4776564733 3350 {
gallonm 16:0d4776564733 3351 VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
gallonm 16:0d4776564733 3352 }
gallonm 16:0d4776564733 3353 ClrStatus=VL6180x_ClearErrorInterrupt(Device);
gallonm 16:0d4776564733 3354 if(ClrStatus)
gallonm 16:0d4776564733 3355 {
gallonm 16:0d4776564733 3356 VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
gallonm 16:0d4776564733 3357 }
gallonm 16:0d4776564733 3358 if(status)
gallonm 16:0d4776564733 3359 return status;
gallonm 24:025afc3fe30f 3360 if((operating_mode==range_single_shot_polling)||(operating_mode==range_continuous_polling)||(operating_mode==range_continuous_interrupt))
gallonm 16:0d4776564733 3361 {
gallonm 16:0d4776564733 3362 if(IntStatus.status.Range==RES_INT_STAT_GPIO_NEW_SAMPLE_READY)
gallonm 16:0d4776564733 3363 status=VL6180x_RangeGetMeasurement(Device, &RangeData);
gallonm 16:0d4776564733 3364 else
gallonm 16:0d4776564733 3365 return NOT_READY;
gallonm 16:0d4776564733 3366 }
gallonm 16:0d4776564733 3367 else if((operating_mode==range_continuous_polling_low_threshold)||(operating_mode==range_continuous_interrupt_low_threshold))
gallonm 16:0d4776564733 3368 {
gallonm 16:0d4776564733 3369 if(IntStatus.status.Range==RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD)
gallonm 16:0d4776564733 3370 status=VL6180x_RangeGetMeasurement(Device, &RangeData);
gallonm 16:0d4776564733 3371 else
gallonm 16:0d4776564733 3372 return NOT_READY;
gallonm 16:0d4776564733 3373 }
gallonm 26:db0cdc5ecc0a 3374 else if((operating_mode==range_continuous_polling_high_threshold)||(operating_mode==range_continuous_interrupt_high_threshold))
gallonm 16:0d4776564733 3375 {
gallonm 16:0d4776564733 3376 if(IntStatus.status.Range==RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD)
gallonm 16:0d4776564733 3377 status=VL6180x_RangeGetMeasurement(Device, &RangeData);
gallonm 16:0d4776564733 3378 else
gallonm 16:0d4776564733 3379 return NOT_READY;
gallonm 16:0d4776564733 3380 }
gallonm 16:0d4776564733 3381 else if((operating_mode==range_continuous_polling_out_of_window)||(operating_mode==range_continuous_interrupt_out_of_window))
gallonm 16:0d4776564733 3382 {
gallonm 16:0d4776564733 3383 if(IntStatus.status.Range==RES_INT_STAT_GPIO_OUT_OF_WINDOW)
gallonm 16:0d4776564733 3384 status=VL6180x_RangeGetMeasurement(Device, &RangeData);
gallonm 16:0d4776564733 3385 else
gallonm 16:0d4776564733 3386 return NOT_READY;
gallonm 16:0d4776564733 3387 }
gallonm 16:0d4776564733 3388 if(!status)
gallonm 16:0d4776564733 3389 {
gallonm 16:0d4776564733 3390 status=GetRangeError(Data, RangeData);
gallonm 16:0d4776564733 3391 if(!status)
gallonm 16:0d4776564733 3392 Data->range_mm=RangeData.range_mm;
gallonm 16:0d4776564733 3393 else
gallonm 16:0d4776564733 3394 Data->range_mm=0xFFFFFFFF;
gallonm 16:0d4776564733 3395 }
gallonm 16:0d4776564733 3396 return status;
gallonm 14:0effa0bbf192 3397 }
gallonm 16:0d4776564733 3398
gallonm 16:0d4776564733 3399
gallonm 14:0effa0bbf192 3400 int VL6180X::GetAlsMeas(OperatingMode operating_mode, MeasureData_t *Data)
gallonm 14:0effa0bbf192 3401 {
