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@8:f943a1fca15f, 2015-09-29 (annotated)

Committer:
licio.mapelli@st.com
Date:
Tue Sep 29 14:50:15 2015 +0200
Revision:
8:f943a1fca15f
Parent:
7:2dc81120c917
Child:
9:9cbc1736f148
fixed i2c functions and code cleanup

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gallonm 1:1de1ea2994d9 1 /**
gallonm 1:1de1ea2994d9 2 ******************************************************************************
gallonm 1:1de1ea2994d9 3 * @file vl6180x_class.cpp
gallonm 1:1de1ea2994d9 4 * @author AST / EST
gallonm 1:1de1ea2994d9 5 * @version V0.0.1
gallonm 1:1de1ea2994d9 6 * @date 14-April-2015
gallonm 1:1de1ea2994d9 7 * @brief Implementation file for the HTS221 driver class
gallonm 1:1de1ea2994d9 8 ******************************************************************************
gallonm 1:1de1ea2994d9 9 * @attention
gallonm 1:1de1ea2994d9 10 *
gallonm 1:1de1ea2994d9 11 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
gallonm 1:1de1ea2994d9 12 *
gallonm 1:1de1ea2994d9 13 * Redistribution and use in source and binary forms, with or without modification,
gallonm 1:1de1ea2994d9 14 * are permitted provided that the following conditions are met:
gallonm 1:1de1ea2994d9 15 * 1. Redistributions of source code must retain the above copyright notice,
gallonm 1:1de1ea2994d9 16 * this list of conditions and the following disclaimer.
gallonm 1:1de1ea2994d9 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
gallonm 1:1de1ea2994d9 18 * this list of conditions and the following disclaimer in the documentation
gallonm 1:1de1ea2994d9 19 * and/or other materials provided with the distribution.
gallonm 1:1de1ea2994d9 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
gallonm 1:1de1ea2994d9 21 * may be used to endorse or promote products derived from this software
gallonm 1:1de1ea2994d9 22 * without specific prior written permission.
gallonm 1:1de1ea2994d9 23 *
gallonm 1:1de1ea2994d9 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
gallonm 1:1de1ea2994d9 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
gallonm 1:1de1ea2994d9 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
gallonm 1:1de1ea2994d9 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
gallonm 1:1de1ea2994d9 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
gallonm 1:1de1ea2994d9 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
gallonm 1:1de1ea2994d9 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
gallonm 1:1de1ea2994d9 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
gallonm 1:1de1ea2994d9 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
gallonm 1:1de1ea2994d9 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
gallonm 1:1de1ea2994d9 34 *
gallonm 1:1de1ea2994d9 35 ******************************************************************************
gallonm 1:1de1ea2994d9 36 */
gallonm 1:1de1ea2994d9 37
gallonm 7:2dc81120c917 38 /* Includes */
gallonm 1:1de1ea2994d9 39 #include "vl6180x_class.h"
licio.mapelli@st.com 8:f943a1fca15f 40
licio.mapelli@st.com 8:f943a1fca15f 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
licio.mapelli@st.com 8:f943a1fca15f 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
licio.mapelli@st.com 8:f943a1fca15f 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
licio.mapelli@st.com 8:f943a1fca15f 68
licio.mapelli@st.com 8:f943a1fca15f 69 #if VL6180x_RANGE_STATUS_ERRSTRING
licio.mapelli@st.com 8:f943a1fca15f 70 /**@def VL6180x_HAVE_RANGE_STATUS_ERRSTRING
licio.mapelli@st.com 8:f943a1fca15f 71 * @brief is defined when @a #VL6180x_RANGE_STATUS_ERRSTRING is enable
licio.mapelli@st.com 8:f943a1fca15f 72 */
licio.mapelli@st.com 8:f943a1fca15f 73 #define VL6180x_HAVE_RANGE_STATUS_ERRSTRING
licio.mapelli@st.com 8:f943a1fca15f 74 #endif
licio.mapelli@st.com 8:f943a1fca15f 75
licio.mapelli@st.com 8:f943a1fca15f 76
licio.mapelli@st.com 8:f943a1fca15f 77 /** @brief Get API version as "hex integer" 0xMMnnss
licio.mapelli@st.com 8:f943a1fca15f 78 */
licio.mapelli@st.com 8:f943a1fca15f 79 #define VL6180x_ApiRevInt ((VL6180x_API_REV_MAJOR<<24)+(VL6180x_API_REV_MINOR<<16)+VL6180x_API_REV_SUB)
licio.mapelli@st.com 8:f943a1fca15f 80
licio.mapelli@st.com 8:f943a1fca15f 81 /** Get API version as string for exe "2.1.12" "
licio.mapelli@st.com 8:f943a1fca15f 82 */
licio.mapelli@st.com 8:f943a1fca15f 83 #define VL6180x_ApiRevStr VL6180X_STR(VL6180x_API_REV_MAJOR) "." VL6180X_STR(VL6180x_API_REV_MINOR) "." VL6180X_STR(VL6180x_API_REV_SUB)
licio.mapelli@st.com 8:f943a1fca15f 84
licio.mapelli@st.com 8:f943a1fca15f 85 /** @defgroup api_init Init functions
licio.mapelli@st.com 8:f943a1fca15f 86 * @brief API init functions
licio.mapelli@st.com 8:f943a1fca15f 87 * @ingroup api_hl
licio.mapelli@st.com 8:f943a1fca15f 88 * @{
licio.mapelli@st.com 8:f943a1fca15f 89 */
licio.mapelli@st.com 8:f943a1fca15f 90
gallonm 1:1de1ea2994d9 91
gallonm 7:2dc81120c917 92 /****************** define for i2c configuration *******************************/
gallonm 4:a5abf7757947 93 #define TEMP_BUF_SIZE 32
gallonm 4:a5abf7757947 94
gallonm 7:2dc81120c917 95 #define IsValidGPIOFunction(x) ((x)==GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT || (x)==GPIOx_SELECT_OFF)
licio.mapelli@st.com 8:f943a1fca15f 96 /**
licio.mapelli@st.com 8:f943a1fca15f 97 * @brief Clear All interrupt causes (als+range+error)
licio.mapelli@st.com 8:f943a1fca15f 98 *
licio.mapelli@st.com 8:f943a1fca15f 99 * @param dev The device
licio.mapelli@st.com 8:f943a1fca15f 100 * @return 0 On success
licio.mapelli@st.com 8:f943a1fca15f 101 */
licio.mapelli@st.com 8:f943a1fca15f 102 #define VL6180x_ClearAllInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_ERROR|INTERRUPT_CLEAR_RANGING|INTERRUPT_CLEAR_ALS)
licio.mapelli@st.com 8:f943a1fca15f 103 /**
licio.mapelli@st.com 8:f943a1fca15f 104 * @brief Clear ALS interrupt
licio.mapelli@st.com 8:f943a1fca15f 105 *
licio.mapelli@st.com 8:f943a1fca15f 106 * @param dev The device
licio.mapelli@st.com 8:f943a1fca15f 107 * @return 0 On success
licio.mapelli@st.com 8:f943a1fca15f 108 */
licio.mapelli@st.com 8:f943a1fca15f 109 #define VL6180x_AlsClearInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_ALS)
licio.mapelli@st.com 8:f943a1fca15f 110 /**
licio.mapelli@st.com 8:f943a1fca15f 111 * @brief Clear range interrupt
licio.mapelli@st.com 8:f943a1fca15f 112 *
licio.mapelli@st.com 8:f943a1fca15f 113 * @param dev The device
licio.mapelli@st.com 8:f943a1fca15f 114 * @return 0 On success
licio.mapelli@st.com 8:f943a1fca15f 115 */
licio.mapelli@st.com 8:f943a1fca15f 116 #define VL6180x_RangeClearInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_RANGING)
gallonm 7:2dc81120c917 117
gallonm 7:2dc81120c917 118 /******************************************************************************/
gallonm 7:2dc81120c917 119 /******************************* file api.c ***********************************/
gallonm 7:2dc81120c917 120
gallonm 7:2dc81120c917 121 #define VL6180x_9to7Conv(x) (x)
gallonm 7:2dc81120c917 122
gallonm 7:2dc81120c917 123 /* TODO when set all "cached" value with "default init" are updated after init from register read back */
gallonm 7:2dc81120c917 124 #define REFRESH_CACHED_DATA_AFTER_INIT 1
gallonm 7:2dc81120c917 125
gallonm 7:2dc81120c917 126
gallonm 7:2dc81120c917 127 #define IsValidGPIOFunction(x) ((x)==GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT || (x)==GPIOx_SELECT_OFF)
gallonm 7:2dc81120c917 128
gallonm 7:2dc81120c917 129
gallonm 7:2dc81120c917 130 /** default value ECE factor Molecular */
gallonm 7:2dc81120c917 131 #define DEF_ECE_FACTOR_M 85
gallonm 7:2dc81120c917 132 /** default value ECE factor Denominator */
gallonm 7:2dc81120c917 133 #define DEF_ECE_FACTOR_D 100
gallonm 7:2dc81120c917 134 /** default value ALS integration time */
gallonm 7:2dc81120c917 135 #define DEF_INT_PEFRIOD 100
gallonm 7:2dc81120c917 136 /** default value ALS gain */
gallonm 7:2dc81120c917 137 #define DEF_ALS_GAIN 1
gallonm 7:2dc81120c917 138 /** default value ALS scaler */
gallonm 7:2dc81120c917 139 #define DEF_ALS_SCALER 1
gallonm 7:2dc81120c917 140 /** default value for DMAX Enbale */
gallonm 7:2dc81120c917 141 #define DEF_DMAX_ENABLE 1
gallonm 7:2dc81120c917 142 /** default ambient tuning factor %x1000 */
gallonm 7:2dc81120c917 143 #define DEF_AMBIENT_TUNING 80
gallonm 7:2dc81120c917 144
gallonm 7:2dc81120c917 145
gallonm 7:2dc81120c917 146 #define LUXRES_FIX_PREC 8
gallonm 7:2dc81120c917 147 #define GAIN_FIX_PREC 8 /* ! if not sme as LUX_PREC then :( adjust GetLux */
gallonm 7:2dc81120c917 148 #define AN_GAIN_MULT (1<<GAIN_FIX_PREC)
gallonm 7:2dc81120c917 149
gallonm 7:2dc81120c917 150
gallonm 7:2dc81120c917 151 static int32_t _GetAveTotalTime(VL6180xDev_t dev);
gallonm 7:2dc81120c917 152 static int VL6180x_RangeSetEarlyConvergenceEestimateThreshold(VL6180xDev_t dev);
gallonm 7:2dc81120c917 153
gallonm 7:2dc81120c917 154 /**
gallonm 7:2dc81120c917 155 * ScalerLookUP scaling factor-1 to register #RANGE_SCALER lookup
gallonm 7:2dc81120c917 156 */
gallonm 7:2dc81120c917 157 static const uint16_t ScalerLookUP[] ROMABLE_DATA ={ 253, 127, 84}; /* lookup table for scaling->scalar 1x2x 3x */
gallonm 7:2dc81120c917 158 /**
gallonm 7:2dc81120c917 159 * scaling factor to Upper limit look up
gallonm 7:2dc81120c917 160 */
gallonm 7:2dc81120c917 161 static const uint16_t UpperLimitLookUP[] ROMABLE_DATA ={ 185, 370, 580}; /* lookup table for scaling->limit 1x2x3x */
gallonm 7:2dc81120c917 162 /**
gallonm 7:2dc81120c917 163 * Als Code gain to fix point gain lookup
gallonm 7:2dc81120c917 164 */
gallonm 7:2dc81120c917 165 static const uint16_t AlsGainLookUp[8] ROMABLE_DATA = {
gallonm 7:2dc81120c917 166 (uint16_t)(20.0f * AN_GAIN_MULT),
gallonm 7:2dc81120c917 167 (uint16_t)(10.0f * AN_GAIN_MULT),
gallonm 7:2dc81120c917 168 (uint16_t)(5.0f * AN_GAIN_MULT),
gallonm 7:2dc81120c917 169 (uint16_t)(2.5f * AN_GAIN_MULT),
gallonm 7:2dc81120c917 170 (uint16_t)(1.67f * AN_GAIN_MULT),
gallonm 7:2dc81120c917 171 (uint16_t)(1.25f * AN_GAIN_MULT),
gallonm 7:2dc81120c917 172 (uint16_t)(1.0f * AN_GAIN_MULT),
gallonm 7:2dc81120c917 173 (uint16_t)(40.0f * AN_GAIN_MULT),
gallonm 7:2dc81120c917 174 };
gallonm 7:2dc81120c917 175
gallonm 7:2dc81120c917 176
gallonm 7:2dc81120c917 177 #if VL6180x_RANGE_STATUS_ERRSTRING
gallonm 7:2dc81120c917 178 const char * ROMABLE_DATA VL6180x_RangeStatusErrString[]={
gallonm 7:2dc81120c917 179 "No Error",
gallonm 7:2dc81120c917 180 "VCSEL Continuity Test",
gallonm 7:2dc81120c917 181 "VCSEL Watchdog Test",
gallonm 7:2dc81120c917 182 "VCSEL Watchdog",
gallonm 7:2dc81120c917 183 "PLL1 Lock",
gallonm 7:2dc81120c917 184 "PLL2 Lock",
gallonm 7:2dc81120c917 185 "Early Convergence Estimate",
gallonm 7:2dc81120c917 186 "Max Convergence",
gallonm 7:2dc81120c917 187 "No Target Ignore",
gallonm 7:2dc81120c917 188 "Not used 9",
gallonm 7:2dc81120c917 189 "Not used 10",
gallonm 7:2dc81120c917 190 "Max Signal To Noise Ratio",
gallonm 7:2dc81120c917 191 "Raw Ranging Algo Underflow",
gallonm 7:2dc81120c917 192 "Raw Ranging Algo Overflow",
gallonm 7:2dc81120c917 193 "Ranging Algo Underflow",
gallonm 7:2dc81120c917 194 "Ranging Algo Overflow",
gallonm 7:2dc81120c917 195
gallonm 7:2dc81120c917 196 "Filtered by post processing"
gallonm 7:2dc81120c917 197 };
gallonm 7:2dc81120c917 198
gallonm 7:2dc81120c917 199 const char * VL6180x_RangeGetStatusErrString(uint8_t RangeErrCode){
gallonm 7:2dc81120c917 200 if( RangeErrCode > sizeof(VL6180x_RangeStatusErrString)/sizeof(VL6180x_RangeStatusErrString[0]) )
gallonm 7:2dc81120c917 201 return NULL;
gallonm 7:2dc81120c917 202 return VL6180x_RangeStatusErrString[RangeErrCode];
gallonm 7:2dc81120c917 203 }
gallonm 7:2dc81120c917 204 #endif
gallonm 7:2dc81120c917 205
gallonm 7:2dc81120c917 206 #if VL6180x_UPSCALE_SUPPORT == 1
gallonm 7:2dc81120c917 207 #define _GetUpscale(dev, ... ) 1
gallonm 7:2dc81120c917 208 #define _SetUpscale(...) -1
gallonm 7:2dc81120c917 209 #define DEF_UPSCALE 1
gallonm 7:2dc81120c917 210 #elif VL6180x_UPSCALE_SUPPORT == 2
gallonm 7:2dc81120c917 211 #define _GetUpscale(dev, ... ) 2
gallonm 7:2dc81120c917 212 #define _SetUpscale(...)
gallonm 7:2dc81120c917 213 #define DEF_UPSCALE 2
gallonm 7:2dc81120c917 214 #elif VL6180x_UPSCALE_SUPPORT == 3
gallonm 7:2dc81120c917 215 #define _GetUpscale(dev, ... ) 3
gallonm 7:2dc81120c917 216 #define _SetUpscale(...)
gallonm 7:2dc81120c917 217 #define DEF_UPSCALE 3
gallonm 7:2dc81120c917 218 #else
gallonm 7:2dc81120c917 219 #define DEF_UPSCALE (-(VL6180x_UPSCALE_SUPPORT))
gallonm 7:2dc81120c917 220 #define _GetUpscale(dev, ... ) VL6180xDevDataGet(dev, UpscaleFactor)
gallonm 7:2dc81120c917 221 #define _SetUpscale(dev, Scaling ) VL6180xDevDataSet(dev, UpscaleFactor, Scaling)
gallonm 7:2dc81120c917 222 #endif
gallonm 7:2dc81120c917 223
gallonm 7:2dc81120c917 224 #define Fix7_2_KCPs(x) ((((uint32_t)(x))*1000)>>7)
gallonm 7:2dc81120c917 225
gallonm 7:2dc81120c917 226
gallonm 7:2dc81120c917 227 #if VL6180x_WRAP_AROUND_FILTER_SUPPORT || VL6180x_HAVE_DMAX_RANGING
gallonm 7:2dc81120c917 228 static int _GetRateResult(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData);
gallonm 7:2dc81120c917 229 #endif
gallonm 7:2dc81120c917 230
gallonm 7:2dc81120c917 231 #if VL6180x_WRAP_AROUND_FILTER_SUPPORT
gallonm 7:2dc81120c917 232 static int _filter_Init(VL6180xDev_t dev);
gallonm 7:2dc81120c917 233 static int _filter_GetResult(VL6180xDev_t dev, VL6180x_RangeData_t *pData);
gallonm 7:2dc81120c917 234 #define _IsWrapArroundActive(dev) VL6180xDevDataGet(dev,WrapAroundFilterActive)
gallonm 7:2dc81120c917 235 #else
gallonm 7:2dc81120c917 236 #define _IsWrapArroundActive(dev) 0
gallonm 7:2dc81120c917 237 #endif
gallonm 7:2dc81120c917 238
gallonm 7:2dc81120c917 239
gallonm 7:2dc81120c917 240 #if VL6180x_HAVE_DMAX_RANGING
gallonm 7:2dc81120c917 241 void _DMax_OneTimeInit(VL6180xDev_t dev);
gallonm 7:2dc81120c917 242 static int _DMax_InitData(VL6180xDev_t dev);
gallonm 7:2dc81120c917 243 static int _DMax_Compute(VL6180xDev_t dev, VL6180x_RangeData_t *pRange);
gallonm 7:2dc81120c917 244 #define _IsDMaxActive(dev) VL6180xDevDataGet(dev,DMaxEnable)
gallonm 7:2dc81120c917 245 #else
gallonm 7:2dc81120c917 246 #define _DMax_InitData(...) 0 /* success */
gallonm 7:2dc81120c917 247 #define _DMax_OneTimeInit(...) (void)0
gallonm 7:2dc81120c917 248 #define _IsDMaxActive(...) 0
gallonm 7:2dc81120c917 249 #endif
gallonm 7:2dc81120c917 250
gallonm 7:2dc81120c917 251 static int VL6180x_RangeStaticInit(VL6180xDev_t dev);
gallonm 7:2dc81120c917 252 static int VL6180x_UpscaleStaticInit(VL6180xDev_t dev);
gallonm 7:2dc81120c917 253
gallonm 7:2dc81120c917 254 int VL6180X::VL6180x_WaitDeviceBooted(VL6180xDev_t dev){
gallonm 7:2dc81120c917 255 uint8_t FreshOutReset;
gallonm 7:2dc81120c917 256 int status;
gallonm 7:2dc81120c917 257 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 258 do{
gallonm 7:2dc81120c917 259 status = VL6180x_RdByte(dev,SYSTEM_FRESH_OUT_OF_RESET, &FreshOutReset);
gallonm 7:2dc81120c917 260 }
gallonm 7:2dc81120c917 261 while( FreshOutReset!=1 && status==0);
gallonm 7:2dc81120c917 262 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 263 return status;
gallonm 7:2dc81120c917 264 }
gallonm 7:2dc81120c917 265
gallonm 7:2dc81120c917 266 int VL6180X::VL6180x_InitData(VL6180xDev_t dev){
gallonm 3:454541a079f4 267 int status, dmax_status ;
gallonm 3:454541a079f4 268 int8_t offset;
gallonm 3:454541a079f4 269 uint8_t FreshOutReset;
gallonm 3:454541a079f4 270 uint32_t CalValue;
gallonm 3:454541a079f4 271 uint16_t u16;
gallonm 3:454541a079f4 272 uint32_t XTalkCompRate_KCps;
gallonm 3:454541a079f4 273
gallonm 3:454541a079f4 274 LOG_FUNCTION_START("");
gallonm 3:454541a079f4 275
gallonm 3:454541a079f4 276 VL6180xDevDataSet(dev, EceFactorM , DEF_ECE_FACTOR_M);
gallonm 3:454541a079f4 277 VL6180xDevDataSet(dev, EceFactorD , DEF_ECE_FACTOR_D);
gallonm 3:454541a079f4 278
gallonm 3:454541a079f4 279 #ifdef VL6180x_HAVE_UPSCALE_DATA
gallonm 3:454541a079f4 280 VL6180xDevDataSet(dev, UpscaleFactor , DEF_UPSCALE);
gallonm 3:454541a079f4 281 #endif
gallonm 3:454541a079f4 282
gallonm 3:454541a079f4 283 #ifdef VL6180x_HAVE_ALS_DATA
gallonm 3:454541a079f4 284 VL6180xDevDataSet(dev, IntegrationPeriod, DEF_INT_PEFRIOD);
gallonm 3:454541a079f4 285 VL6180xDevDataSet(dev, AlsGainCode, DEF_ALS_GAIN);
gallonm 3:454541a079f4 286 VL6180xDevDataSet(dev, AlsScaler, DEF_ALS_SCALER);
gallonm 3:454541a079f4 287 #endif
gallonm 3:454541a079f4 288
gallonm 3:454541a079f4 289 #ifdef VL6180x_HAVE_WRAP_AROUND_DATA
gallonm 3:454541a079f4 290 VL6180xDevDataSet(dev, WrapAroundFilterActive, (VL6180x_WRAP_AROUND_FILTER_SUPPORT >0));
gallonm 3:454541a079f4 291 VL6180xDevDataSet(dev, DMaxEnable, DEF_DMAX_ENABLE);
gallonm 3:454541a079f4 292 #endif
gallonm 3:454541a079f4 293
gallonm 3:454541a079f4 294 _DMax_OneTimeInit(dev);
gallonm 3:454541a079f4 295 do{
gallonm 3:454541a079f4 296
gallonm 3:454541a079f4 297 /* backup offset initial value from nvm these must be done prior any over call that use offset */
gallonm 7:2dc81120c917 298 status = VL6180X::VL6180x_RdByte(dev,SYSRANGE_PART_TO_PART_RANGE_OFFSET, (uint8_t*)&offset);
gallonm 3:454541a079f4 299 if( status ){
gallonm 3:454541a079f4 300 VL6180x_ErrLog("SYSRANGE_PART_TO_PART_RANGE_OFFSET rd fail");
gallonm 3:454541a079f4 301 break;
gallonm 3:454541a079f4 302 }
gallonm 3:454541a079f4 303 VL6180xDevDataSet(dev, Part2PartOffsetNVM, offset);
gallonm 1:1de1ea2994d9 304
gallonm 7:2dc81120c917 305 status=VL6180x_RdDWord( dev, SYSRANGE_RANGE_IGNORE_THRESHOLD, &CalValue);
gallonm 3:454541a079f4 306 if( status ){
gallonm 3:454541a079f4 307 VL6180x_ErrLog("Part2PartAmbNVM rd fail");
gallonm 3:454541a079f4 308 break;
gallonm 3:454541a079f4 309 }
gallonm 3:454541a079f4 310 if( (CalValue&0xFFFF0000) == 0 ){
gallonm 3:454541a079f4 311 CalValue=0x00CE03F8;
gallonm 3:454541a079f4 312 }
gallonm 3:454541a079f4 313 VL6180xDevDataSet(dev, Part2PartAmbNVM, CalValue);
gallonm 3:454541a079f4 314
gallonm 7:2dc81120c917 315 status = VL6180x_RdWord(dev, SYSRANGE_CROSSTALK_COMPENSATION_RATE ,&u16);
gallonm 3:454541a079f4 316 if( status){
gallonm 3:454541a079f4 317 VL6180x_ErrLog("SYSRANGE_CROSSTALK_COMPENSATION_RATE rd fail ");
gallonm 3:454541a079f4 318 break;
gallonm 3:454541a079f4 319 }
gallonm 3:454541a079f4 320 XTalkCompRate_KCps = Fix7_2_KCPs(u16);
gallonm 3:454541a079f4 321 VL6180xDevDataSet(dev, XTalkCompRate_KCps , XTalkCompRate_KCps );
gallonm 1:1de1ea2994d9 322
gallonm 3:454541a079f4 323 dmax_status = _DMax_InitData(dev);
gallonm 3:454541a079f4 324 if( dmax_status < 0 ){
gallonm 3:454541a079f4 325 VL6180x_ErrLog("DMax init failure");
gallonm 3:454541a079f4 326 break;
gallonm 3:454541a079f4 327 }
gallonm 3:454541a079f4 328
gallonm 3:454541a079f4 329 /* Read or wait for fresh out of reset */
gallonm 7:2dc81120c917 330 status = VL6180x_RdByte(dev,SYSTEM_FRESH_OUT_OF_RESET, &FreshOutReset);
gallonm 3:454541a079f4 331 if( status ) {
gallonm 3:454541a079f4 332 VL6180x_ErrLog("SYSTEM_FRESH_OUT_OF_RESET rd fail");
gallonm 3:454541a079f4 333 break;
gallonm 3:454541a079f4 334 }
gallonm 3:454541a079f4 335 if( FreshOutReset!= 1 || dmax_status )
gallonm 3:454541a079f4 336 status = CALIBRATION_WARNING;
gallonm 3:454541a079f4 337
gallonm 3:454541a079f4 338 }
gallonm 3:454541a079f4 339 while(0);
gallonm 3:454541a079f4 340
gallonm 3:454541a079f4 341 LOG_FUNCTION_END(status);
gallonm 3:454541a079f4 342 return status;
gallonm 1:1de1ea2994d9 343 }
gallonm 1:1de1ea2994d9 344
gallonm 7:2dc81120c917 345 int8_t VL6180X::VL6180x_GetOffsetCalibrationData(VL6180xDev_t dev)
gallonm 7:2dc81120c917 346 {
gallonm 7:2dc81120c917 347 int8_t offset;
gallonm 7:2dc81120c917 348 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 349 offset = VL6180xDevDataGet(dev, Part2PartOffsetNVM);
gallonm 7:2dc81120c917 350 LOG_FUNCTION_END( offset );
gallonm 7:2dc81120c917 351 return offset;
gallonm 7:2dc81120c917 352 }
gallonm 7:2dc81120c917 353
gallonm 7:2dc81120c917 354 void VL6180X::VL6180x_SetOffsetCalibrationData(VL6180xDev_t dev, int8_t offset)
gallonm 7:2dc81120c917 355 {
gallonm 7:2dc81120c917 356 LOG_FUNCTION_START("%d", offset);
gallonm 7:2dc81120c917 357 VL6180xDevDataSet(dev, Part2PartOffsetNVM, offset);
gallonm 7:2dc81120c917 358 LOG_FUNCTION_END(0);
gallonm 7:2dc81120c917 359 }
gallonm 7:2dc81120c917 360
gallonm 7:2dc81120c917 361 int VL6180X::VL6180x_SetXTalkCompensationRate(VL6180xDev_t dev, FixPoint97_t Rate)
gallonm 7:2dc81120c917 362 {
gallonm 7:2dc81120c917 363 int status;
gallonm 7:2dc81120c917 364 LOG_FUNCTION_START("%d", Rate);
gallonm 7:2dc81120c917 365 status = VL6180x_WrWord(dev, SYSRANGE_CROSSTALK_COMPENSATION_RATE, Rate);
gallonm 7:2dc81120c917 366 if( status ==0 ){
gallonm 7:2dc81120c917 367 uint32_t XTalkCompRate_KCps;
gallonm 7:2dc81120c917 368 XTalkCompRate_KCps = Fix7_2_KCPs(Rate);
gallonm 7:2dc81120c917 369 VL6180xDevDataSet(dev, XTalkCompRate_KCps , XTalkCompRate_KCps );
gallonm 7:2dc81120c917 370 /* update dmax whenever xtalk rate changes */
gallonm 7:2dc81120c917 371 status = _DMax_InitData(dev);
gallonm 7:2dc81120c917 372 }
gallonm 7:2dc81120c917 373 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 374 return status;
gallonm 7:2dc81120c917 375 }
gallonm 7:2dc81120c917 376
gallonm 7:2dc81120c917 377 int VL6180X::VL6180x_SetI2CAddress(VL6180xDev_t dev, uint8_t NewAddress){
gallonm 7:2dc81120c917 378 int status;
gallonm 7:2dc81120c917 379 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 380
licio.mapelli@st.com 8:f943a1fca15f 381 status = VL6180x_WrByte(dev, I2C_SLAVE_DEVICE_ADDRESS, NewAddress);
gallonm 7:2dc81120c917 382 if( status ){
gallonm 7:2dc81120c917 383 VL6180x_ErrLog("new i2c addr Wr fail");
gallonm 7:2dc81120c917 384 }
gallonm 7:2dc81120c917 385 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 386 return status;
gallonm 7:2dc81120c917 387 }
gallonm 7:2dc81120c917 388
gallonm 7:2dc81120c917 389 uint16_t VL6180X::VL6180x_GetUpperLimit(VL6180xDev_t dev) {
gallonm 7:2dc81120c917 390 uint16_t limit;
gallonm 7:2dc81120c917 391 int scaling;
gallonm 7:2dc81120c917 392
gallonm 7:2dc81120c917 393 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 394
gallonm 7:2dc81120c917 395 scaling = _GetUpscale(dev);
gallonm 7:2dc81120c917 396 /* 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 397 limit = UpperLimitLookUP[scaling - 1];
gallonm 7:2dc81120c917 398
gallonm 7:2dc81120c917 399 LOG_FUNCTION_END((int )limit);
gallonm 7:2dc81120c917 400 return limit;
gallonm 7:2dc81120c917 401 }
gallonm 7:2dc81120c917 402
gallonm 7:2dc81120c917 403
gallonm 7:2dc81120c917 404
gallonm 7:2dc81120c917 405 int VL6180X::VL6180x_StaticInit(VL6180xDev_t dev){
gallonm 7:2dc81120c917 406 int status=0, init_status;
gallonm 7:2dc81120c917 407 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 408
gallonm 7:2dc81120c917 409 /* TODO doc When using configurable scaling but using 1x as start condition
gallonm 7:2dc81120c917 410 * load tunning upscale or not ??? */
gallonm 7:2dc81120c917 411 if( _GetUpscale(dev) == 1 && !(VL6180x_UPSCALE_SUPPORT<0))
gallonm 7:2dc81120c917 412 init_status=VL6180x_RangeStaticInit(dev);
gallonm 7:2dc81120c917 413 else
gallonm 7:2dc81120c917 414 init_status=VL6180x_UpscaleStaticInit(dev);
gallonm 7:2dc81120c917 415
gallonm 7:2dc81120c917 416 if( init_status <0 ){
gallonm 7:2dc81120c917 417 VL6180x_ErrLog("StaticInit fail");
gallonm 7:2dc81120c917 418 goto error;
gallonm 7:2dc81120c917 419 }
gallonm 7:2dc81120c917 420 else if(init_status > 0){
gallonm 7:2dc81120c917 421 VL6180x_ErrLog("StaticInit warning");
gallonm 7:2dc81120c917 422 }
gallonm 7:2dc81120c917 423
gallonm 7:2dc81120c917 424 #if REFRESH_CACHED_DATA_AFTER_INIT
gallonm 7:2dc81120c917 425 /* update cached value after tuning applied */
gallonm 7:2dc81120c917 426 do{
gallonm 7:2dc81120c917 427 #ifdef VL6180x_HAVE_ALS_DATA
gallonm 7:2dc81120c917 428 uint8_t data;
gallonm 7:2dc81120c917 429 status= VL6180x_RdByte(dev, FW_ALS_RESULT_SCALER, &data);
gallonm 7:2dc81120c917 430 if( status ) break;
gallonm 7:2dc81120c917 431 VL6180xDevDataSet(dev, AlsScaler, data);
gallonm 7:2dc81120c917 432
gallonm 7:2dc81120c917 433 status= VL6180x_RdByte(dev, SYSALS_ANALOGUE_GAIN, &data);
gallonm 7:2dc81120c917 434 if( status ) break;
gallonm 7:2dc81120c917 435 VL6180x_AlsSetAnalogueGain(dev, data);
gallonm 7:2dc81120c917 436 #endif
gallonm 7:2dc81120c917 437 }
gallonm 7:2dc81120c917 438 while(0);
gallonm 7:2dc81120c917 439 #endif /* REFRESH_CACHED_DATA_AFTER_INIT */
gallonm 7:2dc81120c917 440 if( status < 0 ){
gallonm 7:2dc81120c917 441 VL6180x_ErrLog("StaticInit fail");
gallonm 7:2dc81120c917 442 }
gallonm 7:2dc81120c917 443 if( !status && init_status){
gallonm 7:2dc81120c917 444 status = init_status;
gallonm 7:2dc81120c917 445 }
gallonm 7:2dc81120c917 446 error:
gallonm 7:2dc81120c917 447 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 448 return status;
gallonm 7:2dc81120c917 449 }
gallonm 7:2dc81120c917 450
gallonm 7:2dc81120c917 451
gallonm 7:2dc81120c917 452 int VL6180X::VL6180x_SetGroupParamHold(VL6180xDev_t dev, int Hold)
gallonm 7:2dc81120c917 453 {
gallonm 7:2dc81120c917 454 int status;
gallonm 7:2dc81120c917 455 uint8_t value;
gallonm 7:2dc81120c917 456
gallonm 7:2dc81120c917 457 LOG_FUNCTION_START("%d", Hold);
gallonm 7:2dc81120c917 458 if( Hold )
gallonm 7:2dc81120c917 459 value = 1;
gallonm 7:2dc81120c917 460 else
gallonm 7:2dc81120c917 461 value = 0;
gallonm 7:2dc81120c917 462 status = VL6180x_WrByte(dev, SYSTEM_GROUPED_PARAMETER_HOLD, value);
gallonm 7:2dc81120c917 463
gallonm 7:2dc81120c917 464 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 465 return status;
gallonm 7:2dc81120c917 466
gallonm 7:2dc81120c917 467 }
gallonm 7:2dc81120c917 468
gallonm 7:2dc81120c917 469 int VL6180X::VL6180x_Prepare(VL6180xDev_t dev)
gallonm 7:2dc81120c917 470 {
gallonm 7:2dc81120c917 471 int status;
gallonm 7:2dc81120c917 472 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 473
gallonm 7:2dc81120c917 474 do{
gallonm 7:2dc81120c917 475 status=VL6180x_StaticInit(dev);
gallonm 7:2dc81120c917 476 if( status<0) break;
gallonm 7:2dc81120c917 477
gallonm 7:2dc81120c917 478 /* set range InterruptMode to new sample */
gallonm 7:2dc81120c917 479 status=VL6180x_RangeConfigInterrupt(dev, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY );
gallonm 7:2dc81120c917 480 if( status)
gallonm 7:2dc81120c917 481 break;
gallonm 7:2dc81120c917 482
gallonm 7:2dc81120c917 483 /* set default threshold */
gallonm 7:2dc81120c917 484 status=VL6180x_RangeSetRawThresholds(dev, 10, 200);
gallonm 7:2dc81120c917 485 if( status ){
gallonm 7:2dc81120c917 486 VL6180x_ErrLog("VL6180x_RangeSetRawThresholds fail");
gallonm 7:2dc81120c917 487 break;
gallonm 7:2dc81120c917 488 }
gallonm 7:2dc81120c917 489 #if VL6180x_ALS_SUPPORT
gallonm 7:2dc81120c917 490 status =VL6180x_AlsSetIntegrationPeriod(dev, 100);
gallonm 7:2dc81120c917 491 if( status ) break;
gallonm 7:2dc81120c917 492 status = VL6180x_AlsSetInterMeasurementPeriod(dev, 200);
gallonm 7:2dc81120c917 493 if( status ) break;
gallonm 7:2dc81120c917 494 status = VL6180x_AlsSetAnalogueGain(dev, 0);
gallonm 7:2dc81120c917 495 if( status ) break;
gallonm 7:2dc81120c917 496 status = VL6180x_AlsSetThresholds(dev, 0, 0xFF);
gallonm 7:2dc81120c917 497 if( status ) break;
gallonm 7:2dc81120c917 498 /* set Als InterruptMode to new sample */
gallonm 7:2dc81120c917 499 status=VL6180x_AlsConfigInterrupt(dev, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
gallonm 7:2dc81120c917 500 if( status ) {
gallonm 7:2dc81120c917 501 VL6180x_ErrLog("VL6180x_AlsConfigInterrupt fail");
gallonm 7:2dc81120c917 502 break;
gallonm 7:2dc81120c917 503 }
gallonm 7:2dc81120c917 504 #endif
gallonm 7:2dc81120c917 505 #if VL6180x_WRAP_AROUND_FILTER_SUPPORT
gallonm 7:2dc81120c917 506 _filter_Init(dev);
gallonm 7:2dc81120c917 507 #endif
gallonm 7:2dc81120c917 508 /* make sure to reset any left previous condition that can hangs first poll */
gallonm 7:2dc81120c917 509 status=VL6180x_ClearAllInterrupt(dev);
gallonm 7:2dc81120c917 510 }
gallonm 7:2dc81120c917 511 while(0);
gallonm 7:2dc81120c917 512 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 513
gallonm 7:2dc81120c917 514 return status;
gallonm 7:2dc81120c917 515 }
gallonm 7:2dc81120c917 516
gallonm 7:2dc81120c917 517 #if VL6180x_ALS_SUPPORT
gallonm 7:2dc81120c917 518 int VL6180X::VL6180x_AlsGetLux(VL6180xDev_t dev, lux_t *pLux)
gallonm 7:2dc81120c917 519 {
gallonm 7:2dc81120c917 520 int status;
gallonm 7:2dc81120c917 521 uint16_t RawAls;
gallonm 7:2dc81120c917 522 uint32_t luxValue = 0;
gallonm 7:2dc81120c917 523 uint32_t IntPeriod;
gallonm 7:2dc81120c917 524 uint32_t AlsAnGain;
gallonm 7:2dc81120c917 525 uint32_t GainFix;
gallonm 7:2dc81120c917 526 uint32_t AlsScaler;
gallonm 7:2dc81120c917 527
gallonm 7:2dc81120c917 528 #if LUXRES_FIX_PREC != GAIN_FIX_PREC
gallonm 7:2dc81120c917 529 #error "LUXRES_FIX_PREC != GAIN_FIX_PREC review these code to be correct"
gallonm 7:2dc81120c917 530 #endif
gallonm 7:2dc81120c917 531 const uint32_t LuxResxIntIme =(uint32_t)(0.56f* DEF_INT_PEFRIOD *(1<<LUXRES_FIX_PREC));
gallonm 7:2dc81120c917 532
gallonm 7:2dc81120c917 533 LOG_FUNCTION_START("%p", pLux);
gallonm 7:2dc81120c917 534
gallonm 7:2dc81120c917 535 status = VL6180x_RdWord( dev, RESULT_ALS_VAL, &RawAls);
gallonm 7:2dc81120c917 536 if( !status){
gallonm 7:2dc81120c917 537 /* wer are yet here at no fix point */
gallonm 7:2dc81120c917 538 IntPeriod=VL6180xDevDataGet(dev, IntegrationPeriod);
gallonm 7:2dc81120c917 539 AlsScaler=VL6180xDevDataGet(dev, AlsScaler);
gallonm 7:2dc81120c917 540 IntPeriod++; /* what stored is real time ms -1 and it can be 0 for or 0 or 1ms */
gallonm 7:2dc81120c917 541 luxValue = (uint32_t)RawAls * LuxResxIntIme; /* max # 16+8bits + 6bit (0.56*100) */
gallonm 7:2dc81120c917 542 luxValue /= IntPeriod; /* max # 16+8bits + 6bit 16+8+1 to 9 bit */
gallonm 7:2dc81120c917 543 /* between 29 - 21 bit */
gallonm 7:2dc81120c917 544 AlsAnGain = VL6180xDevDataGet(dev, AlsGainCode);
gallonm 7:2dc81120c917 545 GainFix = AlsGainLookUp[AlsAnGain];
gallonm 7:2dc81120c917 546 luxValue = luxValue / (AlsScaler * GainFix);
gallonm 7:2dc81120c917 547 *pLux=luxValue;
gallonm 7:2dc81120c917 548 }
gallonm 7:2dc81120c917 549
gallonm 7:2dc81120c917 550 LOG_FUNCTION_END_FMT(status, "%x",(int)*pLux);
gallonm 7:2dc81120c917 551 return status;
gallonm 7:2dc81120c917 552 }
gallonm 7:2dc81120c917 553
gallonm 7:2dc81120c917 554 int VL6180X::VL6180x_AlsGetMeasurement(VL6180xDev_t dev, VL6180x_AlsData_t *pAlsData)
gallonm 7:2dc81120c917 555 {
gallonm 7:2dc81120c917 556 int status;
gallonm 7:2dc81120c917 557 uint8_t ErrStatus;
gallonm 7:2dc81120c917 558
gallonm 7:2dc81120c917 559 LOG_FUNCTION_START("%p", pAlsData);
gallonm 7:2dc81120c917 560
gallonm 7:2dc81120c917 561 status = VL6180x_AlsGetLux(dev, &pAlsData->lux);
gallonm 7:2dc81120c917 562 if( !status ){
gallonm 7:2dc81120c917 563 status = VL6180x_RdByte(dev, RESULT_ALS_STATUS, & ErrStatus);
gallonm 7:2dc81120c917 564 pAlsData->errorStatus = ErrStatus>>4;
gallonm 7:2dc81120c917 565 }
gallonm 7:2dc81120c917 566 LOG_FUNCTION_END_FMT(status,"%d %d", (int)pAlsData->lux, (int)pAlsData->errorStatus);
gallonm 7:2dc81120c917 567
gallonm 7:2dc81120c917 568 return status;
gallonm 7:2dc81120c917 569 }
gallonm 7:2dc81120c917 570
gallonm 7:2dc81120c917 571
gallonm 7:2dc81120c917 572 int VL6180X::VL6180x_AlsPollMeasurement(VL6180xDev_t dev, VL6180x_AlsData_t *pAlsData) {
gallonm 7:2dc81120c917 573 int status;
gallonm 7:2dc81120c917 574 int ClrStatus;
gallonm 7:2dc81120c917 575 uint8_t IntStatus;
gallonm 7:2dc81120c917 576
gallonm 7:2dc81120c917 577 LOG_FUNCTION_START("%p", pAlsData);
gallonm 7:2dc81120c917 578 #if VL6180X_SAFE_POLLING_ENTER
gallonm 7:2dc81120c917 579 /* 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 580 status=VL6180x_AlsClearInterrupt(dev);
gallonm 7:2dc81120c917 581 if(status){
gallonm 7:2dc81120c917 582 VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
gallonm 7:2dc81120c917 583 goto over;
gallonm 7:2dc81120c917 584 }
gallonm 7:2dc81120c917 585 #endif
gallonm 7:2dc81120c917 586
gallonm 7:2dc81120c917 587 status=VL6180x_AlsSetSystemMode(dev, MODE_START_STOP|MODE_SINGLESHOT);
gallonm 7:2dc81120c917 588 if( status){