gallonm 14:0effa0bbf192 3402 VL6180x_AlsData_t AlsData;
gallonm 16:0d4776564733 3403 int status, ClrStatus;
gallonm 16:0d4776564733 3404 uint8_t IntStatus;
gallonm 16:0d4776564733 3405
gallonm 16:0d4776564733 3406 status=VL6180x_AlsGetInterruptStatus(Device, &IntStatus);
gallonm 16:0d4776564733 3407 if(status)
gallonm 16:0d4776564733 3408 {
gallonm 16:0d4776564733 3409 VL6180x_ErrLog("Failed to read RESULT_INTERRUPT_STATUS_GPIO");
gallonm 16:0d4776564733 3410 }
gallonm 16:0d4776564733 3411 ClrStatus=VL6180x_AlsClearInterrupt(Device);
gallonm 16:0d4776564733 3412 if(ClrStatus)
gallonm 16:0d4776564733 3413 {
gallonm 16:0d4776564733 3414 VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
gallonm 16:0d4776564733 3415 }
gallonm 16:0d4776564733 3416 ClrStatus=VL6180x_ClearErrorInterrupt(Device);
gallonm 16:0d4776564733 3417 if(ClrStatus)
gallonm 16:0d4776564733 3418 {
gallonm 16:0d4776564733 3419 VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
gallonm 16:0d4776564733 3420 }
gallonm 16:0d4776564733 3421 if(status)
gallonm 16:0d4776564733 3422 return status;
gallonm 24:025afc3fe30f 3423 if((operating_mode==als_single_shot_polling)||(operating_mode==als_continuous_polling)||(operating_mode==als_continuous_interrupt))
gallonm 16:0d4776564733 3424 {
gallonm 16:0d4776564733 3425 if(IntStatus==RES_INT_STAT_GPIO_NEW_SAMPLE_READY)
gallonm 16:0d4776564733 3426 status=VL6180x_AlsGetMeasurement(Device, &AlsData);
gallonm 16:0d4776564733 3427 else
gallonm 16:0d4776564733 3428 return NOT_READY;
gallonm 16:0d4776564733 3429 }
gallonm 16:0d4776564733 3430 else if((operating_mode==als_continuous_polling_low_threshold)||(operating_mode==als_continuous_interrupt_low_threshold))
gallonm 16:0d4776564733 3431 {
gallonm 16:0d4776564733 3432 if(IntStatus==RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD)
gallonm 16:0d4776564733 3433 status=VL6180x_AlsGetMeasurement(Device, &AlsData);
gallonm 16:0d4776564733 3434 else
gallonm 16:0d4776564733 3435 return NOT_READY;
gallonm 16:0d4776564733 3436 }
gallonm 16:0d4776564733 3437 else if((operating_mode==als_continuous_polling_high_threshold)||(operating_mode==als_continuous_interrupt_high_threshold))
gallonm 16:0d4776564733 3438 {
gallonm 16:0d4776564733 3439 if(IntStatus==RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD)
gallonm 16:0d4776564733 3440 status=VL6180x_AlsGetMeasurement(Device, &AlsData);
gallonm 16:0d4776564733 3441 else
gallonm 16:0d4776564733 3442 return NOT_READY;
gallonm 16:0d4776564733 3443 }
gallonm 16:0d4776564733 3444 else if((operating_mode==als_continuous_polling_out_of_window)||(operating_mode==als_continuous_interrupt_out_of_window))
gallonm 16:0d4776564733 3445 {
gallonm 16:0d4776564733 3446 if(IntStatus==RES_INT_STAT_GPIO_OUT_OF_WINDOW)
gallonm 16:0d4776564733 3447 status=VL6180x_AlsGetMeasurement(Device, &AlsData);
gallonm 16:0d4776564733 3448 else
gallonm 16:0d4776564733 3449 return NOT_READY;
gallonm 16:0d4776564733 3450 }
gallonm 16:0d4776564733 3451 if(!status)
gallonm 16:0d4776564733 3452 {
gallonm 16:0d4776564733 3453 status=GetAlsError(Data, AlsData);