gallonm 7:2dc81120c917 589 VL6180x_ErrLog("VL6180x_AlsSetSystemMode fail");
gallonm 7:2dc81120c917 590 goto over;
gallonm 7:2dc81120c917 591 }
gallonm 7:2dc81120c917 592
gallonm 7:2dc81120c917 593 /* poll for new sample ready */
gallonm 7:2dc81120c917 594 while (1 ) {
gallonm 7:2dc81120c917 595 status = VL6180x_AlsGetInterruptStatus(dev, &IntStatus);
gallonm 7:2dc81120c917 596 if (status) {
gallonm 7:2dc81120c917 597 break;
gallonm 7:2dc81120c917 598 }
gallonm 7:2dc81120c917 599 if (IntStatus == RES_INT_STAT_GPIO_NEW_SAMPLE_READY) {
gallonm 7:2dc81120c917 600 break; /* break on new data (status is 0) */
gallonm 7:2dc81120c917 601 }
gallonm 7:2dc81120c917 602
gallonm 7:2dc81120c917 603 VL6180x_PollDelay(dev);
gallonm 7:2dc81120c917 604 };
gallonm 7:2dc81120c917 605
gallonm 7:2dc81120c917 606 if (!status) {
gallonm 7:2dc81120c917 607 status = VL6180x_AlsGetMeasurement(dev, pAlsData);
gallonm 7:2dc81120c917 608 }
gallonm 7:2dc81120c917 609
gallonm 7:2dc81120c917 610 ClrStatus = VL6180x_AlsClearInterrupt(dev);
gallonm 7:2dc81120c917 611 if (ClrStatus) {
gallonm 7:2dc81120c917 612 VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
gallonm 7:2dc81120c917 613 if (!status) {
gallonm 7:2dc81120c917 614 status = ClrStatus; /* leave previous if already on error */
gallonm 7:2dc81120c917 615 }
gallonm 7:2dc81120c917 616 }
gallonm 7:2dc81120c917 617 over:
gallonm 7:2dc81120c917 618 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 619
gallonm 7:2dc81120c917 620 return status;
gallonm 7:2dc81120c917 621 }
gallonm 7:2dc81120c917 622
gallonm 7:2dc81120c917 623 int VL6180X::VL6180x_AlsGetInterruptStatus(VL6180xDev_t dev, uint8_t *pIntStatus) {
gallonm 7:2dc81120c917 624 int status;
gallonm 7:2dc81120c917 625 uint8_t IntStatus;
gallonm 7:2dc81120c917 626 LOG_FUNCTION_START("%p", pIntStatus);
gallonm 7:2dc81120c917 627
gallonm 7:2dc81120c917 628 status = VL6180x_RdByte(dev, RESULT_INTERRUPT_STATUS_GPIO, &IntStatus);
gallonm 7:2dc81120c917 629 *pIntStatus= (IntStatus>>3)&0x07;
gallonm 7:2dc81120c917 630
gallonm 7:2dc81120c917 631 LOG_FUNCTION_END_FMT(status, "%d", (int)*pIntStatus);
gallonm 7:2dc81120c917 632 return status;
gallonm 7:2dc81120c917 633 }
gallonm 7:2dc81120c917 634
gallonm 7:2dc81120c917 635 int VL6180X::VL6180x_AlsWaitDeviceReady(VL6180xDev_t dev, int MaxLoop ){
gallonm 7:2dc81120c917 636 int status;
gallonm 7:2dc81120c917 637 int n;
gallonm 7:2dc81120c917 638 uint8_t u8;
gallonm 7:2dc81120c917 639 LOG_FUNCTION_START("%d", (int)MaxLoop);
gallonm 7:2dc81120c917 640 if( MaxLoop<1){
gallonm 7:2dc81120c917 641 status=INVALID_PARAMS;
gallonm 7:2dc81120c917 642 }
gallonm 7:2dc81120c917 643 else{
gallonm 7:2dc81120c917 644 for( n=0; n < MaxLoop ; n++){
gallonm 7:2dc81120c917 645 status=VL6180x_RdByte(dev, RESULT_ALS_STATUS, &u8);
gallonm 7:2dc81120c917 646 if( status)
gallonm 7:2dc81120c917 647 break;
gallonm 7:2dc81120c917 648 u8 = u8 & ALS_DEVICE_READY_MASK;
gallonm 7:2dc81120c917 649 if( u8 )
gallonm 7:2dc81120c917 650 break;
gallonm 7:2dc81120c917 651
gallonm 7:2dc81120c917 652 }
gallonm 7:2dc81120c917 653 if( !status && !u8 ){
gallonm 7:2dc81120c917 654 status = TIME_OUT;
gallonm 7:2dc81120c917 655 }
gallonm 7:2dc81120c917 656 }
gallonm 7:2dc81120c917 657 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 658 return status;
gallonm 7:2dc81120c917 659 }
gallonm 7:2dc81120c917 660
gallonm 7:2dc81120c917 661 int VL6180X::VL6180x_AlsSetSystemMode(VL6180xDev_t dev, uint8_t mode)
gallonm 7:2dc81120c917 662 {
gallonm 7:2dc81120c917 663 int status;
gallonm 7:2dc81120c917 664 LOG_FUNCTION_START("%d", (int)mode);
gallonm 7:2dc81120c917 665 /* FIXME if we are called back to back real fast we are not checking
gallonm 7:2dc81120c917 666 * if previous mode "set" got absorbed => bit 0 must be 0 so that wr 1 work */
gallonm 7:2dc81120c917 667 if( mode <= 3){
gallonm 7:2dc81120c917 668 status=VL6180x_WrByte(dev, SYSALS_START, mode);
gallonm 7:2dc81120c917 669 }
gallonm 7:2dc81120c917 670 else{
gallonm 7:2dc81120c917 671 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 672 }
gallonm 7:2dc81120c917 673 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 674 return status;
gallonm 7:2dc81120c917 675 }
gallonm 7:2dc81120c917 676
gallonm 7:2dc81120c917 677 int VL6180X::VL6180x_AlsConfigInterrupt(VL6180xDev_t dev, uint8_t ConfigGpioInt)
gallonm 7:2dc81120c917 678 {
gallonm 7:2dc81120c917 679 int status;
gallonm 7:2dc81120c917 680
gallonm 7:2dc81120c917 681 if( ConfigGpioInt<= CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY){
gallonm 7:2dc81120c917 682 status = VL6180x_UpdateByte(dev, SYSTEM_INTERRUPT_CONFIG_GPIO, (uint8_t)(~CONFIG_GPIO_ALS_MASK), (ConfigGpioInt<<3));
gallonm 7:2dc81120c917 683 }
gallonm 7:2dc81120c917 684 else{
gallonm 7:2dc81120c917 685 VL6180x_ErrLog("Invalid config mode param %d", (int)ConfigGpioInt);
gallonm 7:2dc81120c917 686 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 687 }
gallonm 7:2dc81120c917 688 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 689 return status;
gallonm 7:2dc81120c917 690 }
gallonm 7:2dc81120c917 691
gallonm 7:2dc81120c917 692
gallonm 7:2dc81120c917 693
gallonm 7:2dc81120c917 694 int VL6180X::VL6180x_AlsSetThresholds(VL6180xDev_t dev, uint8_t low, uint8_t high) {
gallonm 7:2dc81120c917 695 int status;
gallonm 7:2dc81120c917 696
gallonm 7:2dc81120c917 697 LOG_FUNCTION_START("%d %d", (int )low, (int)high);
gallonm 7:2dc81120c917 698
gallonm 7:2dc81120c917 699 status = VL6180x_WrByte(dev, SYSALS_THRESH_LOW, low);
gallonm 7:2dc81120c917 700 if(!status ){
gallonm 7:2dc81120c917 701 status = VL6180x_WrByte(dev, SYSALS_THRESH_HIGH, high);
gallonm 7:2dc81120c917 702 }
gallonm 7:2dc81120c917 703
gallonm 7:2dc81120c917 704 LOG_FUNCTION_END(status) ;
gallonm 7:2dc81120c917 705 return status;
gallonm 7:2dc81120c917 706 }
gallonm 7:2dc81120c917 707
gallonm 7:2dc81120c917 708
gallonm 7:2dc81120c917 709 int VL6180X::VL6180x_AlsSetAnalogueGain(VL6180xDev_t dev, uint8_t gain) {
gallonm 7:2dc81120c917 710 int status;
gallonm 7:2dc81120c917 711 uint8_t GainTotal;
gallonm 7:2dc81120c917 712
gallonm 7:2dc81120c917 713 LOG_FUNCTION_START("%d", (int )gain);
gallonm 7:2dc81120c917 714 gain&=~0x40;
gallonm 7:2dc81120c917 715 if (gain > 7) {
gallonm 7:2dc81120c917 716 gain = 7;
gallonm 7:2dc81120c917 717 }
gallonm 7:2dc81120c917 718 GainTotal = gain|0x40;
gallonm 7:2dc81120c917 719
gallonm 7:2dc81120c917 720 status = VL6180x_WrByte(dev, SYSALS_ANALOGUE_GAIN, GainTotal);
gallonm 7:2dc81120c917 721 if( !status){
gallonm 7:2dc81120c917 722 VL6180xDevDataSet(dev, AlsGainCode, gain);
gallonm 7:2dc81120c917 723 }
gallonm 7:2dc81120c917 724
gallonm 7:2dc81120c917 725 LOG_FUNCTION_END_FMT(status, "%d %d", (int ) gain, (int )GainTotal);
gallonm 7:2dc81120c917 726 return status;
gallonm 7:2dc81120c917 727 }
gallonm 7:2dc81120c917 728
gallonm 7:2dc81120c917 729 int VL6180X::VL6180x_AlsSetInterMeasurementPeriod(VL6180xDev_t dev, uint16_t intermeasurement_period_ms)
gallonm 7:2dc81120c917 730 {
gallonm 7:2dc81120c917 731 int status;
gallonm 7:2dc81120c917 732
gallonm 7:2dc81120c917 733 LOG_FUNCTION_START("%d",(int)intermeasurement_period_ms);
gallonm 7:2dc81120c917 734 /* clipping: range is 0-2550ms */
gallonm 7:2dc81120c917 735 if (intermeasurement_period_ms >= 255 *10)
gallonm 7:2dc81120c917 736 intermeasurement_period_ms = 255 *10;
gallonm 7:2dc81120c917 737 status=VL6180x_WrByte(dev, SYSALS_INTERMEASUREMENT_PERIOD, (uint8_t)(intermeasurement_period_ms/10));
gallonm 7:2dc81120c917 738
gallonm 7:2dc81120c917 739 LOG_FUNCTION_END_FMT(status, "%d", (int) intermeasurement_period_ms);
gallonm 7:2dc81120c917 740 return status;
gallonm 7:2dc81120c917 741 }
gallonm 7:2dc81120c917 742
gallonm 7:2dc81120c917 743
gallonm 7:2dc81120c917 744 int VL6180X::VL6180x_AlsSetIntegrationPeriod(VL6180xDev_t dev, uint16_t period_ms)
gallonm 7:2dc81120c917 745 {
gallonm 7:2dc81120c917 746 int status;
gallonm 7:2dc81120c917 747 uint16_t SetIntegrationPeriod;
gallonm 7:2dc81120c917 748
gallonm 7:2dc81120c917 749 LOG_FUNCTION_START("%d", (int)period_ms);
gallonm 7:2dc81120c917 750
gallonm 7:2dc81120c917 751 if( period_ms>=1 )
gallonm 7:2dc81120c917 752 SetIntegrationPeriod = period_ms - 1;
gallonm 7:2dc81120c917 753 else
gallonm 7:2dc81120c917 754 SetIntegrationPeriod = period_ms;
gallonm 7:2dc81120c917 755
gallonm 7:2dc81120c917 756 if (SetIntegrationPeriod > 464) {
gallonm 7:2dc81120c917 757 SetIntegrationPeriod = 464;
gallonm 7:2dc81120c917 758 }
gallonm 7:2dc81120c917 759 else if (SetIntegrationPeriod == 255) {
gallonm 7:2dc81120c917 760 SetIntegrationPeriod++; /* can't write 255 since this causes the device to lock out.*/
gallonm 7:2dc81120c917 761 }
gallonm 7:2dc81120c917 762
gallonm 7:2dc81120c917 763 status =VL6180x_WrWord(dev, SYSALS_INTEGRATION_PERIOD, SetIntegrationPeriod);
gallonm 7:2dc81120c917 764 if( !status ){
gallonm 7:2dc81120c917 765 VL6180xDevDataSet(dev, IntegrationPeriod, SetIntegrationPeriod) ;
gallonm 7:2dc81120c917 766 }
gallonm 7:2dc81120c917 767 LOG_FUNCTION_END_FMT(status, "%d", (int)SetIntegrationPeriod);
gallonm 7:2dc81120c917 768 return status;
gallonm 7:2dc81120c917 769 }
gallonm 7:2dc81120c917 770
gallonm 7:2dc81120c917 771 #endif /* HAVE_ALS_SUPPORT */
gallonm 7:2dc81120c917 772
gallonm 7:2dc81120c917 773
gallonm 7:2dc81120c917 774 int VL6180X::VL6180x_RangePollMeasurement(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData)
gallonm 7:2dc81120c917 775 {
gallonm 7:2dc81120c917 776 int status;
gallonm 7:2dc81120c917 777 int ClrStatus;
gallonm 7:2dc81120c917 778 IntrStatus_t IntStatus;
gallonm 7:2dc81120c917 779
gallonm 7:2dc81120c917 780 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 781 /* start single range measurement */
gallonm 7:2dc81120c917 782
gallonm 7:2dc81120c917 783
gallonm 7:2dc81120c917 784 #if VL6180X_SAFE_POLLING_ENTER
gallonm 7:2dc81120c917 785 /* 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 786 status=VL6180x_RangeClearInterrupt(dev);
gallonm 7:2dc81120c917 787 if(status){
gallonm 7:2dc81120c917 788 VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
gallonm 7:2dc81120c917 789 goto done;
gallonm 7:2dc81120c917 790 }
gallonm 7:2dc81120c917 791 #endif
gallonm 7:2dc81120c917 792 /* //![single_shot_snipet] */
gallonm 7:2dc81120c917 793 status=VL6180x_RangeSetSystemMode(dev, MODE_START_STOP|MODE_SINGLESHOT);
gallonm 7:2dc81120c917 794 if( status ){
gallonm 7:2dc81120c917 795 VL6180x_ErrLog("VL6180x_RangeSetSystemMode fail");
gallonm 7:2dc81120c917 796 goto done;
gallonm 7:2dc81120c917 797 }
gallonm 7:2dc81120c917 798
gallonm 7:2dc81120c917 799
gallonm 7:2dc81120c917 800 /* poll for new sample ready */
gallonm 7:2dc81120c917 801 while(1 ){
gallonm 7:2dc81120c917 802 status=VL6180x_RangeGetInterruptStatus(dev, &IntStatus.val);
gallonm 7:2dc81120c917 803 if( status ){
gallonm 7:2dc81120c917 804 break;
gallonm 7:2dc81120c917 805 }
gallonm 7:2dc81120c917 806 if( IntStatus.status.Error !=0 ){
gallonm 7:2dc81120c917 807 VL6180x_ErrLog("GPIO int Error report %d",(int)IntStatus.val);
gallonm 7:2dc81120c917 808 status = RANGE_ERROR;
gallonm 7:2dc81120c917 809 break;
gallonm 7:2dc81120c917 810 }
gallonm 7:2dc81120c917 811 else
gallonm 7:2dc81120c917 812 if( IntStatus.status.Range == RES_INT_STAT_GPIO_NEW_SAMPLE_READY){
gallonm 7:2dc81120c917 813 break;
gallonm 7:2dc81120c917 814 }
gallonm 7:2dc81120c917 815
gallonm 7:2dc81120c917 816 VL6180x_PollDelay(dev);
gallonm 7:2dc81120c917 817 }
gallonm 7:2dc81120c917 818 /* //![single_shot_snipet] */
gallonm 7:2dc81120c917 819
gallonm 7:2dc81120c917 820 if ( !status ){
gallonm 7:2dc81120c917 821 status = VL6180x_RangeGetMeasurement(dev, pRangeData);
gallonm 7:2dc81120c917 822 }
gallonm 7:2dc81120c917 823
gallonm 7:2dc81120c917 824 /* clear range interrupt source */
gallonm 7:2dc81120c917 825 ClrStatus = VL6180x_RangeClearInterrupt(dev);
gallonm 7:2dc81120c917 826 if( ClrStatus ){
gallonm 7:2dc81120c917 827 VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
gallonm 7:2dc81120c917 828 /* leave initial status if already in error */
gallonm 7:2dc81120c917 829 if( !status ){
gallonm 7:2dc81120c917 830 status=ClrStatus;
gallonm 7:2dc81120c917 831 }
gallonm 7:2dc81120c917 832 }
gallonm 7:2dc81120c917 833 done:
gallonm 7:2dc81120c917 834 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 835 return status;
gallonm 7:2dc81120c917 836 }
gallonm 7:2dc81120c917 837
gallonm 7:2dc81120c917 838
gallonm 7:2dc81120c917 839
gallonm 7:2dc81120c917 840 int VL6180X::VL6180x_RangeGetMeasurement(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData)
gallonm 7:2dc81120c917 841 {
gallonm 7:2dc81120c917 842 int status;
gallonm 7:2dc81120c917 843 uint16_t RawRate;
gallonm 7:2dc81120c917 844 uint8_t RawStatus;
gallonm 7:2dc81120c917 845
gallonm 7:2dc81120c917 846 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 847
gallonm 7:2dc81120c917 848 status = VL6180x_RangeGetResult(dev, &pRangeData->range_mm);
gallonm 7:2dc81120c917 849 if( !status ){
gallonm 7:2dc81120c917 850 status = VL6180x_RdWord(dev,RESULT_RANGE_SIGNAL_RATE, &RawRate );
gallonm 7:2dc81120c917 851 if( !status ){
gallonm 7:2dc81120c917 852 pRangeData->signalRate_mcps = VL6180x_9to7Conv(RawRate);
gallonm 7:2dc81120c917 853 status = VL6180x_RdByte(dev, RESULT_RANGE_STATUS, &RawStatus);
gallonm 7:2dc81120c917 854 if( !status ){
gallonm 7:2dc81120c917 855 pRangeData->errorStatus = RawStatus >>4;
gallonm 7:2dc81120c917 856 }
gallonm 7:2dc81120c917 857 else{
gallonm 7:2dc81120c917 858 VL6180x_ErrLog("Rd RESULT_RANGE_STATUS fail");
gallonm 7:2dc81120c917 859 }
gallonm 7:2dc81120c917 860 #if VL6180x_WRAP_AROUND_FILTER_SUPPORT || VL6180x_HAVE_DMAX_RANGING
gallonm 7:2dc81120c917 861 status = _GetRateResult(dev, pRangeData);
gallonm 7:2dc81120c917 862 if( status )
gallonm 7:2dc81120c917 863 goto error;
gallonm 7:2dc81120c917 864 #endif
gallonm 7:2dc81120c917 865 #if VL6180x_WRAP_AROUND_FILTER_SUPPORT
gallonm 7:2dc81120c917 866 /* if enabled run filter */
gallonm 7:2dc81120c917 867 if( _IsWrapArroundActive(dev) ){
gallonm 7:2dc81120c917 868 status=_filter_GetResult(dev, pRangeData);
gallonm 7:2dc81120c917 869 if( !status){
gallonm 7:2dc81120c917 870 /* patch the range status and measure if it is filtered */
gallonm 7:2dc81120c917 871 if( pRangeData->range_mm != pRangeData->FilteredData.range_mm) {
gallonm 7:2dc81120c917 872 pRangeData->errorStatus=RangingFiltered;
gallonm 7:2dc81120c917 873 pRangeData->range_mm = pRangeData->FilteredData.range_mm;
gallonm 7:2dc81120c917 874 }
gallonm 7:2dc81120c917 875 }
gallonm 7:2dc81120c917 876 }
gallonm 7:2dc81120c917 877 #endif
gallonm 7:2dc81120c917 878
gallonm 7:2dc81120c917 879 #if VL6180x_HAVE_DMAX_RANGING
gallonm 7:2dc81120c917 880 if(_IsDMaxActive(dev) ){
gallonm 7:2dc81120c917 881 _DMax_Compute(dev, pRangeData);
gallonm 7:2dc81120c917 882 }
gallonm 7:2dc81120c917 883 #endif
gallonm 7:2dc81120c917 884 }
gallonm 7:2dc81120c917 885 else{
gallonm 7:2dc81120c917 886 VL6180x_ErrLog("Rd RESULT_RANGE_SIGNAL_RATE fail");
gallonm 7:2dc81120c917 887 }
gallonm 7:2dc81120c917 888 }
gallonm 7:2dc81120c917 889 else{
gallonm 7:2dc81120c917 890 VL6180x_ErrLog("VL6180x_GetRangeResult fail");
gallonm 7:2dc81120c917 891 }
gallonm 7:2dc81120c917 892 error:
gallonm 7:2dc81120c917 893 LOG_FUNCTION_END_FMT(status, "%d %d %d", (int)pRangeData->range_mm, (int)pRangeData->signalRate_mcps, (int)pRangeData->errorStatus) ;
gallonm 7:2dc81120c917 894 return status;
gallonm 7:2dc81120c917 895 }
gallonm 7:2dc81120c917 896
gallonm 7:2dc81120c917 897
gallonm 7:2dc81120c917 898 int VL6180X::VL6180x_RangeGetMeasurementIfReady(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData)
gallonm 7:2dc81120c917 899 {
gallonm 7:2dc81120c917 900 int status;
gallonm 7:2dc81120c917 901 IntrStatus_t IntStatus;
gallonm 7:2dc81120c917 902
gallonm 7:2dc81120c917 903 LOG_FUNCTION_START();
gallonm 7:2dc81120c917 904
gallonm 7:2dc81120c917 905 status = VL6180x_RangeGetInterruptStatus(dev, &IntStatus.val);
gallonm 7:2dc81120c917 906 if( status ==0 ){
gallonm 7:2dc81120c917 907 if( IntStatus.status.Error !=0 ){
gallonm 7:2dc81120c917 908 VL6180x_ErrLog("GPIO int Error report %d",(int)IntStatus.val);
gallonm 7:2dc81120c917 909 status = RANGE_ERROR;
gallonm 7:2dc81120c917 910 }
gallonm 7:2dc81120c917 911 else
gallonm 7:2dc81120c917 912 if( IntStatus.status.Range == RES_INT_STAT_GPIO_NEW_SAMPLE_READY){
gallonm 7:2dc81120c917 913 status = VL6180x_RangeGetMeasurement(dev,pRangeData );
gallonm 7:2dc81120c917 914 if( status == 0){
gallonm 7:2dc81120c917 915 /* clear range interrupt source */
gallonm 7:2dc81120c917 916 status = VL6180x_RangeClearInterrupt(dev);
gallonm 7:2dc81120c917 917 if( status ){
gallonm 7:2dc81120c917 918 VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
gallonm 7:2dc81120c917 919 }
gallonm 7:2dc81120c917 920 }
gallonm 7:2dc81120c917 921 }
gallonm 7:2dc81120c917 922 else{
gallonm 7:2dc81120c917 923 status = NOT_READY;
gallonm 7:2dc81120c917 924 }
gallonm 7:2dc81120c917 925 }
gallonm 7:2dc81120c917 926 else{
gallonm 7:2dc81120c917 927 VL6180x_ErrLog("fail to get interrupt status");
gallonm 7:2dc81120c917 928 }
gallonm 7:2dc81120c917 929 LOG_FUNCTION_END(status) ;
gallonm 7:2dc81120c917 930 return status;
gallonm 7:2dc81120c917 931 }
gallonm 7:2dc81120c917 932
gallonm 7:2dc81120c917 933 int VL6180X::VL6180x_FilterSetState(VL6180xDev_t dev, int state){
gallonm 7:2dc81120c917 934 int status;
gallonm 7:2dc81120c917 935 LOG_FUNCTION_START("%d", state);
gallonm 7:2dc81120c917 936 #if VL6180x_WRAP_AROUND_FILTER_SUPPORT
gallonm 7:2dc81120c917 937 VL6180xDevDataSet(dev,WrapAroundFilterActive, state);
gallonm 7:2dc81120c917 938 status = 0;
gallonm 7:2dc81120c917 939 #else
gallonm 7:2dc81120c917 940 status = NOT_SUPPORTED;
gallonm 7:2dc81120c917 941 #endif
gallonm 7:2dc81120c917 942 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 943 return status;
gallonm 7:2dc81120c917 944 }
gallonm 7:2dc81120c917 945
gallonm 7:2dc81120c917 946 int VL6180X::VL6180x_FilterGetState(VL6180xDev_t dev){
gallonm 7:2dc81120c917 947 int status;
gallonm 7:2dc81120c917 948 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 949 #if VL6180x_WRAP_AROUND_FILTER_SUPPORT
gallonm 7:2dc81120c917 950 status = VL6180xDevDataGet(dev,WrapAroundFilterActive);
gallonm 7:2dc81120c917 951 #else
gallonm 7:2dc81120c917 952 status = 0;
gallonm 7:2dc81120c917 953 #endif
gallonm 7:2dc81120c917 954 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 955 return status;
gallonm 7:2dc81120c917 956 }
gallonm 7:2dc81120c917 957
gallonm 7:2dc81120c917 958 int VL6180X::VL6180x_RangeGetResult(VL6180xDev_t dev, int32_t *pRange_mm) {
gallonm 7:2dc81120c917 959 int status;
gallonm 7:2dc81120c917 960 uint8_t RawRange;
gallonm 7:2dc81120c917 961 int32_t Upscale;
gallonm 7:2dc81120c917 962
gallonm 7:2dc81120c917 963 LOG_FUNCTION_START("%p",pRange_mm);
gallonm 7:2dc81120c917 964
gallonm 7:2dc81120c917 965 status = VL6180x_RdByte(dev, RESULT_RANGE_VAL, &RawRange);
gallonm 7:2dc81120c917 966 if( !status ){
gallonm 7:2dc81120c917 967 Upscale = _GetUpscale(dev);
gallonm 7:2dc81120c917 968 *pRange_mm= Upscale*(int32_t)RawRange;
gallonm 7:2dc81120c917 969 }
gallonm 7:2dc81120c917 970 LOG_FUNCTION_END_FMT(status, "%d", (int)*pRange_mm);
gallonm 7:2dc81120c917 971 return status;
gallonm 7:2dc81120c917 972 }
gallonm 7:2dc81120c917 973
gallonm 7:2dc81120c917 974 int VL6180X::VL6180x_RangeSetRawThresholds(VL6180xDev_t dev, uint8_t low, uint8_t high)
gallonm 7:2dc81120c917 975 {
gallonm 7:2dc81120c917 976 int status;
gallonm 7:2dc81120c917 977 LOG_FUNCTION_START("%d %d", (int) low, (int)high);
gallonm 7:2dc81120c917 978 /* TODO we can optimize here grouping high/low in a word but that's cpu endianness dependent */
gallonm 7:2dc81120c917 979 status=VL6180x_WrByte(dev, SYSRANGE_THRESH_HIGH,high);
gallonm 7:2dc81120c917 980 if( !status){
gallonm 7:2dc81120c917 981 status=VL6180x_WrByte(dev, SYSRANGE_THRESH_LOW, low);
gallonm 7:2dc81120c917 982 }
gallonm 7:2dc81120c917 983
gallonm 7:2dc81120c917 984 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 985 return status;
gallonm 7:2dc81120c917 986 }
gallonm 7:2dc81120c917 987
gallonm 7:2dc81120c917 988 int VL6180X::VL6180x_RangeSetThresholds(VL6180xDev_t dev, uint16_t low, uint16_t high, int UseSafeParamHold)
gallonm 7:2dc81120c917 989 {
gallonm 7:2dc81120c917 990 int status;
gallonm 7:2dc81120c917 991 int scale;
gallonm 7:2dc81120c917 992 LOG_FUNCTION_START("%d %d", (int) low, (int)high);
gallonm 7:2dc81120c917 993 scale=_GetUpscale(dev,UpscaleFactor);
gallonm 7:2dc81120c917 994 if( low>scale*255 || high >scale*255){
gallonm 7:2dc81120c917 995 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 996 }
gallonm 7:2dc81120c917 997 else{
gallonm 7:2dc81120c917 998 do{
gallonm 7:2dc81120c917 999 if( UseSafeParamHold ){
gallonm 7:2dc81120c917 1000 status=VL6180x_SetGroupParamHold(dev, 1);
gallonm 7:2dc81120c917 1001 if( status )
gallonm 7:2dc81120c917 1002 break;
gallonm 7:2dc81120c917 1003 }
gallonm 7:2dc81120c917 1004 status=VL6180x_RangeSetRawThresholds(dev, (uint8_t)(low/scale), (uint8_t)(high/scale));
gallonm 7:2dc81120c917 1005 if( status ){
gallonm 7:2dc81120c917 1006 VL6180x_ErrLog("VL6180x_RangeSetRawThresholds fail");
gallonm 7:2dc81120c917 1007 }
gallonm 7:2dc81120c917 1008 if( UseSafeParamHold ){
gallonm 7:2dc81120c917 1009 int HoldStatus;
gallonm 7:2dc81120c917 1010 /* tryt to unset param hold vene if previous fail */
gallonm 7:2dc81120c917 1011 HoldStatus=VL6180x_SetGroupParamHold(dev, 0);
gallonm 7:2dc81120c917 1012 if( !status)
gallonm 7:2dc81120c917 1013 status=HoldStatus;
gallonm 7:2dc81120c917 1014 }
gallonm 7:2dc81120c917 1015 }
gallonm 7:2dc81120c917 1016 while(0);
gallonm 7:2dc81120c917 1017 }
gallonm 7:2dc81120c917 1018
gallonm 7:2dc81120c917 1019 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1020 return status;
gallonm 7:2dc81120c917 1021 }
gallonm 7:2dc81120c917 1022
gallonm 7:2dc81120c917 1023
gallonm 7:2dc81120c917 1024 int VL6180X::VL6180x_RangeGetThresholds(VL6180xDev_t dev, uint16_t *low, uint16_t *high)
gallonm 7:2dc81120c917 1025 {
gallonm 7:2dc81120c917 1026 int status;
gallonm 7:2dc81120c917 1027 uint8_t RawLow, RawHigh;
gallonm 7:2dc81120c917 1028 int scale;
gallonm 7:2dc81120c917 1029
gallonm 7:2dc81120c917 1030 LOG_FUNCTION_START("%p %p", low , high);
gallonm 7:2dc81120c917 1031
gallonm 7:2dc81120c917 1032 scale=_GetUpscale(dev,UpscaleFactor);
gallonm 7:2dc81120c917 1033 do{
gallonm 7:2dc81120c917 1034 if( high != NULL ){
gallonm 7:2dc81120c917 1035 status=VL6180x_RdByte(dev, SYSRANGE_THRESH_HIGH,&RawHigh);
gallonm 7:2dc81120c917 1036 if( status ){
gallonm 7:2dc81120c917 1037 VL6180x_ErrLog("rd SYSRANGE_THRESH_HIGH fail");
gallonm 7:2dc81120c917 1038 break;
gallonm 7:2dc81120c917 1039 }
gallonm 7:2dc81120c917 1040 *high=(uint16_t)RawHigh*scale;
gallonm 7:2dc81120c917 1041 }
gallonm 7:2dc81120c917 1042 if( low != NULL ) {
gallonm 7:2dc81120c917 1043 status=VL6180x_RdByte(dev, SYSRANGE_THRESH_LOW, &RawLow);
gallonm 7:2dc81120c917 1044 if( status ){
gallonm 7:2dc81120c917 1045 VL6180x_ErrLog("rd SYSRANGE_THRESH_LOW fail");
gallonm 7:2dc81120c917 1046 break;
gallonm 7:2dc81120c917 1047 }
gallonm 7:2dc81120c917 1048 *low=(uint16_t)RawLow*scale;
gallonm 7:2dc81120c917 1049 }
gallonm 7:2dc81120c917 1050 }
gallonm 7:2dc81120c917 1051 while(0);
gallonm 7:2dc81120c917 1052 LOG_FUNCTION_END_FMT(status, "%d %d",(int)*low ,(int)*high);
gallonm 7:2dc81120c917 1053 return status;
gallonm 7:2dc81120c917 1054 }
gallonm 7:2dc81120c917 1055
gallonm 7:2dc81120c917 1056
gallonm 7:2dc81120c917 1057 int VL6180X::VL6180x_RangeGetInterruptStatus(VL6180xDev_t dev, uint8_t *pIntStatus) {
gallonm 7:2dc81120c917 1058 int status;
gallonm 7:2dc81120c917 1059 uint8_t IntStatus;
gallonm 7:2dc81120c917 1060 LOG_FUNCTION_START("%p", pIntStatus);
gallonm 7:2dc81120c917 1061 /* FIXME we are grouping "error" with over status the user must check implicitly for it
gallonm 7:2dc81120c917 1062 * not just new sample or over status , that will nevr show up in case of error*/
gallonm 7:2dc81120c917 1063 status = VL6180x_RdByte(dev, RESULT_INTERRUPT_STATUS_GPIO, &IntStatus);
gallonm 7:2dc81120c917 1064 *pIntStatus= IntStatus&0xC7;
gallonm 7:2dc81120c917 1065
gallonm 7:2dc81120c917 1066 LOG_FUNCTION_END_FMT(status, "%d", (int)*pIntStatus);
gallonm 7:2dc81120c917 1067 return status;
gallonm 7:2dc81120c917 1068 }
gallonm 7:2dc81120c917 1069
gallonm 7:2dc81120c917 1070
gallonm 7:2dc81120c917 1071 int VL6180X::VL6180x_GetInterruptStatus(VL6180xDev_t dev, uint8_t *IntStatus)
gallonm 7:2dc81120c917 1072 {
gallonm 7:2dc81120c917 1073 int status;
gallonm 7:2dc81120c917 1074 LOG_FUNCTION_START("%p" , IntStatus);
gallonm 7:2dc81120c917 1075 status = VL6180x_RdByte(dev, RESULT_INTERRUPT_STATUS_GPIO, IntStatus);
gallonm 7:2dc81120c917 1076 LOG_FUNCTION_END_FMT(status, "%d", (int)*IntStatus);
gallonm 7:2dc81120c917 1077 return status;
gallonm 7:2dc81120c917 1078 }
gallonm 7:2dc81120c917 1079
gallonm 7:2dc81120c917 1080 int VL6180X::VL6180x_ClearInterrupt(VL6180xDev_t dev, uint8_t IntClear )
gallonm 7:2dc81120c917 1081 {
gallonm 7:2dc81120c917 1082 int status;
gallonm 7:2dc81120c917 1083 LOG_FUNCTION_START("%d" ,(int)IntClear);
gallonm 7:2dc81120c917 1084 if( IntClear <= 7 ){
gallonm 7:2dc81120c917 1085 status=VL6180x_WrByte( dev, SYSTEM_INTERRUPT_CLEAR, IntClear);
gallonm 7:2dc81120c917 1086 }
gallonm 7:2dc81120c917 1087 else{
gallonm 7:2dc81120c917 1088 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1089 }
gallonm 7:2dc81120c917 1090 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1091 return status;
gallonm 7:2dc81120c917 1092 }
gallonm 7:2dc81120c917 1093
gallonm 7:2dc81120c917 1094
gallonm 7:2dc81120c917 1095 int VL6180X::VL6180x_RangeStaticInit(VL6180xDev_t dev)
gallonm 7:2dc81120c917 1096 {
gallonm 7:2dc81120c917 1097 int status;
gallonm 7:2dc81120c917 1098 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 1099
gallonm 7:2dc81120c917 1100 /* REGISTER_TUNING_SR03_270514_CustomerView.txt */
gallonm 7:2dc81120c917 1101 VL6180x_WrByte( dev, 0x0207, 0x01);
gallonm 7:2dc81120c917 1102 VL6180x_WrByte( dev, 0x0208, 0x01);
gallonm 7:2dc81120c917 1103 VL6180x_WrByte( dev, 0x0096, 0x00);
gallonm 7:2dc81120c917 1104 VL6180x_WrByte( dev, 0x0097, 0xfd);
gallonm 7:2dc81120c917 1105 VL6180x_WrByte( dev, 0x00e3, 0x00);
gallonm 7:2dc81120c917 1106 VL6180x_WrByte( dev, 0x00e4, 0x04);
gallonm 7:2dc81120c917 1107 VL6180x_WrByte( dev, 0x00e5, 0x02);
gallonm 7:2dc81120c917 1108 VL6180x_WrByte( dev, 0x00e6, 0x01);
gallonm 7:2dc81120c917 1109 VL6180x_WrByte( dev, 0x00e7, 0x03);
gallonm 7:2dc81120c917 1110 VL6180x_WrByte( dev, 0x00f5, 0x02);
gallonm 7:2dc81120c917 1111 VL6180x_WrByte( dev, 0x00d9, 0x05);
gallonm 7:2dc81120c917 1112 VL6180x_WrByte( dev, 0x00db, 0xce);
gallonm 7:2dc81120c917 1113 VL6180x_WrByte( dev, 0x00dc, 0x03);
gallonm 7:2dc81120c917 1114 VL6180x_WrByte( dev, 0x00dd, 0xf8);
gallonm 7:2dc81120c917 1115 VL6180x_WrByte( dev, 0x009f, 0x00);
gallonm 7:2dc81120c917 1116 VL6180x_WrByte( dev, 0x00a3, 0x3c);
gallonm 7:2dc81120c917 1117 VL6180x_WrByte( dev, 0x00b7, 0x00);
gallonm 7:2dc81120c917 1118 VL6180x_WrByte( dev, 0x00bb, 0x3c);
gallonm 7:2dc81120c917 1119 VL6180x_WrByte( dev, 0x00b2, 0x09);
gallonm 7:2dc81120c917 1120 VL6180x_WrByte( dev, 0x00ca, 0x09);
gallonm 7:2dc81120c917 1121 VL6180x_WrByte( dev, 0x0198, 0x01);
gallonm 7:2dc81120c917 1122 VL6180x_WrByte( dev, 0x01b0, 0x17);
gallonm 7:2dc81120c917 1123 VL6180x_WrByte( dev, 0x01ad, 0x00);
gallonm 7:2dc81120c917 1124 VL6180x_WrByte( dev, 0x00ff, 0x05);
gallonm 7:2dc81120c917 1125 VL6180x_WrByte( dev, 0x0100, 0x05);
gallonm 7:2dc81120c917 1126 VL6180x_WrByte( dev, 0x0199, 0x05);
gallonm 7:2dc81120c917 1127 VL6180x_WrByte( dev, 0x01a6, 0x1b);
gallonm 7:2dc81120c917 1128 VL6180x_WrByte( dev, 0x01ac, 0x3e);
gallonm 7:2dc81120c917 1129 VL6180x_WrByte( dev, 0x01a7, 0x1f);
gallonm 7:2dc81120c917 1130 VL6180x_WrByte( dev, 0x0030, 0x00);
gallonm 7:2dc81120c917 1131
gallonm 7:2dc81120c917 1132 /* Recommended : Public registers - See data sheet for more detail */
gallonm 7:2dc81120c917 1133 VL6180x_WrByte( dev, 0x0011, 0x10); /* Enables polling for New Sample ready when measurement completes */
gallonm 7:2dc81120c917 1134 VL6180x_WrByte( dev, 0x010a, 0x30); /* Set the averaging sample period (compromise between lower noise and increased execution time) */
gallonm 7:2dc81120c917 1135 VL6180x_WrByte( dev, 0x003f, 0x46); /* Sets the light and dark gain (upper nibble). Dark gain should not be changed.*/
gallonm 7:2dc81120c917 1136 VL6180x_WrByte( dev, 0x0031, 0xFF); /* sets the # of range measurements after which auto calibration of system is performed */
gallonm 7:2dc81120c917 1137 VL6180x_WrByte( dev, 0x0040, 0x63); /* Set ALS integration time to 100ms */
gallonm 7:2dc81120c917 1138 VL6180x_WrByte( dev, 0x002e, 0x01); /* perform a single temperature calibration of the ranging sensor */
gallonm 7:2dc81120c917 1139
gallonm 7:2dc81120c917 1140 /* Optional: Public registers - See data sheet for more detail */
gallonm 7:2dc81120c917 1141 VL6180x_WrByte( dev, 0x001b, 0x09); /* Set default ranging inter-measurement period to 100ms */
gallonm 7:2dc81120c917 1142 VL6180x_WrByte( dev, 0x003e, 0x31); /* Set default ALS inter-measurement period to 500ms */
gallonm 7:2dc81120c917 1143 VL6180x_WrByte( dev, 0x0014, 0x24); /* Configures interrupt on New sample ready */
gallonm 7:2dc81120c917 1144
gallonm 7:2dc81120c917 1145
gallonm 7:2dc81120c917 1146 status=VL6180x_RangeSetMaxConvergenceTime(dev, 50); /* Calculate ece value on initialization (use max conv) */
gallonm 7:2dc81120c917 1147 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1148
gallonm 7:2dc81120c917 1149 return status;
gallonm 7:2dc81120c917 1150 }
gallonm 7:2dc81120c917 1151
gallonm 7:2dc81120c917 1152 #if VL6180x_UPSCALE_SUPPORT != 1
gallonm 7:2dc81120c917 1153
gallonm 7:2dc81120c917 1154 int VL6180X::_UpscaleInitPatch0(VL6180xDev_t dev){
gallonm 7:2dc81120c917 1155 int status;
gallonm 7:2dc81120c917 1156 uint32_t CalValue=0;
gallonm 7:2dc81120c917 1157 CalValue= VL6180xDevDataGet(dev, Part2PartAmbNVM);
gallonm 7:2dc81120c917 1158 status=VL6180x_WrDWord( dev, 0xDA, CalValue);
gallonm 7:2dc81120c917 1159 return status;
gallonm 7:2dc81120c917 1160 }
gallonm 7:2dc81120c917 1161
gallonm 7:2dc81120c917 1162 /* only include up-scaling register setting when up-scale support is configured in */
gallonm 7:2dc81120c917 1163 int VL6180X::VL6180x_UpscaleRegInit(VL6180xDev_t dev)
gallonm 7:2dc81120c917 1164 {
gallonm 7:2dc81120c917 1165 /* apply REGISTER_TUNING_ER02_100614_CustomerView.txt */
gallonm 7:2dc81120c917 1166 VL6180x_WrByte( dev, 0x0207, 0x01);
gallonm 7:2dc81120c917 1167 VL6180x_WrByte( dev, 0x0208, 0x01);
gallonm 7:2dc81120c917 1168 VL6180x_WrByte( dev, 0x0096, 0x00);
gallonm 7:2dc81120c917 1169 VL6180x_WrByte( dev, 0x0097, 0x54);
gallonm 7:2dc81120c917 1170 VL6180x_WrByte( dev, 0x00e3, 0x00);
gallonm 7:2dc81120c917 1171 VL6180x_WrByte( dev, 0x00e4, 0x04);
gallonm 7:2dc81120c917 1172 VL6180x_WrByte( dev, 0x00e5, 0x02);
gallonm 7:2dc81120c917 1173 VL6180x_WrByte( dev, 0x00e6, 0x01);
gallonm 7:2dc81120c917 1174 VL6180x_WrByte( dev, 0x00e7, 0x03);
gallonm 7:2dc81120c917 1175 VL6180x_WrByte( dev, 0x00f5, 0x02);
gallonm 7:2dc81120c917 1176 VL6180x_WrByte( dev, 0x00d9, 0x05);
gallonm 7:2dc81120c917 1177
gallonm 7:2dc81120c917 1178 _UpscaleInitPatch0(dev);
gallonm 7:2dc81120c917 1179
gallonm 7:2dc81120c917 1180 VL6180x_WrByte( dev, 0x009f, 0x00);
gallonm 7:2dc81120c917 1181 VL6180x_WrByte( dev, 0x00a3, 0x28);
gallonm 7:2dc81120c917 1182 VL6180x_WrByte( dev, 0x00b7, 0x00);
gallonm 7:2dc81120c917 1183 VL6180x_WrByte( dev, 0x00bb, 0x28);
gallonm 7:2dc81120c917 1184 VL6180x_WrByte( dev, 0x00b2, 0x09);
gallonm 7:2dc81120c917 1185 VL6180x_WrByte( dev, 0x00ca, 0x09);
gallonm 7:2dc81120c917 1186 VL6180x_WrByte( dev, 0x0198, 0x01);
gallonm 7:2dc81120c917 1187 VL6180x_WrByte( dev, 0x01b0, 0x17);
gallonm 7:2dc81120c917 1188 VL6180x_WrByte( dev, 0x01ad, 0x00);
gallonm 7:2dc81120c917 1189 VL6180x_WrByte( dev, 0x00ff, 0x05);
gallonm 7:2dc81120c917 1190 VL6180x_WrByte( dev, 0x0100, 0x05);
gallonm 7:2dc81120c917 1191 VL6180x_WrByte( dev, 0x0199, 0x05);