gallonm 16:0d4776564733 3454 if(!status)
gallonm 16:0d4776564733 3455 Data->lux=AlsData.lux;
gallonm 16:0d4776564733 3456 else
gallonm 16:0d4776564733 3457 Data->lux=0xFFFFFFFF;
gallonm 16:0d4776564733 3458 }
gallonm 16:0d4776564733 3459 return status;
gallonm 14:0effa0bbf192 3460 }
gallonm 16:0d4776564733 3461
gallonm 16:0d4776564733 3462
gallonm 14:0effa0bbf192 3463 int VL6180X::GetRangeAlsMeas(MeasureData_t *Data)
gallonm 14:0effa0bbf192 3464 {
gallonm 14:0effa0bbf192 3465 int status, ClrStatus, r_status, l_status;
gallonm 16:0d4776564733 3466 IntrStatus_t IntStatus;
gallonm 16:0d4776564733 3467 VL6180x_RangeData_t RangeData;
gallonm 16:0d4776564733 3468 VL6180x_AlsData_t AlsData;
gallonm 16:0d4776564733 3469
gallonm 16:0d4776564733 3470 status=VL6180x_RdByte(Device, RESULT_INTERRUPT_STATUS_GPIO, &IntStatus.val);
gallonm 16:0d4776564733 3471 if(!status)
gallonm 16:0d4776564733 3472 {
gallonm 16:0d4776564733 3473 Data->int_error=IntStatus.status.Error;
gallonm 16:0d4776564733 3474 if(IntStatus.status.Error!=0)
gallonm 16:0d4776564733 3475 {
gallonm 14:0effa0bbf192 3476 VL6180x_ErrLog("GPIO int Error report %d",(int)IntStatus.val);
gallonm 16:0d4776564733 3477 status=RANGE_ERROR;
gallonm 14:0effa0bbf192 3478 }
gallonm 16:0d4776564733 3479 }
gallonm 16:0d4776564733 3480 else
gallonm 16:0d4776564733 3481 {
gallonm 16:0d4776564733 3482 VL6180x_ErrLog("Failed to read RESULT_INTERRUPT_STATUS_GPIO");
gallonm 16:0d4776564733 3483 }
gallonm 16:0d4776564733 3484 ClrStatus=VL6180x_ClearAllInterrupt(Device);
gallonm 16:0d4776564733 3485 if(ClrStatus)
gallonm 16:0d4776564733 3486 VL6180x_ErrLog("VL6180x_ClearAllInterrupt fail");
gallonm 16:0d4776564733 3487 if(status)
gallonm 16:0d4776564733 3488 return status;
gallonm 16:0d4776564733 3489
gallonm 16:0d4776564733 3490 if(IntStatus.status.Als==RES_INT_STAT_GPIO_NEW_SAMPLE_READY)
gallonm 16:0d4776564733 3491 {
gallonm 16:0d4776564733 3492 r_status=VL6180x_RangeGetMeasurement(Device, &RangeData);
gallonm 16:0d4776564733 3493 l_status=VL6180x_AlsGetMeasurement(Device, &AlsData);
gallonm 16:0d4776564733 3494 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 3495 {
gallonm 16:0d4776564733 3496 r_status=GetRangeError(Data, RangeData);
gallonm 16:0d4776564733 3497 l_status=GetAlsError(Data, AlsData);
gallonm 16:0d4776564733 3498 if(!r_status)
gallonm 16:0d4776564733 3499 Data->range_mm=RangeData.range_mm;
gallonm 16:0d4776564733 3500 else
gallonm 16:0d4776564733 3501 Data->range_mm=0xFFFFFFFF;
gallonm 16:0d4776564733 3502 if(!l_status)
gallonm 16:0d4776564733 3503 Data->lux=AlsData.lux;
gallonm 16:0d4776564733 3504 else
gallonm 16:0d4776564733 3505 Data->lux=0xFFFFFFFF;
gallonm 16:0d4776564733 3506 status=r_status|l_status;
gallonm 16:0d4776564733 3507 }
gallonm 16:0d4776564733 3508 else
gallonm 16:0d4776564733 3509 {
gallonm 16:0d4776564733 3510 status=r_status|l_status;
gallonm 16:0d4776564733 3511 }
gallonm 16:0d4776564733 3512 }
gallonm 16:0d4776564733 3513 else
gallonm 16:0d4776564733 3514 return NOT_READY;
gallonm 16:0d4776564733 3515 return status;
gallonm 14:0effa0bbf192 3516 }