gallonm 7:2dc81120c917 1192 VL6180x_WrByte( dev, 0x01a6, 0x1b);
gallonm 7:2dc81120c917 1193 VL6180x_WrByte( dev, 0x01ac, 0x3e);
gallonm 7:2dc81120c917 1194 VL6180x_WrByte( dev, 0x01a7, 0x1f);
gallonm 7:2dc81120c917 1195 VL6180x_WrByte( dev, 0x0030, 0x00);
gallonm 7:2dc81120c917 1196 VL6180x_WrByte( dev, 0x0011, 0x10);
gallonm 7:2dc81120c917 1197 VL6180x_WrByte( dev, 0x010a, 0x30);
gallonm 7:2dc81120c917 1198 VL6180x_WrByte( dev, 0x003f, 0x46);
gallonm 7:2dc81120c917 1199 VL6180x_WrByte( dev, 0x0031, 0xFF);
gallonm 7:2dc81120c917 1200 VL6180x_WrByte( dev, 0x0040, 0x63);
gallonm 7:2dc81120c917 1201 VL6180x_WrByte( dev, 0x002e, 0x01);
gallonm 7:2dc81120c917 1202 VL6180x_WrByte( dev, 0x002c, 0xff);
gallonm 7:2dc81120c917 1203 VL6180x_WrByte( dev, 0x001b, 0x09);
gallonm 7:2dc81120c917 1204 VL6180x_WrByte( dev, 0x003e, 0x31);
gallonm 7:2dc81120c917 1205 VL6180x_WrByte( dev, 0x0014, 0x24);
gallonm 7:2dc81120c917 1206 #if VL6180x_EXTENDED_RANGE
gallonm 7:2dc81120c917 1207 VL6180x_RangeSetMaxConvergenceTime(dev, 63);
gallonm 7:2dc81120c917 1208 #else
gallonm 7:2dc81120c917 1209 VL6180x_RangeSetMaxConvergenceTime(dev, 50);
gallonm 7:2dc81120c917 1210 #endif
gallonm 7:2dc81120c917 1211 return 0;
gallonm 7:2dc81120c917 1212 }
gallonm 7:2dc81120c917 1213 #else
gallonm 7:2dc81120c917 1214 #define VL6180x_UpscaleRegInit(...) -1
gallonm 7:2dc81120c917 1215 #endif
gallonm 7:2dc81120c917 1216
gallonm 7:2dc81120c917 1217 int VL6180X::VL6180x_UpscaleSetScaling(VL6180xDev_t dev, uint8_t scaling)
gallonm 7:2dc81120c917 1218 {
gallonm 7:2dc81120c917 1219 int status;
gallonm 7:2dc81120c917 1220 uint16_t Scaler;
gallonm 7:2dc81120c917 1221 int8_t Offset;
gallonm 7:2dc81120c917 1222
gallonm 7:2dc81120c917 1223 LOG_FUNCTION_START("%d",(int) scaling);
gallonm 7:2dc81120c917 1224
gallonm 7:2dc81120c917 1225 #ifdef VL6180x_HAVE_UPSCALE_DATA
gallonm 7:2dc81120c917 1226 #define min_scaling 1
gallonm 7:2dc81120c917 1227 #define max_scaling sizeof(ScalerLookUP)/sizeof(ScalerLookUP[0])
gallonm 7:2dc81120c917 1228 #else
gallonm 7:2dc81120c917 1229 /* we are in fixed config so only allow configured factor */
gallonm 7:2dc81120c917 1230 #define min_scaling VL6180x_UPSCALE_SUPPORT
gallonm 7:2dc81120c917 1231 #define max_scaling VL6180x_UPSCALE_SUPPORT
gallonm 7:2dc81120c917 1232 #endif
gallonm 7:2dc81120c917 1233
gallonm 7:2dc81120c917 1234 if( scaling>=min_scaling && scaling<= max_scaling ){
gallonm 7:2dc81120c917 1235
gallonm 7:2dc81120c917 1236 Scaler = ScalerLookUP[scaling-1];
gallonm 7:2dc81120c917 1237 status = VL6180x_WrWord(dev, RANGE_SCALER, Scaler);
gallonm 7:2dc81120c917 1238 _SetUpscale(dev, scaling );
gallonm 7:2dc81120c917 1239
gallonm 7:2dc81120c917 1240 /* Apply scaling on part-2-part offset */
gallonm 7:2dc81120c917 1241 Offset = VL6180xDevDataGet(dev, Part2PartOffsetNVM)/scaling;
gallonm 7:2dc81120c917 1242 status = VL6180x_WrByte(dev, SYSRANGE_PART_TO_PART_RANGE_OFFSET, Offset);
gallonm 7:2dc81120c917 1243 #if ! VL6180x_EXTENDED_RANGE
gallonm 7:2dc81120c917 1244 if( status ==0 ){
gallonm 7:2dc81120c917 1245 status = VL6180x_RangeSetEceState(dev, scaling == 1); /* enable ece only at 1x scaling */
gallonm 7:2dc81120c917 1246 }
gallonm 7:2dc81120c917 1247 if( status == 0 && !VL6180x_EXTENDED_RANGE && scaling!=1 ){
gallonm 7:2dc81120c917 1248 status = NOT_GUARANTEED ;
gallonm 7:2dc81120c917 1249 }
gallonm 7:2dc81120c917 1250 #endif
gallonm 7:2dc81120c917 1251 }
gallonm 7:2dc81120c917 1252 else{
gallonm 7:2dc81120c917 1253 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1254 }
gallonm 7:2dc81120c917 1255 #undef min_scaling
gallonm 7:2dc81120c917 1256 #undef max_scaling
gallonm 7:2dc81120c917 1257 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1258 return status;
gallonm 7:2dc81120c917 1259 }
gallonm 7:2dc81120c917 1260
gallonm 7:2dc81120c917 1261
gallonm 7:2dc81120c917 1262 int VL6180X::VL6180x_UpscaleGetScaling(VL6180xDev_t dev)
gallonm 7:2dc81120c917 1263 {
gallonm 7:2dc81120c917 1264 int status;
gallonm 7:2dc81120c917 1265 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 1266 status=_GetUpscale(dev );
gallonm 7:2dc81120c917 1267 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1268
gallonm 7:2dc81120c917 1269 return status;
gallonm 7:2dc81120c917 1270 }
gallonm 7:2dc81120c917 1271
gallonm 7:2dc81120c917 1272
gallonm 7:2dc81120c917 1273 int VL6180X::VL6180x_UpscaleStaticInit(VL6180xDev_t dev)
gallonm 7:2dc81120c917 1274 {
gallonm 7:2dc81120c917 1275 /* todo make these a fail macro in case only 1x is suppoted */
gallonm 7:2dc81120c917 1276 int status;
gallonm 7:2dc81120c917 1277
gallonm 7:2dc81120c917 1278 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 1279 do{
gallonm 7:2dc81120c917 1280 status=VL6180x_UpscaleRegInit(dev);
gallonm 7:2dc81120c917 1281 if( status){
gallonm 7:2dc81120c917 1282 VL6180x_ErrLog("regInit fail");
gallonm 7:2dc81120c917 1283 break;
gallonm 7:2dc81120c917 1284 }
gallonm 7:2dc81120c917 1285 #if VL6180x_EXTENDED_RANGE
gallonm 7:2dc81120c917 1286 status = VL6180x_RangeSetEceState(dev, 0);
gallonm 7:2dc81120c917 1287 if( status){
gallonm 7:2dc81120c917 1288 VL6180x_ErrLog("VL6180x_RangeSetEceState fail");
gallonm 7:2dc81120c917 1289 break;
gallonm 7:2dc81120c917 1290 }
gallonm 7:2dc81120c917 1291 #endif
gallonm 7:2dc81120c917 1292 } while(0);
gallonm 7:2dc81120c917 1293 if( !status){
gallonm 7:2dc81120c917 1294 /* must write the scaler at least once to the device to ensure the scaler is in a known state. */
gallonm 7:2dc81120c917 1295 status=VL6180x_UpscaleSetScaling(dev, _GetUpscale(dev));
gallonm 7:2dc81120c917 1296 VL6180x_WrByte( dev, 0x016, 0x00); /* change fresh out of set status to 0 */
gallonm 7:2dc81120c917 1297 }
gallonm 7:2dc81120c917 1298 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1299 return status;
gallonm 7:2dc81120c917 1300 }
gallonm 7:2dc81120c917 1301
gallonm 7:2dc81120c917 1302
gallonm 7:2dc81120c917 1303 int VL6180X::VL6180x_SetGPIOxPolarity(VL6180xDev_t dev, int pin, int active_high)
gallonm 7:2dc81120c917 1304 {
gallonm 7:2dc81120c917 1305 int status;
gallonm 7:2dc81120c917 1306 LOG_FUNCTION_START("%d %d",(int) pin, (int)active_high);
gallonm 7:2dc81120c917 1307
gallonm 7:2dc81120c917 1308 if( pin ==0 || pin ==1 ){
gallonm 7:2dc81120c917 1309 uint16_t RegIndex;
gallonm 7:2dc81120c917 1310 uint8_t DataSet;
gallonm 7:2dc81120c917 1311 if( pin==0 )
gallonm 7:2dc81120c917 1312 RegIndex= SYSTEM_MODE_GPIO0;
gallonm 7:2dc81120c917 1313 else
gallonm 7:2dc81120c917 1314 RegIndex= SYSTEM_MODE_GPIO1;
gallonm 7:2dc81120c917 1315
gallonm 7:2dc81120c917 1316 if (active_high )
gallonm 7:2dc81120c917 1317 DataSet = GPIOx_POLARITY_SELECT_MASK;
gallonm 7:2dc81120c917 1318 else
gallonm 7:2dc81120c917 1319 DataSet = 0;
gallonm 7:2dc81120c917 1320
gallonm 7:2dc81120c917 1321 status = VL6180x_UpdateByte(dev, RegIndex, (uint8_t)~GPIOx_POLARITY_SELECT_MASK, DataSet);
gallonm 7:2dc81120c917 1322 }
gallonm 7:2dc81120c917 1323 else{
gallonm 7:2dc81120c917 1324 VL6180x_ErrLog("Invalid pin param %d", (int)pin);
gallonm 7:2dc81120c917 1325 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1326 }
gallonm 7:2dc81120c917 1327
gallonm 7:2dc81120c917 1328 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1329
gallonm 7:2dc81120c917 1330 return status;
gallonm 7:2dc81120c917 1331 }
gallonm 7:2dc81120c917 1332
gallonm 7:2dc81120c917 1333 int VL6180X::VL6180x_SetGPIOxFunctionality(VL6180xDev_t dev, int pin, uint8_t functionality)
gallonm 7:2dc81120c917 1334 {
gallonm 7:2dc81120c917 1335 int status;
gallonm 7:2dc81120c917 1336
gallonm 7:2dc81120c917 1337 LOG_FUNCTION_START("%d %d",(int) pin, (int)functionality);
gallonm 7:2dc81120c917 1338
gallonm 7:2dc81120c917 1339 if( ((pin ==0) || (pin ==1)) && IsValidGPIOFunction(functionality) ){
gallonm 7:2dc81120c917 1340 uint16_t RegIndex;
gallonm 7:2dc81120c917 1341
gallonm 7:2dc81120c917 1342 if( pin==0 )
gallonm 7:2dc81120c917 1343 RegIndex= SYSTEM_MODE_GPIO0;
gallonm 7:2dc81120c917 1344 else
gallonm 7:2dc81120c917 1345 RegIndex= SYSTEM_MODE_GPIO1;
gallonm 7:2dc81120c917 1346
gallonm 7:2dc81120c917 1347 status = VL6180x_UpdateByte(dev, RegIndex, (uint8_t)~GPIOx_FUNCTIONALITY_SELECT_MASK, functionality<<GPIOx_FUNCTIONALITY_SELECT_SHIFT);
gallonm 7:2dc81120c917 1348 if( status){
gallonm 7:2dc81120c917 1349 VL6180x_ErrLog("Update SYSTEM_MODE_GPIO%d fail", (int)pin);
gallonm 7:2dc81120c917 1350 }
gallonm 7:2dc81120c917 1351 }
gallonm 7:2dc81120c917 1352 else{
gallonm 7:2dc81120c917 1353 VL6180x_ErrLog("Invalid pin %d or function %d", (int)pin, (int) functionality);
gallonm 7:2dc81120c917 1354 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1355 }
gallonm 7:2dc81120c917 1356
gallonm 7:2dc81120c917 1357 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1358 return status;
gallonm 7:2dc81120c917 1359 }
gallonm 7:2dc81120c917 1360
gallonm 7:2dc81120c917 1361
gallonm 7:2dc81120c917 1362 int VL6180X::VL6180x_SetupGPIOx(VL6180xDev_t dev, int pin, uint8_t IntFunction, int ActiveHigh)
gallonm 7:2dc81120c917 1363 {
gallonm 7:2dc81120c917 1364 int status;
gallonm 7:2dc81120c917 1365
gallonm 7:2dc81120c917 1366 LOG_FUNCTION_START("%d %d",(int) pin, (int)IntFunction);
gallonm 7:2dc81120c917 1367
gallonm 7:2dc81120c917 1368 if( ((pin ==0) || (pin ==1)) && IsValidGPIOFunction(IntFunction) ){
gallonm 7:2dc81120c917 1369 uint16_t RegIndex;
gallonm 7:2dc81120c917 1370 uint8_t value=0;
gallonm 7:2dc81120c917 1371
gallonm 7:2dc81120c917 1372 if( pin==0 )
gallonm 7:2dc81120c917 1373 RegIndex= SYSTEM_MODE_GPIO0;
gallonm 7:2dc81120c917 1374 else
gallonm 7:2dc81120c917 1375 RegIndex= SYSTEM_MODE_GPIO1;
gallonm 7:2dc81120c917 1376
gallonm 7:2dc81120c917 1377 if( ActiveHigh )
gallonm 7:2dc81120c917 1378 value|=GPIOx_POLARITY_SELECT_MASK;
gallonm 7:2dc81120c917 1379
gallonm 7:2dc81120c917 1380 value |= IntFunction<<GPIOx_FUNCTIONALITY_SELECT_SHIFT;
gallonm 7:2dc81120c917 1381 status = VL6180x_WrByte(dev, RegIndex, value);
gallonm 7:2dc81120c917 1382 if( status ){
gallonm 7:2dc81120c917 1383 VL6180x_ErrLog("SYSTEM_MODE_GPIO%d wr fail", (int)pin-SYSTEM_MODE_GPIO0);
gallonm 7:2dc81120c917 1384 }
gallonm 7:2dc81120c917 1385 }
gallonm 7:2dc81120c917 1386 else{
gallonm 7:2dc81120c917 1387 VL6180x_ErrLog("Invalid pin %d or function %d", (int)pin, (int) IntFunction);
gallonm 7:2dc81120c917 1388 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1389 }
gallonm 7:2dc81120c917 1390
gallonm 7:2dc81120c917 1391 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1392 return status;
gallonm 7:2dc81120c917 1393 }
gallonm 7:2dc81120c917 1394
gallonm 7:2dc81120c917 1395
gallonm 7:2dc81120c917 1396 int VL6180X::VL6180x_DisableGPIOxOut(VL6180xDev_t dev, int pin) {
gallonm 7:2dc81120c917 1397 int status;
gallonm 7:2dc81120c917 1398
gallonm 7:2dc81120c917 1399 LOG_FUNCTION_START("%d",(int)pin);
gallonm 7:2dc81120c917 1400
gallonm 7:2dc81120c917 1401 status=VL6180x_SetGPIOxFunctionality(dev, pin, GPIOx_SELECT_OFF);
gallonm 7:2dc81120c917 1402
gallonm 7:2dc81120c917 1403 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1404 return status;
gallonm 7:2dc81120c917 1405 }
gallonm 7:2dc81120c917 1406
gallonm 7:2dc81120c917 1407
gallonm 7:2dc81120c917 1408 int VL6180X::VL6180x_SetupGPIO1(VL6180xDev_t dev, uint8_t IntFunction, int ActiveHigh)
gallonm 7:2dc81120c917 1409 {
gallonm 7:2dc81120c917 1410 int status;
gallonm 7:2dc81120c917 1411 LOG_FUNCTION_START("%d %d",(int)IntFunction, (int)ActiveHigh );
gallonm 7:2dc81120c917 1412 status=VL6180x_SetupGPIOx(dev, 1 , IntFunction, ActiveHigh);
gallonm 7:2dc81120c917 1413 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1414 return status;
gallonm 7:2dc81120c917 1415 }
gallonm 7:2dc81120c917 1416
gallonm 7:2dc81120c917 1417 int VL6180X::VL6180x_RangeConfigInterrupt(VL6180xDev_t dev, uint8_t ConfigGpioInt)
gallonm 7:2dc81120c917 1418 {
gallonm 7:2dc81120c917 1419 int status;
gallonm 7:2dc81120c917 1420
gallonm 7:2dc81120c917 1421 if( ConfigGpioInt<= CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY){
gallonm 7:2dc81120c917 1422 status = VL6180x_UpdateByte(dev, SYSTEM_INTERRUPT_CONFIG_GPIO, (uint8_t)(~CONFIG_GPIO_RANGE_MASK), ConfigGpioInt);
gallonm 7:2dc81120c917 1423 }
gallonm 7:2dc81120c917 1424 else{
gallonm 7:2dc81120c917 1425 VL6180x_ErrLog("Invalid config mode param %d", (int)ConfigGpioInt);
gallonm 7:2dc81120c917 1426 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1427 }
gallonm 7:2dc81120c917 1428 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1429 return status;
gallonm 7:2dc81120c917 1430 }
gallonm 7:2dc81120c917 1431
gallonm 7:2dc81120c917 1432
gallonm 7:2dc81120c917 1433 int VL6180X::VL6180x_RangeSetEceFactor(VL6180xDev_t dev, uint16_t FactorM, uint16_t FactorD){
gallonm 7:2dc81120c917 1434 int status;
gallonm 7:2dc81120c917 1435 uint8_t u8;
gallonm 7:2dc81120c917 1436
gallonm 7:2dc81120c917 1437 LOG_FUNCTION_START("%d %d", (int)FactorM, (int)FactorD );
gallonm 7:2dc81120c917 1438 do{
gallonm 7:2dc81120c917 1439 /* D cannot be 0 M must be <=D and >= 0 */
gallonm 7:2dc81120c917 1440 if( FactorM <= FactorD && FactorD> 0){
gallonm 7:2dc81120c917 1441 VL6180xDevDataSet(dev, EceFactorM, FactorM);
gallonm 7:2dc81120c917 1442 VL6180xDevDataSet(dev, EceFactorD, FactorD);
gallonm 7:2dc81120c917 1443 /* read and re-apply max conv time to get new ece factor set */
gallonm 7:2dc81120c917 1444 status = VL6180x_RdByte(dev, SYSRANGE_MAX_CONVERGENCE_TIME, &u8);
gallonm 7:2dc81120c917 1445 if( status){
gallonm 7:2dc81120c917 1446 VL6180x_ErrLog("SYSRANGE_MAX_CONVERGENCE_TIME rd fail ");
gallonm 7:2dc81120c917 1447 break;
gallonm 7:2dc81120c917 1448 }
gallonm 7:2dc81120c917 1449 status = VL6180x_RangeSetMaxConvergenceTime(dev, u8);
gallonm 7:2dc81120c917 1450 if( status <0 ){
gallonm 7:2dc81120c917 1451 VL6180x_ErrLog("fail to apply time after ece m/d change");
gallonm 7:2dc81120c917 1452 break;
gallonm 7:2dc81120c917 1453 }
gallonm 7:2dc81120c917 1454 }
gallonm 7:2dc81120c917 1455 else{
gallonm 7:2dc81120c917 1456 VL6180x_ErrLog("invalid factor %d/%d", (int)FactorM, (int)FactorD );
gallonm 7:2dc81120c917 1457 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1458 }
gallonm 7:2dc81120c917 1459 }
gallonm 7:2dc81120c917 1460 while(0);
gallonm 7:2dc81120c917 1461 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1462 return status;
gallonm 7:2dc81120c917 1463 }
gallonm 7:2dc81120c917 1464
gallonm 7:2dc81120c917 1465 int VL6180X::VL6180x_RangeSetEceState(VL6180xDev_t dev, int enable ){
gallonm 7:2dc81120c917 1466 int status;
gallonm 7:2dc81120c917 1467 uint8_t or_mask;
gallonm 7:2dc81120c917 1468
gallonm 7:2dc81120c917 1469 LOG_FUNCTION_START("%d", (int)enable);
gallonm 7:2dc81120c917 1470 if( enable )
gallonm 7:2dc81120c917 1471 or_mask = RANGE_CHECK_ECE_ENABLE_MASK;
gallonm 7:2dc81120c917 1472 else
gallonm 7:2dc81120c917 1473 or_mask = 0;
gallonm 7:2dc81120c917 1474
gallonm 7:2dc81120c917 1475 status =VL6180x_UpdateByte(dev, SYSRANGE_RANGE_CHECK_ENABLES, ~RANGE_CHECK_ECE_ENABLE_MASK, or_mask);
gallonm 7:2dc81120c917 1476 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1477 return status;
gallonm 7:2dc81120c917 1478 }
gallonm 7:2dc81120c917 1479
gallonm 7:2dc81120c917 1480
gallonm 7:2dc81120c917 1481 int VL6180X::VL6180x_RangeSetMaxConvergenceTime(VL6180xDev_t dev, uint8_t MaxConTime_msec)
gallonm 7:2dc81120c917 1482 {
gallonm 7:2dc81120c917 1483 int status = 0;
gallonm 7:2dc81120c917 1484 LOG_FUNCTION_START("%d",(int)MaxConTime_msec);
gallonm 7:2dc81120c917 1485 do{
gallonm 7:2dc81120c917 1486 status=VL6180x_WrByte(dev, SYSRANGE_MAX_CONVERGENCE_TIME, MaxConTime_msec);
gallonm 7:2dc81120c917 1487 if( status ){
gallonm 7:2dc81120c917 1488 break;
gallonm 7:2dc81120c917 1489 }
gallonm 7:2dc81120c917 1490 status=VL6180x_RangeSetEarlyConvergenceEestimateThreshold(dev);
gallonm 7:2dc81120c917 1491 if( status){
gallonm 7:2dc81120c917 1492 break;
gallonm 7:2dc81120c917 1493 }
gallonm 7:2dc81120c917 1494 status = _DMax_InitData(dev);
gallonm 7:2dc81120c917 1495 }
gallonm 7:2dc81120c917 1496 while(0);
gallonm 7:2dc81120c917 1497 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1498 return status;
gallonm 7:2dc81120c917 1499 }
gallonm 7:2dc81120c917 1500
gallonm 7:2dc81120c917 1501 int VL6180X::VL6180x_RangeSetInterMeasPeriod(VL6180xDev_t dev, uint32_t InterMeasTime_msec){
gallonm 7:2dc81120c917 1502 uint8_t SetTime;
gallonm 7:2dc81120c917 1503 int status;
gallonm 7:2dc81120c917 1504
gallonm 7:2dc81120c917 1505 LOG_FUNCTION_START("%d",(int)InterMeasTime_msec);
gallonm 7:2dc81120c917 1506 do {
gallonm 7:2dc81120c917 1507 if( InterMeasTime_msec > 2550 ){
gallonm 7:2dc81120c917 1508 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1509 break;
gallonm 7:2dc81120c917 1510 }
gallonm 7:2dc81120c917 1511 /* doc in not 100% clear and confusing about the limit practically all value are OK but 0
gallonm 7:2dc81120c917 1512 * that can hang device in continuous mode */
gallonm 7:2dc81120c917 1513 if( InterMeasTime_msec < 10 ) {
gallonm 7:2dc81120c917 1514 InterMeasTime_msec=10;
gallonm 7:2dc81120c917 1515 }
gallonm 7:2dc81120c917 1516 SetTime=(uint8_t)(InterMeasTime_msec/10);
gallonm 7:2dc81120c917 1517 status=VL6180x_WrByte(dev, SYSRANGE_INTERMEASUREMENT_PERIOD, SetTime);
gallonm 7:2dc81120c917 1518 if( status ){
gallonm 7:2dc81120c917 1519 VL6180x_ErrLog("SYSRANGE_INTERMEASUREMENT_PERIOD wr fail");
gallonm 7:2dc81120c917 1520 }
gallonm 7:2dc81120c917 1521 else
gallonm 7:2dc81120c917 1522 if( SetTime != InterMeasTime_msec /10 ) {
gallonm 7:2dc81120c917 1523 status = MIN_CLIPED; /* on success change status to clip if it did */
gallonm 7:2dc81120c917 1524 }
gallonm 7:2dc81120c917 1525 }while(0);
gallonm 7:2dc81120c917 1526 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1527 return status;
gallonm 7:2dc81120c917 1528 }
gallonm 7:2dc81120c917 1529
gallonm 7:2dc81120c917 1530
gallonm 7:2dc81120c917 1531 int VL6180X::VL6180x_RangeGetDeviceReady(VL6180xDev_t dev, int * Ready){
gallonm 7:2dc81120c917 1532 int status;
gallonm 7:2dc81120c917 1533 uint8_t u8;
gallonm 7:2dc81120c917 1534 LOG_FUNCTION_START("%p", (int)Ready);
gallonm 7:2dc81120c917 1535 status=VL6180x_RdByte(dev, RESULT_RANGE_STATUS, &u8);
gallonm 7:2dc81120c917 1536 if( !status)
gallonm 7:2dc81120c917 1537 *Ready = u8&RANGE_DEVICE_READY_MASK;
gallonm 7:2dc81120c917 1538 LOG_FUNCTION_END_FMT(status,"%d", *Ready);
gallonm 7:2dc81120c917 1539 return status;
gallonm 7:2dc81120c917 1540 }
gallonm 7:2dc81120c917 1541
gallonm 7:2dc81120c917 1542
gallonm 7:2dc81120c917 1543 int VL6180X::VL6180x_RangeWaitDeviceReady(VL6180xDev_t dev, int MaxLoop ){
gallonm 7:2dc81120c917 1544 int status; /* if user specify an invalid <=0 loop count we'll return error */
gallonm 7:2dc81120c917 1545 int n;
gallonm 7:2dc81120c917 1546 uint8_t u8;
gallonm 7:2dc81120c917 1547 LOG_FUNCTION_START("%d", (int)MaxLoop);
gallonm 7:2dc81120c917 1548 if( MaxLoop<1){
gallonm 7:2dc81120c917 1549 status=INVALID_PARAMS;
gallonm 7:2dc81120c917 1550 }
gallonm 7:2dc81120c917 1551 else{
gallonm 7:2dc81120c917 1552 for( n=0; n < MaxLoop ; n++){
gallonm 7:2dc81120c917 1553 status=VL6180x_RdByte(dev, RESULT_RANGE_STATUS, &u8);
gallonm 7:2dc81120c917 1554 if( status)
gallonm 7:2dc81120c917 1555 break;
gallonm 7:2dc81120c917 1556 u8 = u8 & RANGE_DEVICE_READY_MASK;
gallonm 7:2dc81120c917 1557 if( u8 )
gallonm 7:2dc81120c917 1558 break;
gallonm 7:2dc81120c917 1559
gallonm 7:2dc81120c917 1560 }
gallonm 7:2dc81120c917 1561 if( !status && !u8 ){
gallonm 7:2dc81120c917 1562 status = TIME_OUT;
gallonm 7:2dc81120c917 1563 }
gallonm 7:2dc81120c917 1564 }
gallonm 7:2dc81120c917 1565 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1566 return status;
gallonm 7:2dc81120c917 1567 }
gallonm 7:2dc81120c917 1568
gallonm 7:2dc81120c917 1569 int VL6180X::VL6180x_RangeSetSystemMode(VL6180xDev_t dev, uint8_t mode)
gallonm 7:2dc81120c917 1570 {
gallonm 7:2dc81120c917 1571 int status;
gallonm 7:2dc81120c917 1572 LOG_FUNCTION_START("%d", (int)mode);
gallonm 7:2dc81120c917 1573 /* FIXME we are not checking device is ready via @a VL6180x_RangeWaitDeviceReady
gallonm 7:2dc81120c917 1574 * so if called back to back real fast we are not checking
gallonm 7:2dc81120c917 1575 * if previous mode "set" got absorbed => bit 0 must be 0 so that it work
gallonm 7:2dc81120c917 1576 */
gallonm 7:2dc81120c917 1577 if( mode <= 3){
gallonm 7:2dc81120c917 1578 status=VL6180x_WrByte(dev, SYSRANGE_START, mode);
gallonm 7:2dc81120c917 1579 if( status ){
gallonm 7:2dc81120c917 1580 VL6180x_ErrLog("SYSRANGE_START wr fail");
gallonm 7:2dc81120c917 1581 }
gallonm 7:2dc81120c917 1582 }
gallonm 7:2dc81120c917 1583 else{
gallonm 7:2dc81120c917 1584 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1585 }
gallonm 7:2dc81120c917 1586 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1587 return status;
gallonm 7:2dc81120c917 1588 }
gallonm 7:2dc81120c917 1589
gallonm 7:2dc81120c917 1590
gallonm 7:2dc81120c917 1591 int VL6180X::VL6180x_RangeStartContinuousMode(VL6180xDev_t dev)
gallonm 7:2dc81120c917 1592 {
gallonm 7:2dc81120c917 1593 int status;
gallonm 7:2dc81120c917 1594 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 1595 status= VL6180x_RangeSetSystemMode(dev, MODE_START_STOP | MODE_CONTINUOUS);
gallonm 7:2dc81120c917 1596 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1597 return status;
gallonm 7:2dc81120c917 1598 }
gallonm 7:2dc81120c917 1599
gallonm 7:2dc81120c917 1600 int VL6180X::VL6180x_RangeStartSingleShot(VL6180xDev_t dev) {
gallonm 7:2dc81120c917 1601 int status;
gallonm 7:2dc81120c917 1602 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 1603 status = VL6180x_RangeSetSystemMode(dev, MODE_START_STOP|MODE_SINGLESHOT);
gallonm 7:2dc81120c917 1604 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1605 return status;
gallonm 7:2dc81120c917 1606 }
gallonm 7:2dc81120c917 1607
gallonm 7:2dc81120c917 1608
gallonm 7:2dc81120c917 1609 int VL6180X::VL6180x_RangeSetEarlyConvergenceEestimateThreshold(VL6180xDev_t dev)
gallonm 7:2dc81120c917 1610 {
gallonm 7:2dc81120c917 1611 int status;
gallonm 7:2dc81120c917 1612
gallonm 7:2dc81120c917 1613 const uint32_t cMicroSecPerMilliSec = 1000;
gallonm 7:2dc81120c917 1614 const uint32_t cEceSampleTime_us = 500;
gallonm 7:2dc81120c917 1615 uint32_t ece_factor_m = VL6180xDevDataGet(dev, EceFactorM);
gallonm 7:2dc81120c917 1616 uint32_t ece_factor_d = VL6180xDevDataGet(dev, EceFactorD);
gallonm 7:2dc81120c917 1617 uint32_t convergTime_us;
gallonm 7:2dc81120c917 1618 uint32_t fineThresh;
gallonm 7:2dc81120c917 1619 uint32_t eceThresh;
gallonm 7:2dc81120c917 1620 uint8_t u8;
gallonm 7:2dc81120c917 1621 uint32_t maxConv_ms;
gallonm 7:2dc81120c917 1622 int32_t AveTime;
gallonm 7:2dc81120c917 1623
gallonm 7:2dc81120c917 1624 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 1625
gallonm 7:2dc81120c917 1626 do{
gallonm 7:2dc81120c917 1627 status = VL6180x_RdByte(dev, SYSRANGE_MAX_CONVERGENCE_TIME, &u8);
gallonm 7:2dc81120c917 1628 if( status ){
gallonm 7:2dc81120c917 1629 VL6180x_ErrLog("SYSRANGE_MAX_CONVERGENCE_TIME rd fail");
gallonm 7:2dc81120c917 1630 break;
gallonm 7:2dc81120c917 1631 }
gallonm 7:2dc81120c917 1632 maxConv_ms = u8;
gallonm 7:2dc81120c917 1633 AveTime = _GetAveTotalTime(dev);
gallonm 7:2dc81120c917 1634 if( AveTime <0 ){
gallonm 7:2dc81120c917 1635 status=-1;
gallonm 7:2dc81120c917 1636 break;
gallonm 7:2dc81120c917 1637 }
gallonm 7:2dc81120c917 1638
gallonm 7:2dc81120c917 1639 convergTime_us = maxConv_ms * cMicroSecPerMilliSec - AveTime;
gallonm 7:2dc81120c917 1640 status = VL6180x_RdDWord(dev, 0xB8, &fineThresh);
gallonm 7:2dc81120c917 1641 if( status ) {
gallonm 7:2dc81120c917 1642 VL6180x_ErrLog("reg 0xB8 rd fail");
gallonm 7:2dc81120c917 1643 break;
gallonm 7:2dc81120c917 1644 }
gallonm 7:2dc81120c917 1645 fineThresh*=256;
gallonm 7:2dc81120c917 1646 eceThresh = ece_factor_m * cEceSampleTime_us * fineThresh/(convergTime_us * ece_factor_d);
gallonm 7:2dc81120c917 1647
gallonm 7:2dc81120c917 1648 status=VL6180x_WrWord(dev, SYSRANGE_EARLY_CONVERGENCE_ESTIMATE, (uint16_t)eceThresh);
gallonm 7:2dc81120c917 1649 }
gallonm 7:2dc81120c917 1650 while(0);
gallonm 7:2dc81120c917 1651
gallonm 7:2dc81120c917 1652 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1653 return status;
gallonm 7:2dc81120c917 1654 }
gallonm 7:2dc81120c917 1655
gallonm 7:2dc81120c917 1656 /*
gallonm 7:2dc81120c917 1657 * Return >0 = time
gallonm 7:2dc81120c917 1658 * <0 1 if fail to get read data from device to compute time
gallonm 7:2dc81120c917 1659 */
gallonm 7:2dc81120c917 1660 int32_t VL6180X::_GetAveTotalTime(VL6180xDev_t dev) {
gallonm 7:2dc81120c917 1661 uint32_t cFwOverhead_us = 24;
gallonm 7:2dc81120c917 1662 uint32_t cVcpSetupTime_us = 70;
gallonm 7:2dc81120c917 1663 uint32_t cPLL2_StartupDelay_us = 200;
gallonm 7:2dc81120c917 1664 uint8_t cMeasMask = 0x07;
gallonm 7:2dc81120c917 1665 uint32_t Samples;
gallonm 7:2dc81120c917 1666 uint32_t SamplePeriod;
gallonm 7:2dc81120c917 1667 uint32_t SingleTime_us;
gallonm 7:2dc81120c917 1668 int32_t TotalAveTime_us;
gallonm 7:2dc81120c917 1669 uint8_t u8;
gallonm 7:2dc81120c917 1670 int status;
gallonm 7:2dc81120c917 1671
gallonm 7:2dc81120c917 1672 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 1673
gallonm 7:2dc81120c917 1674 status = VL6180x_RdByte(dev, 0x109, &u8);
gallonm 7:2dc81120c917 1675 if (status) {
gallonm 7:2dc81120c917 1676 VL6180x_ErrLog("rd 0x109 fail");
gallonm 7:2dc81120c917 1677 return -1;
gallonm 7:2dc81120c917 1678 }
gallonm 7:2dc81120c917 1679 Samples = u8 & cMeasMask;
gallonm 7:2dc81120c917 1680 status = VL6180x_RdByte(dev, READOUT_AVERAGING_SAMPLE_PERIOD, &u8);
gallonm 7:2dc81120c917 1681 if (status) {
gallonm 7:2dc81120c917 1682 VL6180x_ErrLog("i2c READOUT_AVERAGING_SAMPLE_PERIOD fail");
gallonm 7:2dc81120c917 1683 return -1;
gallonm 7:2dc81120c917 1684 }
gallonm 7:2dc81120c917 1685 SamplePeriod = u8;
gallonm 7:2dc81120c917 1686 SingleTime_us = cFwOverhead_us + cVcpSetupTime_us + (SamplePeriod * 10);
gallonm 7:2dc81120c917 1687 TotalAveTime_us = (Samples + 1) * SingleTime_us + cPLL2_StartupDelay_us;
gallonm 7:2dc81120c917 1688
gallonm 7:2dc81120c917 1689 LOG_FUNCTION_END(TotalAveTime_us);
gallonm 7:2dc81120c917 1690 return TotalAveTime_us;
gallonm 7:2dc81120c917 1691 }
gallonm 7:2dc81120c917 1692
gallonm 7:2dc81120c917 1693 #if VL6180x_HAVE_DMAX_RANGING
gallonm 7:2dc81120c917 1694 #define _GetDMaxDataRetSignalAt400mm(dev) VL6180xDevDataGet(dev, DMaxData.retSignalAt400mm)
gallonm 7:2dc81120c917 1695 #else
gallonm 7:2dc81120c917 1696 #define _GetDMaxDataRetSignalAt400mm(dev) 375 // Use a default high value
gallonm 7:2dc81120c917 1697 #endif
gallonm 7:2dc81120c917 1698
gallonm 7:2dc81120c917 1699
gallonm 7:2dc81120c917 1700 #if VL6180x_WRAP_AROUND_FILTER_SUPPORT
gallonm 7:2dc81120c917 1701
gallonm 7:2dc81120c917 1702 #define FILTER_STDDEV_SAMPLES 6
gallonm 7:2dc81120c917 1703 #define MIN_FILTER_STDDEV_SAMPLES 3
gallonm 7:2dc81120c917 1704 #define MIN_FILTER_VALID_STDDEV_SAMPLES 3
gallonm 7:2dc81120c917 1705 #define FILTER_INVALID_DISTANCE 65535
gallonm 7:2dc81120c917 1706
gallonm 7:2dc81120c917 1707 #define _FilterData(field) VL6180xDevDataGet(dev, FilterData.field)
gallonm 7:2dc81120c917 1708 /*
gallonm 7:2dc81120c917 1709 * One time init
gallonm 7:2dc81120c917 1710 */
gallonm 7:2dc81120c917 1711 int _filter_Init( VL6180xDev_t dev) {
gallonm 7:2dc81120c917 1712 int i;
gallonm 7:2dc81120c917 1713 _FilterData(MeasurementIndex) = 0;
gallonm 7:2dc81120c917 1714
gallonm 7:2dc81120c917 1715 _FilterData(Default_ZeroVal) = 0;
gallonm 7:2dc81120c917 1716 _FilterData(Default_VAVGVal) = 0;
gallonm 7:2dc81120c917 1717 _FilterData(NoDelay_ZeroVal) = 0;
gallonm 7:2dc81120c917 1718 _FilterData(NoDelay_VAVGVal) = 0;
gallonm 7:2dc81120c917 1719 _FilterData(Previous_VAVGDiff) = 0;
gallonm 7:2dc81120c917 1720
gallonm 7:2dc81120c917 1721 _FilterData(StdFilteredReads) = 0;
gallonm 7:2dc81120c917 1722
gallonm 7:2dc81120c917 1723 for (i = 0; i < FILTER_NBOF_SAMPLES; i++) {
gallonm 7:2dc81120c917 1724 _FilterData(LastTrueRange)[i] = FILTER_INVALID_DISTANCE;
gallonm 7:2dc81120c917 1725 _FilterData(LastReturnRates)[i] = 0;
gallonm 7:2dc81120c917 1726 }
gallonm 7:2dc81120c917 1727 return 0;
gallonm 7:2dc81120c917 1728 }
gallonm 7:2dc81120c917 1729
gallonm 7:2dc81120c917 1730
gallonm 7:2dc81120c917 1731 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 1732 uint32_t newStdDev;
gallonm 7:2dc81120c917 1733 uint16_t SNR;
gallonm 7:2dc81120c917 1734
gallonm 7:2dc81120c917 1735 if (AmbientRate > 0)
gallonm 7:2dc81120c917 1736 SNR = (uint16_t) ((100 * SignalRate) / AmbientRate);
gallonm 7:2dc81120c917 1737 else
gallonm 7:2dc81120c917 1738 SNR = 9999;
gallonm 7:2dc81120c917 1739
gallonm 7:2dc81120c917 1740 if (SNR >= StdDevLimitLowLightSNR) {
gallonm 7:2dc81120c917 1741 newStdDev = StdDevLimitLowLight;
gallonm 7:2dc81120c917 1742 } else {
gallonm 7:2dc81120c917 1743 if (SNR <= StdDevLimitHighLightSNR)
gallonm 7:2dc81120c917 1744 newStdDev = StdDevLimitHighLight;
gallonm 7:2dc81120c917 1745 else {
gallonm 7:2dc81120c917 1746 newStdDev = (uint32_t) (StdDevLimitHighLight + (SNR - StdDevLimitHighLightSNR) * (int) (StdDevLimitLowLight - StdDevLimitHighLight) / (StdDevLimitLowLightSNR - StdDevLimitHighLightSNR));
gallonm 7:2dc81120c917 1747 }
gallonm 7:2dc81120c917 1748 }
gallonm 7:2dc81120c917 1749
gallonm 7:2dc81120c917 1750 return newStdDev;
gallonm 7:2dc81120c917 1751 }
gallonm 7:2dc81120c917 1752
gallonm 7:2dc81120c917 1753
gallonm 7:2dc81120c917 1754 /*
gallonm 7:2dc81120c917 1755 * Return <0 on error
gallonm 7:2dc81120c917 1756 */
gallonm 7:2dc81120c917 1757 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 1758 int status;
gallonm 7:2dc81120c917 1759 uint16_t m_newTrueRange_mm = 0;
gallonm 7:2dc81120c917 1760
gallonm 7:2dc81120c917 1761 uint16_t i;
gallonm 7:2dc81120c917 1762 uint16_t bypassFilter = 0;
gallonm 7:2dc81120c917 1763
gallonm 7:2dc81120c917 1764 uint16_t registerValue;
gallonm 7:2dc81120c917 1765
gallonm 7:2dc81120c917 1766 uint32_t register32BitsValue1;
gallonm 7:2dc81120c917 1767 uint32_t register32BitsValue2;
gallonm 7:2dc81120c917 1768
gallonm 7:2dc81120c917 1769 uint16_t ValidDistance = 0;
gallonm 7:2dc81120c917 1770
gallonm 7:2dc81120c917 1771 uint16_t WrapAroundFlag = 0;
gallonm 7:2dc81120c917 1772 uint16_t NoWrapAroundFlag = 0;
gallonm 7:2dc81120c917 1773 uint16_t NoWrapAroundHighConfidenceFlag = 0;
gallonm 7:2dc81120c917 1774
gallonm 7:2dc81120c917 1775 uint16_t FlushFilter = 0;
gallonm 7:2dc81120c917 1776 uint32_t RateChange = 0;
gallonm 7:2dc81120c917 1777
gallonm 7:2dc81120c917 1778 uint16_t StdDevSamples = 0;
gallonm 7:2dc81120c917 1779 uint32_t StdDevDistanceSum = 0;
gallonm 7:2dc81120c917 1780 uint32_t StdDevDistanceMean = 0;
gallonm 7:2dc81120c917 1781 uint32_t StdDevDistance = 0;
gallonm 7:2dc81120c917 1782 uint32_t StdDevRateSum = 0;
gallonm 7:2dc81120c917 1783 uint32_t StdDevRateMean = 0;
gallonm 7:2dc81120c917 1784 uint32_t StdDevRate = 0;
gallonm 7:2dc81120c917 1785 uint32_t StdDevLimitWithTargetMove = 0;
gallonm 7:2dc81120c917 1786
gallonm 7:2dc81120c917 1787 uint32_t VAVGDiff;
gallonm 7:2dc81120c917 1788 uint32_t IdealVAVGDiff;
gallonm 7:2dc81120c917 1789 uint32_t MinVAVGDiff;
gallonm 7:2dc81120c917 1790 uint32_t MaxVAVGDiff;
gallonm 7:2dc81120c917 1791
gallonm 7:2dc81120c917 1792 /* Filter Parameters */
gallonm 7:2dc81120c917 1793 static const uint16_t ROMABLE_DATA WrapAroundLowRawRangeLimit = 60;
gallonm 7:2dc81120c917 1794 static const uint32_t ROMABLE_DATA WrapAroundLowReturnRateLimit_ROM = 800; // Shall be adapted depending on crossTalk
gallonm 7:2dc81120c917 1795 static const uint16_t ROMABLE_DATA WrapAroundLowRawRangeLimit2 = 165;
gallonm 7:2dc81120c917 1796 static const uint32_t ROMABLE_DATA WrapAroundLowReturnRateLimit2_ROM = 180; // Shall be adapted depending on crossTalk and device sensitivity
gallonm 7:2dc81120c917 1797
gallonm 7:2dc81120c917 1798 static const uint32_t ROMABLE_DATA WrapAroundLowReturnRateFilterLimit_ROM = 850; // Shall be adapted depending on crossTalk and device sensitivity
gallonm 7:2dc81120c917 1799 static const uint16_t ROMABLE_DATA WrapAroundHighRawRangeFilterLimit = 350;