gallonm 16:0d4776564733 3517
gallonm 16:0d4776564733 3518
gallonm 14:0effa0bbf192 3519 int VL6180X::StopMeasurement(OperatingMode operating_mode)
gallonm 14:0effa0bbf192 3520 {
gallonm 16:0d4776564733 3521 int status;
gallonm 16:0d4776564733 3522
gallonm 16:0d4776564733 3523 switch(operating_mode)
gallonm 16:0d4776564733 3524 {
gallonm 16:0d4776564733 3525 case(range_single_shot_polling):
gallonm 16:0d4776564733 3526 case(range_continuous_polling):
gallonm 16:0d4776564733 3527 case(range_continuous_interrupt):
gallonm 16:0d4776564733 3528 case(range_continuous_polling_low_threshold):
gallonm 16:0d4776564733 3529 case(range_continuous_polling_high_threshold):
gallonm 16:0d4776564733 3530 case(range_continuous_polling_out_of_window):
gallonm 16:0d4776564733 3531 case(range_continuous_interrupt_low_threshold):
gallonm 26:db0cdc5ecc0a 3532 case(range_continuous_interrupt_high_threshold):
gallonm 16:0d4776564733 3533 case(range_continuous_interrupt_out_of_window):
gallonm 16:0d4776564733 3534 return StopRangeMeasurement(operating_mode);
gallonm 16:0d4776564733 3535
gallonm 16:0d4776564733 3536 case(als_single_shot_polling):
gallonm 16:0d4776564733 3537 case(als_continuous_polling):
gallonm 16:0d4776564733 3538 case(als_continuous_interrupt):
gallonm 16:0d4776564733 3539 case(als_continuous_polling_low_threshold):
gallonm 16:0d4776564733 3540 case(als_continuous_polling_high_threshold):
gallonm 16:0d4776564733 3541 case(als_continuous_polling_out_of_window):
gallonm 16:0d4776564733 3542 case(als_continuous_interrupt_low_threshold):
gallonm 16:0d4776564733 3543 case(als_continuous_interrupt_high_threshold):
gallonm 16:0d4776564733 3544 case(als_continuous_interrupt_out_of_window):
gallonm 16:0d4776564733 3545 return StopAlsMeasurement(operating_mode);
gallonm 16:0d4776564733 3546
gallonm 16:0d4776564733 3547 case(interleaved_mode_interrupt):
gallonm 16:0d4776564733 3548 status=StopRangeMeasurement(range_continuous_interrupt);
gallonm 16:0d4776564733 3549 if(!status)
gallonm 16:0d4776564733 3550 return StopAlsMeasurement(als_continuous_interrupt);
gallonm 16:0d4776564733 3551 else return status;
gallonm 16:0d4776564733 3552
gallonm 16:0d4776564733 3553 default:
gallonm 16:0d4776564733 3554 return INVALID_PARAMS;
gallonm 16:0d4776564733 3555 }
gallonm 14:0effa0bbf192 3556 }
gallonm 16:0d4776564733 3557
gallonm 16:0d4776564733 3558
gallonm 14:0effa0bbf192 3559 int VL6180X::StopRangeMeasurement(OperatingMode operating_mode)
gallonm 14:0effa0bbf192 3560 {
gallonm 16:0d4776564733 3561 int status;
gallonm 16:0d4776564733 3562
gallonm 16:0d4776564733 3563 if(operating_mode==range_single_shot_polling)
gallonm 16:0d4776564733 3564 status=VL6180x_RangeSetSystemMode(Device, MODE_SINGLESHOT);
gallonm 16:0d4776564733 3565 else
gallonm 16:0d4776564733 3566 status=VL6180x_RangeSetSystemMode(Device, MODE_START_STOP|MODE_SINGLESHOT);
gallonm 16:0d4776564733 3567 if(status)
gallonm 16:0d4776564733 3568 return status;
gallonm 16:0d4776564733 3569 status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 3570 if(status)