gallonm 7:2dc81120c917 1800 static const uint32_t ROMABLE_DATA WrapAroundHighReturnRateFilterLimit_ROM = 1400; // Shall be adapted depending on crossTalk and device sensitivity
gallonm 7:2dc81120c917 1801
gallonm 7:2dc81120c917 1802 static const uint32_t ROMABLE_DATA WrapAroundMaximumAmbientRateFilterLimit = 7500;
gallonm 7:2dc81120c917 1803
gallonm 7:2dc81120c917 1804 /* Temporal filter data and flush values */
gallonm 7:2dc81120c917 1805 static const uint32_t ROMABLE_DATA MinReturnRateFilterFlush = 75;
gallonm 7:2dc81120c917 1806 static const uint32_t ROMABLE_DATA MaxReturnRateChangeFilterFlush = 50;
gallonm 7:2dc81120c917 1807
gallonm 7:2dc81120c917 1808 /* STDDEV values and damper values */
gallonm 7:2dc81120c917 1809
gallonm 7:2dc81120c917 1810 static const uint32_t ROMABLE_DATA StdDevLimitLowLight = 300;
gallonm 7:2dc81120c917 1811 static const uint32_t ROMABLE_DATA StdDevLimitLowLightSNR = 30; /* 0.3 */
gallonm 7:2dc81120c917 1812 static const uint32_t ROMABLE_DATA StdDevLimitHighLight = 2500;
gallonm 7:2dc81120c917 1813 static const uint32_t ROMABLE_DATA StdDevLimitHighLightSNR = 5; /* 0.05 */
gallonm 7:2dc81120c917 1814
gallonm 7:2dc81120c917 1815 static const uint32_t ROMABLE_DATA StdDevHighConfidenceSNRLimit = 8;
gallonm 7:2dc81120c917 1816
gallonm 7:2dc81120c917 1817 static const uint32_t ROMABLE_DATA StdDevMovingTargetStdDevLimit = 90000;
gallonm 7:2dc81120c917 1818
gallonm 7:2dc81120c917 1819 static const uint32_t ROMABLE_DATA StdDevMovingTargetReturnRateLimit = 3500;
gallonm 7:2dc81120c917 1820 static const uint32_t ROMABLE_DATA StdDevMovingTargetStdDevForReturnRateLimit = 5000;
gallonm 7:2dc81120c917 1821
gallonm 7:2dc81120c917 1822 static const uint32_t ROMABLE_DATA MAX_VAVGDiff = 1800;
gallonm 7:2dc81120c917 1823
gallonm 7:2dc81120c917 1824 /* WrapAroundDetection variables */
gallonm 7:2dc81120c917 1825 static const uint16_t ROMABLE_DATA WrapAroundNoDelayCheckPeriod = 2;
gallonm 7:2dc81120c917 1826 static const uint16_t ROMABLE_DATA StdFilteredReadsIncrement = 2;
gallonm 7:2dc81120c917 1827 static const uint16_t ROMABLE_DATA StdMaxFilteredReads = 4;
gallonm 7:2dc81120c917 1828
gallonm 7:2dc81120c917 1829 uint32_t SignalRateDMax;
gallonm 7:2dc81120c917 1830 uint32_t WrapAroundLowReturnRateLimit;
gallonm 7:2dc81120c917 1831 uint32_t WrapAroundLowReturnRateLimit2;
gallonm 7:2dc81120c917 1832 uint32_t WrapAroundLowReturnRateFilterLimit;
gallonm 7:2dc81120c917 1833 uint32_t WrapAroundHighReturnRateFilterLimit;
gallonm 7:2dc81120c917 1834
gallonm 7:2dc81120c917 1835 uint8_t u8, u8_2;
gallonm 7:2dc81120c917 1836 uint32_t XTalkCompRate_KCps;
gallonm 7:2dc81120c917 1837 uint32_t StdDevLimit = 300;
gallonm 7:2dc81120c917 1838 uint32_t MaxOrInvalidDistance = 255*_GetUpscale(dev);
gallonm 7:2dc81120c917 1839 /* #define MaxOrInvalidDistance (uint16_t) (255 * 3) */
gallonm 7:2dc81120c917 1840
gallonm 7:2dc81120c917 1841 /* Check if distance is Valid or not */
gallonm 7:2dc81120c917 1842 switch (errorCode) {
gallonm 7:2dc81120c917 1843 case 0x0C:
gallonm 7:2dc81120c917 1844 m_trueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 1845 ValidDistance = 0;
gallonm 7:2dc81120c917 1846 break;
gallonm 7:2dc81120c917 1847 case 0x0D:
gallonm 7:2dc81120c917 1848 m_trueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 1849 ValidDistance = 1;
gallonm 7:2dc81120c917 1850 break;
gallonm 7:2dc81120c917 1851 case 0x0F:
gallonm 7:2dc81120c917 1852 m_trueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 1853 ValidDistance = 1;
gallonm 7:2dc81120c917 1854 break;
gallonm 7:2dc81120c917 1855 default:
gallonm 7:2dc81120c917 1856 if (m_rawRange_mm >= MaxOrInvalidDistance) {
gallonm 7:2dc81120c917 1857 ValidDistance = 0;
gallonm 7:2dc81120c917 1858 } else {
gallonm 7:2dc81120c917 1859 ValidDistance = 1;
gallonm 7:2dc81120c917 1860 }
gallonm 7:2dc81120c917 1861 break;
gallonm 7:2dc81120c917 1862 }
gallonm 7:2dc81120c917 1863 m_newTrueRange_mm = m_trueRange_mm;
gallonm 7:2dc81120c917 1864
gallonm 7:2dc81120c917 1865 XTalkCompRate_KCps = VL6180xDevDataGet(dev, XTalkCompRate_KCps );
gallonm 7:2dc81120c917 1866
gallonm 7:2dc81120c917 1867
gallonm 7:2dc81120c917 1868 //Update signal rate limits depending on crosstalk
gallonm 7:2dc81120c917 1869 SignalRateDMax = (uint32_t)_GetDMaxDataRetSignalAt400mm(dev) + XTalkCompRate_KCps;
gallonm 7:2dc81120c917 1870 WrapAroundLowReturnRateLimit = WrapAroundLowReturnRateLimit_ROM + XTalkCompRate_KCps;
gallonm 7:2dc81120c917 1871 WrapAroundLowReturnRateLimit2 = ((WrapAroundLowReturnRateLimit2_ROM * SignalRateDMax) / 312) + XTalkCompRate_KCps;
gallonm 7:2dc81120c917 1872 WrapAroundLowReturnRateFilterLimit = ((WrapAroundLowReturnRateFilterLimit_ROM * SignalRateDMax) / 312) + XTalkCompRate_KCps;
gallonm 7:2dc81120c917 1873 WrapAroundHighReturnRateFilterLimit = ((WrapAroundHighReturnRateFilterLimit_ROM * SignalRateDMax) / 312) + XTalkCompRate_KCps;
gallonm 7:2dc81120c917 1874
gallonm 7:2dc81120c917 1875
gallonm 7:2dc81120c917 1876 /* Checks on low range data */
gallonm 7:2dc81120c917 1877 if ((m_rawRange_mm < WrapAroundLowRawRangeLimit) && (m_rtnSignalRate < WrapAroundLowReturnRateLimit)) {
gallonm 7:2dc81120c917 1878 m_newTrueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 1879 bypassFilter = 1;
gallonm 7:2dc81120c917 1880 }
gallonm 7:2dc81120c917 1881 if ((m_rawRange_mm < WrapAroundLowRawRangeLimit2) && (m_rtnSignalRate < WrapAroundLowReturnRateLimit2)) {
gallonm 7:2dc81120c917 1882 m_newTrueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 1883 bypassFilter = 1;
gallonm 7:2dc81120c917 1884 }
gallonm 7:2dc81120c917 1885
gallonm 7:2dc81120c917 1886 /* Checks on Ambient rate level */
gallonm 7:2dc81120c917 1887 if (m_rtnAmbientRate > WrapAroundMaximumAmbientRateFilterLimit) {
gallonm 7:2dc81120c917 1888 /* Too high ambient rate */
gallonm 7:2dc81120c917 1889 FlushFilter = 1;
gallonm 7:2dc81120c917 1890 bypassFilter = 1;
gallonm 7:2dc81120c917 1891 }
gallonm 7:2dc81120c917 1892 /* Checks on Filter flush */
gallonm 7:2dc81120c917 1893 if (m_rtnSignalRate < MinReturnRateFilterFlush) {
gallonm 7:2dc81120c917 1894 /* Completely lost target, so flush the filter */
gallonm 7:2dc81120c917 1895 FlushFilter = 1;
gallonm 7:2dc81120c917 1896 bypassFilter = 1;
gallonm 7:2dc81120c917 1897 }
gallonm 7:2dc81120c917 1898 if (_FilterData(LastReturnRates)[0] != 0) {
gallonm 7:2dc81120c917 1899 if (m_rtnSignalRate > _FilterData(LastReturnRates)[0])
gallonm 7:2dc81120c917 1900 RateChange = (100 * (m_rtnSignalRate - _FilterData(LastReturnRates)[0])) / _FilterData(LastReturnRates)[0];
gallonm 7:2dc81120c917 1901 else
gallonm 7:2dc81120c917 1902 RateChange = (100 * (_FilterData(LastReturnRates)[0] - m_rtnSignalRate)) / _FilterData(LastReturnRates)[0];
gallonm 7:2dc81120c917 1903 } else
gallonm 7:2dc81120c917 1904 RateChange = 0;
gallonm 7:2dc81120c917 1905 if (RateChange > MaxReturnRateChangeFilterFlush) {
gallonm 7:2dc81120c917 1906 FlushFilter = 1;
gallonm 7:2dc81120c917 1907 }
gallonm 7:2dc81120c917 1908 /* TODO optimize filter using circular buffer */
gallonm 7:2dc81120c917 1909 if (FlushFilter == 1) {
gallonm 7:2dc81120c917 1910 _FilterData(MeasurementIndex) = 0;
gallonm 7:2dc81120c917 1911 for (i = 0; i < FILTER_NBOF_SAMPLES; i++) {
gallonm 7:2dc81120c917 1912 _FilterData(LastTrueRange)[i] = FILTER_INVALID_DISTANCE;
gallonm 7:2dc81120c917 1913 _FilterData(LastReturnRates)[i] = 0;
gallonm 7:2dc81120c917 1914 }
gallonm 7:2dc81120c917 1915 } else {
gallonm 7:2dc81120c917 1916 for (i = (uint16_t) (FILTER_NBOF_SAMPLES - 1); i > 0; i--) {
gallonm 7:2dc81120c917 1917 _FilterData(LastTrueRange)[i] = _FilterData(LastTrueRange)[i - 1];
gallonm 7:2dc81120c917 1918 _FilterData(LastReturnRates)[i] = _FilterData(LastReturnRates)[i - 1];
gallonm 7:2dc81120c917 1919 }
gallonm 7:2dc81120c917 1920 }
gallonm 7:2dc81120c917 1921 if (ValidDistance == 1)
gallonm 7:2dc81120c917 1922 _FilterData(LastTrueRange)[0] = m_trueRange_mm;
gallonm 7:2dc81120c917 1923 else
gallonm 7:2dc81120c917 1924 _FilterData(LastTrueRange)[0] = FILTER_INVALID_DISTANCE;
gallonm 7:2dc81120c917 1925 _FilterData(LastReturnRates)[0] = m_rtnSignalRate;
gallonm 7:2dc81120c917 1926
gallonm 7:2dc81120c917 1927 /* Check if we need to go through the filter or not */
gallonm 7:2dc81120c917 1928 if (!(((m_rawRange_mm < WrapAroundHighRawRangeFilterLimit) && (m_rtnSignalRate < WrapAroundLowReturnRateFilterLimit)) || ((m_rawRange_mm >= WrapAroundHighRawRangeFilterLimit) && (m_rtnSignalRate < WrapAroundHighReturnRateFilterLimit))))
gallonm 7:2dc81120c917 1929 bypassFilter = 1;
gallonm 7:2dc81120c917 1930
gallonm 7:2dc81120c917 1931 /* Check which kind of measurement has been made */
gallonm 7:2dc81120c917 1932 status = VL6180x_RdByte(dev, 0x01AC, &u8 );
gallonm 7:2dc81120c917 1933 if( status ){
gallonm 7:2dc81120c917 1934 VL6180x_ErrLog("0x01AC rd fail");
gallonm 7:2dc81120c917 1935 goto done_err;
gallonm 7:2dc81120c917 1936 }
gallonm 7:2dc81120c917 1937 registerValue =u8;
gallonm 7:2dc81120c917 1938
gallonm 7:2dc81120c917 1939 /* Read data for filtering */
gallonm 7:2dc81120c917 1940 status = VL6180x_RdByte(dev, 0x10C, &u8 ); /* read only 8 lsb bits */
gallonm 7:2dc81120c917 1941 if( status ){
gallonm 7:2dc81120c917 1942 VL6180x_ErrLog("0x010C rd fail");
gallonm 7:2dc81120c917 1943 goto done_err;
gallonm 7:2dc81120c917 1944 }
gallonm 7:2dc81120c917 1945 register32BitsValue1=u8;
gallonm 7:2dc81120c917 1946 status = VL6180x_RdByte(dev, 0x0110, &u8); /* read only 8 lsb bits */
gallonm 7:2dc81120c917 1947 if( status ){
gallonm 7:2dc81120c917 1948 VL6180x_ErrLog("0x0110 rd fail");
gallonm 7:2dc81120c917 1949 goto done_err;
gallonm 7:2dc81120c917 1950 }
gallonm 7:2dc81120c917 1951 register32BitsValue2 = u8;
gallonm 7:2dc81120c917 1952
gallonm 7:2dc81120c917 1953 if (registerValue == 0x3E) {
gallonm 7:2dc81120c917 1954 _FilterData(Default_ZeroVal) = register32BitsValue1;
gallonm 7:2dc81120c917 1955 _FilterData(Default_VAVGVal) = register32BitsValue2;
gallonm 7:2dc81120c917 1956 } else {
gallonm 7:2dc81120c917 1957 _FilterData(NoDelay_ZeroVal) = register32BitsValue1;
gallonm 7:2dc81120c917 1958 _FilterData(NoDelay_VAVGVal) = register32BitsValue2;
gallonm 7:2dc81120c917 1959 }
gallonm 7:2dc81120c917 1960
gallonm 7:2dc81120c917 1961 if (bypassFilter == 1) {
gallonm 7:2dc81120c917 1962 /* Do not go through the filter */
gallonm 7:2dc81120c917 1963 if (registerValue != 0x3E) {
gallonm 7:2dc81120c917 1964 status = VL6180x_WrByte(dev, 0x1AC, 0x3E);
gallonm 7:2dc81120c917 1965 if( status ){
gallonm 7:2dc81120c917 1966 VL6180x_ErrLog("0x01AC bypass wr fail");
gallonm 7:2dc81120c917 1967 goto done_err;
gallonm 7:2dc81120c917 1968 }
gallonm 7:2dc81120c917 1969 status = VL6180x_WrByte(dev, 0x0F2, 0x01);
gallonm 7:2dc81120c917 1970 if( status ){
gallonm 7:2dc81120c917 1971 VL6180x_ErrLog("0x0F2 bypass wr fail");
gallonm 7:2dc81120c917 1972 goto done_err;
gallonm 7:2dc81120c917 1973 }
gallonm 7:2dc81120c917 1974 }
gallonm 7:2dc81120c917 1975 /* Set both Default and NoDelay To same value */
gallonm 7:2dc81120c917 1976 _FilterData(Default_ZeroVal) = register32BitsValue1;
gallonm 7:2dc81120c917 1977 _FilterData(Default_VAVGVal) = register32BitsValue2;
gallonm 7:2dc81120c917 1978 _FilterData(NoDelay_ZeroVal) = register32BitsValue1;
gallonm 7:2dc81120c917 1979 _FilterData(NoDelay_VAVGVal) = register32BitsValue2;
gallonm 7:2dc81120c917 1980 _FilterData(MeasurementIndex) = 0;
gallonm 7:2dc81120c917 1981
gallonm 7:2dc81120c917 1982 return m_newTrueRange_mm;
gallonm 7:2dc81120c917 1983 }
gallonm 7:2dc81120c917 1984
gallonm 7:2dc81120c917 1985 if (_FilterData(MeasurementIndex) % WrapAroundNoDelayCheckPeriod == 0) {
gallonm 7:2dc81120c917 1986 u8=0x3C;
gallonm 7:2dc81120c917 1987 u8_2 = 0x05;
gallonm 7:2dc81120c917 1988 } else {
gallonm 7:2dc81120c917 1989 u8=0x3E;
gallonm 7:2dc81120c917 1990 u8_2 = 0x01;
gallonm 7:2dc81120c917 1991 }
gallonm 7:2dc81120c917 1992 status = VL6180x_WrByte(dev, 0x01AC, u8);
gallonm 7:2dc81120c917 1993 if( status ){
gallonm 7:2dc81120c917 1994 VL6180x_ErrLog("0x01AC wr fail");
gallonm 7:2dc81120c917 1995 goto done_err;
gallonm 7:2dc81120c917 1996 }
gallonm 7:2dc81120c917 1997 status = VL6180x_WrByte(dev, 0x0F2, u8_2);
gallonm 7:2dc81120c917 1998 if( status ){
gallonm 7:2dc81120c917 1999 VL6180x_ErrLog("0x0F2 wr fail");
gallonm 7:2dc81120c917 2000 goto done_err;
gallonm 7:2dc81120c917 2001 }
gallonm 7:2dc81120c917 2002
gallonm 7:2dc81120c917 2003
gallonm 7:2dc81120c917 2004 _FilterData(MeasurementIndex)++;
gallonm 7:2dc81120c917 2005
gallonm 7:2dc81120c917 2006 /* Computes current VAVGDiff */
gallonm 7:2dc81120c917 2007 if (_FilterData(Default_VAVGVal) > _FilterData(NoDelay_VAVGVal))
gallonm 7:2dc81120c917 2008 VAVGDiff = _FilterData(Default_VAVGVal) - _FilterData(NoDelay_VAVGVal);
gallonm 7:2dc81120c917 2009 else
gallonm 7:2dc81120c917 2010 VAVGDiff = 0;
gallonm 7:2dc81120c917 2011 _FilterData(Previous_VAVGDiff) = VAVGDiff;
gallonm 7:2dc81120c917 2012
gallonm 7:2dc81120c917 2013 /* Check the VAVGDiff */
gallonm 7:2dc81120c917 2014 if (_FilterData(Default_ZeroVal) > _FilterData(NoDelay_ZeroVal))
gallonm 7:2dc81120c917 2015 IdealVAVGDiff = _FilterData(Default_ZeroVal) - _FilterData(NoDelay_ZeroVal);
gallonm 7:2dc81120c917 2016 else
gallonm 7:2dc81120c917 2017 IdealVAVGDiff = _FilterData(NoDelay_ZeroVal) - _FilterData(Default_ZeroVal);
gallonm 7:2dc81120c917 2018 if (IdealVAVGDiff > MAX_VAVGDiff)
gallonm 7:2dc81120c917 2019 MinVAVGDiff = IdealVAVGDiff - MAX_VAVGDiff;
gallonm 7:2dc81120c917 2020 else
gallonm 7:2dc81120c917 2021 MinVAVGDiff = 0;
gallonm 7:2dc81120c917 2022 MaxVAVGDiff = IdealVAVGDiff + MAX_VAVGDiff;
gallonm 7:2dc81120c917 2023 if (VAVGDiff < MinVAVGDiff || VAVGDiff > MaxVAVGDiff) {
gallonm 7:2dc81120c917 2024 WrapAroundFlag = 1;
gallonm 7:2dc81120c917 2025 } else {
gallonm 7:2dc81120c917 2026 /* Go through filtering check */
gallonm 7:2dc81120c917 2027
gallonm 7:2dc81120c917 2028 /* StdDevLimit Damper on SNR */
gallonm 7:2dc81120c917 2029 StdDevLimit = _filter_StdDevDamper(m_rtnAmbientRate, m_rtnSignalRate, StdDevLimitLowLight, StdDevLimitLowLightSNR, StdDevLimitHighLight, StdDevLimitHighLightSNR);
gallonm 7:2dc81120c917 2030
gallonm 7:2dc81120c917 2031 /* Standard deviations computations */
gallonm 7:2dc81120c917 2032 StdDevSamples = 0;
gallonm 7:2dc81120c917 2033 StdDevDistanceSum = 0;
gallonm 7:2dc81120c917 2034 StdDevDistanceMean = 0;
gallonm 7:2dc81120c917 2035 StdDevDistance = 0;
gallonm 7:2dc81120c917 2036 StdDevRateSum = 0;
gallonm 7:2dc81120c917 2037 StdDevRateMean = 0;
gallonm 7:2dc81120c917 2038 StdDevRate = 0;
gallonm 7:2dc81120c917 2039 for (i = 0; (i < FILTER_NBOF_SAMPLES) && (StdDevSamples < FILTER_STDDEV_SAMPLES); i++) {
gallonm 7:2dc81120c917 2040 if (_FilterData(LastTrueRange)[i] != FILTER_INVALID_DISTANCE) {
gallonm 7:2dc81120c917 2041 StdDevSamples = (uint16_t) (StdDevSamples + 1);
gallonm 7:2dc81120c917 2042 StdDevDistanceSum = (uint32_t) (StdDevDistanceSum + _FilterData(LastTrueRange)[i]);
gallonm 7:2dc81120c917 2043 StdDevRateSum = (uint32_t) (StdDevRateSum + _FilterData(LastReturnRates)[i]);
gallonm 7:2dc81120c917 2044 }
gallonm 7:2dc81120c917 2045 }
gallonm 7:2dc81120c917 2046 if (StdDevSamples > 0) {
gallonm 7:2dc81120c917 2047 StdDevDistanceMean = (uint32_t) (StdDevDistanceSum / StdDevSamples);
gallonm 7:2dc81120c917 2048 StdDevRateMean = (uint32_t) (StdDevRateSum / StdDevSamples);
gallonm 7:2dc81120c917 2049 }
gallonm 7:2dc81120c917 2050 /* TODO optimize shorten Std dev in aisngle loop computation using sum of x2 - (sum of x)2 */
gallonm 7:2dc81120c917 2051 StdDevSamples = 0;
gallonm 7:2dc81120c917 2052 StdDevDistanceSum = 0;
gallonm 7:2dc81120c917 2053 StdDevRateSum = 0;
gallonm 7:2dc81120c917 2054 for (i = 0; (i < FILTER_NBOF_SAMPLES) && (StdDevSamples < FILTER_STDDEV_SAMPLES); i++) {
gallonm 7:2dc81120c917 2055 if (_FilterData(LastTrueRange)[i] != FILTER_INVALID_DISTANCE) {
gallonm 7:2dc81120c917 2056 StdDevSamples = (uint16_t) (StdDevSamples + 1);
gallonm 7:2dc81120c917 2057 StdDevDistanceSum = (uint32_t) (StdDevDistanceSum + (int) (_FilterData(LastTrueRange)[i] - StdDevDistanceMean) * (int) (_FilterData(LastTrueRange)[i] - StdDevDistanceMean));