gallonm 16:0d4776564733 3571 {
gallonm 16:0d4776564733 3572 VL6180x_ErrLog("VL6180x_RangeConfigInterrupt fail"\n\r);
gallonm 16:0d4776564733 3573 return status;
gallonm 16:0d4776564733 3574 }
gallonm 16:0d4776564733 3575 status=VL6180x_RangeClearInterrupt(Device);
gallonm 16:0d4776564733 3576 if(status)
gallonm 16:0d4776564733 3577 {
gallonm 16:0d4776564733 3578 VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
gallonm 16:0d4776564733 3579 return status;
gallonm 16:0d4776564733 3580 }
gallonm 16:0d4776564733 3581 status=VL6180x_ClearErrorInterrupt(Device);
gallonm 16:0d4776564733 3582 if(status)
gallonm 16:0d4776564733 3583 {
gallonm 16:0d4776564733 3584 VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
gallonm 16:0d4776564733 3585 return status;
gallonm 16:0d4776564733 3586 }
gallonm 16:0d4776564733 3587 status=VL6180x_RangeSetRawThresholds(Device, 10, 200);
gallonm 16:0d4776564733 3588 if(status)
gallonm 16:0d4776564733 3589 VL6180x_ErrLog("VL6180x_RangeSetThresholds fail");
gallonm 16:0d4776564733 3590 return status;
gallonm 14:0effa0bbf192 3591 }
gallonm 16:0d4776564733 3592
gallonm 16:0d4776564733 3593
gallonm 14:0effa0bbf192 3594 int VL6180X::StopAlsMeasurement(OperatingMode operating_mode)
gallonm 14:0effa0bbf192 3595 {
gallonm 16:0d4776564733 3596 int status;
gallonm 16:0d4776564733 3597
gallonm 16:0d4776564733 3598 if(operating_mode==als_single_shot_polling)
gallonm 16:0d4776564733 3599 status=VL6180x_AlsSetSystemMode(Device, MODE_SINGLESHOT);
gallonm 16:0d4776564733 3600 else
gallonm 16:0d4776564733 3601 status=VL6180x_AlsSetSystemMode(Device, MODE_START_STOP|MODE_SINGLESHOT);
gallonm 16:0d4776564733 3602 if(status)
gallonm 16:0d4776564733 3603 return status;
gallonm 16:0d4776564733 3604 status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 3605 if(status)
gallonm 16:0d4776564733 3606 {
gallonm 16:0d4776564733 3607 VL6180x_ErrLog("VL6180x_AlsConfigInterrupt fail"\n\r);
gallonm 16:0d4776564733 3608 return status;
gallonm 16:0d4776564733 3609 }
gallonm 16:0d4776564733 3610 status=VL6180x_AlsClearInterrupt(Device);
gallonm 16:0d4776564733 3611 if(status)
gallonm 16:0d4776564733 3612 {
gallonm 16:0d4776564733 3613 VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
gallonm 16:0d4776564733 3614 return status;
gallonm 16:0d4776564733 3615 }
gallonm 16:0d4776564733 3616 status=VL6180x_ClearErrorInterrupt(Device);
gallonm 16:0d4776564733 3617 if(status)
gallonm 16:0d4776564733 3618 {
gallonm 16:0d4776564733 3619 VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
gallonm 16:0d4776564733 3620 return status;
gallonm 16:0d4776564733 3621 }
gallonm 26:db0cdc5ecc0a 3622 status=VL6180x_AlsSetThresholds(Device, 0x0, 1800);
gallonm 16:0d4776564733 3623 if(status)
gallonm 16:0d4776564733 3624 VL6180x_ErrLog("VL6180x_AlsSetThresholds fail");
gallonm 16:0d4776564733 3625 return status;
gallonm 14:0effa0bbf192 3626 }
gallonm 16:0d4776564733 3627
gallonm 16:0d4776564733 3628
gallonm 16:0d4776564733 3629
gallonm 16:0d4776564733 3630
gallonm 16:0d4776564733 3631 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/