gallonm 7:2dc81120c917 2058 StdDevRateSum = (uint32_t) (StdDevRateSum + (int) (_FilterData(LastReturnRates)[i] - StdDevRateMean) * (int) (_FilterData(LastReturnRates)[i] - StdDevRateMean));
gallonm 7:2dc81120c917 2059 }
gallonm 7:2dc81120c917 2060 }
gallonm 7:2dc81120c917 2061 if (StdDevSamples >= MIN_FILTER_STDDEV_SAMPLES) {
gallonm 7:2dc81120c917 2062 StdDevDistance = (uint16_t) (StdDevDistanceSum / StdDevSamples);
gallonm 7:2dc81120c917 2063 StdDevRate = (uint16_t) (StdDevRateSum / StdDevSamples);
gallonm 7:2dc81120c917 2064 } else {
gallonm 7:2dc81120c917 2065 StdDevDistance = 0;
gallonm 7:2dc81120c917 2066 StdDevRate = 0;
gallonm 7:2dc81120c917 2067 }
gallonm 7:2dc81120c917 2068
gallonm 7:2dc81120c917 2069 /* Check Return rate standard deviation */
gallonm 7:2dc81120c917 2070 if (StdDevRate < StdDevMovingTargetStdDevLimit) {
gallonm 7:2dc81120c917 2071 if (StdDevSamples < MIN_FILTER_VALID_STDDEV_SAMPLES) {
gallonm 7:2dc81120c917 2072 m_newTrueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 2073 } else {
gallonm 7:2dc81120c917 2074 /* Check distance standard deviation */
gallonm 7:2dc81120c917 2075 if (StdDevRate < StdDevMovingTargetReturnRateLimit)
gallonm 7:2dc81120c917 2076 StdDevLimitWithTargetMove = StdDevLimit + (((StdDevMovingTargetStdDevForReturnRateLimit - StdDevLimit) * StdDevRate) / StdDevMovingTargetReturnRateLimit);
gallonm 7:2dc81120c917 2077 else
gallonm 7:2dc81120c917 2078 StdDevLimitWithTargetMove = StdDevMovingTargetStdDevForReturnRateLimit;
gallonm 7:2dc81120c917 2079
gallonm 7:2dc81120c917 2080 if ((StdDevDistance * StdDevHighConfidenceSNRLimit) < StdDevLimitWithTargetMove) {
gallonm 7:2dc81120c917 2081 NoWrapAroundHighConfidenceFlag = 1;
gallonm 7:2dc81120c917 2082 } else {
gallonm 7:2dc81120c917 2083 if (StdDevDistance < StdDevLimitWithTargetMove) {
gallonm 7:2dc81120c917 2084 if (StdDevSamples >= MIN_FILTER_VALID_STDDEV_SAMPLES) {
gallonm 7:2dc81120c917 2085 NoWrapAroundFlag = 1;
gallonm 7:2dc81120c917 2086 } else {
gallonm 7:2dc81120c917 2087 m_newTrueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 2088 }
gallonm 7:2dc81120c917 2089 } else {
gallonm 7:2dc81120c917 2090 WrapAroundFlag = 1;
gallonm 7:2dc81120c917 2091 }
gallonm 7:2dc81120c917 2092 }
gallonm 7:2dc81120c917 2093 }
gallonm 7:2dc81120c917 2094 } else {
gallonm 7:2dc81120c917 2095 WrapAroundFlag = 1;
gallonm 7:2dc81120c917 2096 }
gallonm 7:2dc81120c917 2097 }
gallonm 7:2dc81120c917 2098
gallonm 7:2dc81120c917 2099 if (m_newTrueRange_mm == MaxOrInvalidDistance) {
gallonm 7:2dc81120c917 2100 if (_FilterData(StdFilteredReads) > 0)
gallonm 7:2dc81120c917 2101 _FilterData(StdFilteredReads) = (uint16_t) (_FilterData(StdFilteredReads) - 1);
gallonm 7:2dc81120c917 2102 } else {
gallonm 7:2dc81120c917 2103 if (WrapAroundFlag == 1) {
gallonm 7:2dc81120c917 2104 m_newTrueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 2105 _FilterData(StdFilteredReads) = (uint16_t) (_FilterData(StdFilteredReads) + StdFilteredReadsIncrement);
gallonm 7:2dc81120c917 2106 if (_FilterData(StdFilteredReads) > StdMaxFilteredReads)
gallonm 7:2dc81120c917 2107 _FilterData(StdFilteredReads) = StdMaxFilteredReads;
gallonm 7:2dc81120c917 2108 } else {
gallonm 7:2dc81120c917 2109 if (NoWrapAroundFlag == 1) {
gallonm 7:2dc81120c917 2110 if (_FilterData(StdFilteredReads) > 0) {
gallonm 7:2dc81120c917 2111 m_newTrueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 2112 if (_FilterData(StdFilteredReads) > StdFilteredReadsIncrement)
gallonm 7:2dc81120c917 2113 _FilterData(StdFilteredReads) = (uint16_t) (_FilterData(StdFilteredReads) - StdFilteredReadsIncrement);
gallonm 7:2dc81120c917 2114 else
gallonm 7:2dc81120c917 2115 _FilterData(StdFilteredReads) = 0;
gallonm 7:2dc81120c917 2116 }
gallonm 7:2dc81120c917 2117 } else {
gallonm 7:2dc81120c917 2118 if (NoWrapAroundHighConfidenceFlag == 1) {
gallonm 7:2dc81120c917 2119 _FilterData(StdFilteredReads) = 0;
gallonm 7:2dc81120c917 2120 }
gallonm 7:2dc81120c917 2121 }
gallonm 7:2dc81120c917 2122 }
gallonm 7:2dc81120c917 2123 }
gallonm 7:2dc81120c917 2124
gallonm 7:2dc81120c917 2125 return m_newTrueRange_mm;
gallonm 7:2dc81120c917 2126 done_err:
gallonm 7:2dc81120c917 2127 return -1;
gallonm 7:2dc81120c917 2128
gallonm 7:2dc81120c917 2129 #undef MaxOrInvalidDistance
gallonm 7:2dc81120c917 2130 }
gallonm 7:2dc81120c917 2131
gallonm 7:2dc81120c917 2132
gallonm 7:2dc81120c917 2133 int VL6180X::_filter_GetResult(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData) {
gallonm 7:2dc81120c917 2134 uint32_t m_rawRange_mm = 0;
gallonm 7:2dc81120c917 2135 int32_t FilteredRange;
gallonm 7:2dc81120c917 2136 const uint8_t scaler = _GetUpscale(dev);
gallonm 7:2dc81120c917 2137 uint8_t u8;
gallonm 7:2dc81120c917 2138 int status;
gallonm 7:2dc81120c917 2139
gallonm 7:2dc81120c917 2140 do {
gallonm 7:2dc81120c917 2141 status = VL6180x_RdByte(dev, RESULT_RANGE_RAW, &u8);
gallonm 7:2dc81120c917 2142 if (status) {
gallonm 7:2dc81120c917 2143 VL6180x_ErrLog("RESULT_RANGE_RAW rd fail");
gallonm 7:2dc81120c917 2144 break;
gallonm 7:2dc81120c917 2145 }
gallonm 7:2dc81120c917 2146 m_rawRange_mm = u8;
gallonm 7:2dc81120c917 2147
gallonm 7:2dc81120c917 2148 FilteredRange = _filter_Start(dev, pRangeData->range_mm, (m_rawRange_mm * scaler), pRangeData->rtnRate, pRangeData->rtnAmbRate, pRangeData->errorStatus);
gallonm 7:2dc81120c917 2149 if( FilteredRange<0 ){
gallonm 7:2dc81120c917 2150 status = -1;
gallonm 7:2dc81120c917 2151 break;
gallonm 7:2dc81120c917 2152 }
gallonm 7:2dc81120c917 2153 pRangeData->FilteredData.range_mm= FilteredRange;
gallonm 7:2dc81120c917 2154 pRangeData->FilteredData.rawRange_mm = m_rawRange_mm * scaler;
gallonm 7:2dc81120c917 2155 } while (0);
gallonm 7:2dc81120c917 2156 return status;
gallonm 7:2dc81120c917 2157 }
gallonm 7:2dc81120c917 2158
gallonm 7:2dc81120c917 2159 #undef _FilterData
gallonm 7:2dc81120c917 2160 #undef FILTER_STDDEV_SAMPLES
gallonm 7:2dc81120c917 2161 #undef MIN_FILTER_STDDEV_SAMPLES
gallonm 7:2dc81120c917 2162 #undef MIN_FILTER_VALID_STDDEV_SAMPLES
gallonm 7:2dc81120c917 2163 #undef FILTER_INVALID_DISTANCE
gallonm 7:2dc81120c917 2164
gallonm 7:2dc81120c917 2165 #endif /* VL6180x_WRAP_AROUND_FILTER_SUPPORT */
gallonm 7:2dc81120c917 2166
gallonm 7:2dc81120c917 2167 #ifdef VL6180x_HAVE_RATE_DATA
gallonm 7:2dc81120c917 2168
gallonm 7:2dc81120c917 2169 int VL6180X::_GetRateResult(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData) {
gallonm 7:2dc81120c917 2170 uint32_t m_rtnConvTime = 0;
gallonm 7:2dc81120c917 2171 uint32_t m_rtnSignalRate = 0;
gallonm 7:2dc81120c917 2172 uint32_t m_rtnAmbientRate = 0;
gallonm 7:2dc81120c917 2173 uint32_t m_rtnSignalCount = 0;
gallonm 7:2dc81120c917 2174 uint32_t m_rtnAmbientCount = 0;
gallonm 7:2dc81120c917 2175 uint32_t m_refConvTime = 0;
gallonm 7:2dc81120c917 2176 uint32_t cRtnSignalCountMax = 0x7FFFFFFF;
gallonm 7:2dc81120c917 2177 uint32_t cDllPeriods = 6;
gallonm 7:2dc81120c917 2178 uint32_t calcConvTime = 0;
gallonm 7:2dc81120c917 2179
gallonm 7:2dc81120c917 2180 int status;
gallonm 7:2dc81120c917 2181
gallonm 7:2dc81120c917 2182 do {
gallonm 7:2dc81120c917 2183
gallonm 7:2dc81120c917 2184 status = VL6180x_RdDWord(dev, RESULT_RANGE_RETURN_SIGNAL_COUNT, &m_rtnSignalCount);
gallonm 7:2dc81120c917 2185 if (status) {
gallonm 7:2dc81120c917 2186 VL6180x_ErrLog("RESULT_RANGE_RETURN_SIGNAL_COUNT rd fail");
gallonm 7:2dc81120c917 2187 break;
gallonm 7:2dc81120c917 2188 }
gallonm 7:2dc81120c917 2189 if (m_rtnSignalCount > cRtnSignalCountMax) {
gallonm 7:2dc81120c917 2190 m_rtnSignalCount = 0;
gallonm 7:2dc81120c917 2191 }
gallonm 7:2dc81120c917 2192
gallonm 7:2dc81120c917 2193 status = VL6180x_RdDWord(dev, RESULT_RANGE_RETURN_AMB_COUNT, &m_rtnAmbientCount);
gallonm 7:2dc81120c917 2194 if (status) {
gallonm 7:2dc81120c917 2195 VL6180x_ErrLog("RESULT_RANGE_RETURN_AMB_COUNTrd fail");
gallonm 7:2dc81120c917 2196 break;
gallonm 7:2dc81120c917 2197 }
gallonm 7:2dc81120c917 2198
gallonm 7:2dc81120c917 2199
gallonm 7:2dc81120c917 2200 status = VL6180x_RdDWord(dev, RESULT_RANGE_RETURN_CONV_TIME, &m_rtnConvTime);
gallonm 7:2dc81120c917 2201 if (status) {
gallonm 7:2dc81120c917 2202 VL6180x_ErrLog("RESULT_RANGE_RETURN_CONV_TIME rd fail");
gallonm 7:2dc81120c917 2203 break;
gallonm 7:2dc81120c917 2204 }
gallonm 7:2dc81120c917 2205
gallonm 7:2dc81120c917 2206 status = VL6180x_RdDWord(dev, RESULT_RANGE_REFERENCE_CONV_TIME, &m_refConvTime);
gallonm 7:2dc81120c917 2207 if (status) {
gallonm 7:2dc81120c917 2208 VL6180x_ErrLog("RESULT_RANGE_REFERENCE_CONV_TIME rd fail");
gallonm 7:2dc81120c917 2209 break;
gallonm 7:2dc81120c917 2210 }
gallonm 7:2dc81120c917 2211
gallonm 7:2dc81120c917 2212 pRangeData->rtnConvTime = m_rtnConvTime;
gallonm 7:2dc81120c917 2213 pRangeData->refConvTime = m_refConvTime;
gallonm 7:2dc81120c917 2214
gallonm 7:2dc81120c917 2215 calcConvTime = m_refConvTime;
gallonm 7:2dc81120c917 2216 if (m_rtnConvTime > m_refConvTime) {
gallonm 7:2dc81120c917 2217 calcConvTime = m_rtnConvTime;
gallonm 7:2dc81120c917 2218 }
gallonm 7:2dc81120c917 2219 if (calcConvTime == 0)
gallonm 7:2dc81120c917 2220 calcConvTime = 63000;
gallonm 7:2dc81120c917 2221
gallonm 7:2dc81120c917 2222 m_rtnSignalRate = (m_rtnSignalCount * 1000) / calcConvTime;
gallonm 7:2dc81120c917 2223 m_rtnAmbientRate = (m_rtnAmbientCount * cDllPeriods * 1000) / calcConvTime;
gallonm 7:2dc81120c917 2224
gallonm 7:2dc81120c917 2225 pRangeData->rtnRate = m_rtnSignalRate;
gallonm 7:2dc81120c917 2226 pRangeData->rtnAmbRate = m_rtnAmbientRate;
gallonm 7:2dc81120c917 2227
gallonm 7:2dc81120c917 2228
gallonm 7:2dc81120c917 2229 } while (0);
gallonm 7:2dc81120c917 2230 return status;
gallonm 7:2dc81120c917 2231 }
gallonm 7:2dc81120c917 2232 #endif /* VL6180x_HAVE_RATE_DATA */
gallonm 7:2dc81120c917 2233
gallonm 7:2dc81120c917 2234
gallonm 7:2dc81120c917 2235 int VL6180X::VL6180x_DMaxSetState(VL6180xDev_t dev, int state){
gallonm 7:2dc81120c917 2236 int status;
gallonm 7:2dc81120c917 2237 LOG_FUNCTION_START("%d", state);
gallonm 7:2dc81120c917 2238 #if VL6180x_HAVE_DMAX_RANGING
gallonm 7:2dc81120c917 2239 VL6180xDevDataSet(dev,DMaxEnable, state);
gallonm 7:2dc81120c917 2240 if( state ){
gallonm 7:2dc81120c917 2241 status = _DMax_InitData(dev);
gallonm 7:2dc81120c917 2242 }
gallonm 7:2dc81120c917 2243 else {
gallonm 7:2dc81120c917 2244 status = 0;
gallonm 7:2dc81120c917 2245 }
gallonm 7:2dc81120c917 2246 #else
gallonm 7:2dc81120c917 2247 status = NOT_SUPPORTED;
gallonm 7:2dc81120c917 2248 #endif
gallonm 7:2dc81120c917 2249 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 2250 return status;
gallonm 7:2dc81120c917 2251 }
gallonm 7:2dc81120c917 2252
gallonm 7:2dc81120c917 2253 int VL6180X::VL6180x_DMaxGetState(VL6180xDev_t dev){
gallonm 7:2dc81120c917 2254 int status;
gallonm 7:2dc81120c917 2255 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 2256 #if VL6180x_HAVE_DMAX_RANGING
gallonm 7:2dc81120c917 2257 status = VL6180xDevDataGet(dev,DMaxEnable);
gallonm 7:2dc81120c917 2258 #else
gallonm 7:2dc81120c917 2259 status = 0;
gallonm 7:2dc81120c917 2260 #endif
gallonm 7:2dc81120c917 2261 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 2262 return status;
gallonm 7:2dc81120c917 2263 }
gallonm 7:2dc81120c917 2264
gallonm 7:2dc81120c917 2265
gallonm 7:2dc81120c917 2266 #if VL6180x_HAVE_DMAX_RANGING
gallonm 1:1de1ea2994d9 2267
gallonm 4:a5abf7757947 2268 #define _DMaxData(field) VL6180xDevDataGet(dev, DMaxData.field)
gallonm 7:2dc81120c917 2269 /*
gallonm 7:2dc81120c917 2270 * Convert fix point x.7 to KCpount per sec
gallonm 7:2dc81120c917 2271 */
gallonm 4:a5abf7757947 2272
gallonm 4:a5abf7757947 2273 #ifndef VL6180x_PLATFORM_PROVIDE_SQRT
gallonm 4:a5abf7757947 2274
gallonm 7:2dc81120c917 2275 /*
gallonm 7:2dc81120c917 2276 * 32 bit integer square root with not so bad precision (integer result) and is quite fast
gallonm 7:2dc81120c917 2277 * see http://en.wikipedia.org/wiki/Methods_of_computing_square_roots
gallonm 7:2dc81120c917 2278 */
gallonm 7:2dc81120c917 2279 uint32_t VL6180x_SqrtUint32(uint32_t num) {
gallonm 4:a5abf7757947 2280 uint32_t res = 0;
gallonm 4:a5abf7757947 2281 uint32_t bit = 1 << 30; /* The second-to-top bit is set: 1 << 30 for 32 bits */
gallonm 4:a5abf7757947 2282
gallonm 4:a5abf7757947 2283 /* "bit" starts at the highest power of four <= the argument. */
gallonm 4:a5abf7757947 2284 while (bit > num)
gallonm 4:a5abf7757947 2285 bit >>= 2;
gallonm 1:1de1ea2994d9 2286
gallonm 4:a5abf7757947 2287 while (bit != 0) {
gallonm 4:a5abf7757947 2288 if (num >= res + bit) {
gallonm 4:a5abf7757947 2289 num -= res + bit;
gallonm 4:a5abf7757947 2290 res = (res >> 1) + bit;
gallonm 4:a5abf7757947 2291 }
gallonm 4:a5abf7757947 2292 else
gallonm 4:a5abf7757947 2293 res >>= 1;
gallonm 4:a5abf7757947 2294 bit >>= 2;
gallonm 1:1de1ea2994d9 2295 }
gallonm 4:a5abf7757947 2296 return res;
gallonm 4:a5abf7757947 2297 }
gallonm 4:a5abf7757947 2298 #endif
gallonm 4:a5abf7757947 2299
gallonm 4:a5abf7757947 2300
gallonm 7:2dc81120c917 2301 /* DMax one time init */
gallonm 7:2dc81120c917 2302 void _DMax_OneTimeInit(VL6180xDev_t dev){
gallonm 4:a5abf7757947 2303 _DMaxData(ambTuningWindowFactor_K)=DEF_AMBIENT_TUNING;
gallonm 1:1de1ea2994d9 2304 }
gallonm 1:1de1ea2994d9 2305
gallonm 1:1de1ea2994d9 2306
gallonm 7:2dc81120c917 2307 static uint32_t _DMax_RawValueAtRateKCps(VL6180xDev_t dev, int32_t rate){
gallonm 4:a5abf7757947 2308 uint32_t snrLimit_K;
gallonm 4:a5abf7757947 2309 int32_t DMaxSq;
gallonm 4:a5abf7757947 2310 uint32_t RawDMax;
gallonm 4:a5abf7757947 2311 DMaxFix_t retSignalAt400mm;
gallonm 4:a5abf7757947 2312 uint32_t ambTuningWindowFactor_K;
gallonm 3:454541a079f4 2313
gallonm 3:454541a079f4 2314
gallonm 4:a5abf7757947 2315 ambTuningWindowFactor_K = _DMaxData(ambTuningWindowFactor_K);
gallonm 4:a5abf7757947 2316 snrLimit_K = _DMaxData(snrLimit_K);
gallonm 4:a5abf7757947 2317 retSignalAt400mm = _DMaxData(retSignalAt400mm); /* 12 to 18 bits Kcps */
gallonm 4:a5abf7757947 2318 if( rate > 0 ){
gallonm 4:a5abf7757947 2319 DMaxSq = 400*400*1000 / rate -(400*400/330); /* K of (1/RtnAmb -1/330 )=> 30bit- (12-18)bit => 12-18 bits*/
gallonm 4:a5abf7757947 2320 if( DMaxSq<= 0){
gallonm 4:a5abf7757947 2321 RawDMax = 0;
gallonm 4:a5abf7757947 2322 }
gallonm 4:a5abf7757947 2323 else{
gallonm 4:a5abf7757947 2324 /* value can be more 32 bit so base on raneg apply *retSignalAt400mm before or after division to presevr accuracy */
gallonm 4:a5abf7757947 2325 if( DMaxSq< (2<<12) ){
gallonm 4:a5abf7757947 2326 DMaxSq = DMaxSq*retSignalAt400mm/(snrLimit_K+ambTuningWindowFactor_K); /* max 12 + 12 to 18 -10 => 12-26 bit */
gallonm 4:a5abf7757947 2327 }else{
gallonm 4:a5abf7757947 2328 DMaxSq = DMaxSq/(snrLimit_K+ambTuningWindowFactor_K)*retSignalAt400mm; /* 12 to 18 -10 + 12 to 18 *=> 12-26 bit */
gallonm 4:a5abf7757947 2329 }
gallonm 4:a5abf7757947 2330 RawDMax=VL6180x_SqrtUint32(DMaxSq);
gallonm 4:a5abf7757947 2331 }
gallonm 4:a5abf7757947 2332 }
gallonm 4:a5abf7757947 2333 else{
gallonm 4:a5abf7757947 2334 RawDMax = 0x7FFFFFFF; /* bigest possibmle 32bit signed value */
gallonm 4:a5abf7757947 2335 }
gallonm 4:a5abf7757947 2336 return RawDMax;
gallonm 4:a5abf7757947 2337 }
gallonm 3:454541a079f4 2338
gallonm 7:2dc81120c917 2339 /*
gallonm 7:2dc81120c917 2340 * fetch static data from register to avoid re-read
gallonm 7:2dc81120c917 2341 * precompute all intermediate constant and cliipings
gallonm 7:2dc81120c917 2342 *
gallonm 7:2dc81120c917 2343 * to be re-used/call on changes of :
gallonm 7:2dc81120c917 2344 * 0x2A
gallonm 7:2dc81120c917 2345 * SYSRANGE_MAX_AMBIENT_LEVEL_MULT
gallonm 7:2dc81120c917 2346 * Dev Data XtalkComRate_KCPs
gallonm 7:2dc81120c917 2347 * SYSRANGE_MAX_CONVERGENCE_TIME
gallonm 7:2dc81120c917 2348 * SYSRANGE_RANGE_CHECK_ENABLES mask RANGE_CHECK_RANGE_ENABLE_MASK
gallonm 7:2dc81120c917 2349 * range 0xb8-0xbb (0xbb)
gallonm 7:2dc81120c917 2350 */
gallonm 7:2dc81120c917 2351 int VL6180X::_DMax_InitData(VL6180xDev_t dev){
gallonm 3:454541a079f4 2352 int status, warning;
gallonm 3:454541a079f4 2353 uint8_t u8;
gallonm 3:454541a079f4 2354 uint16_t u16;
gallonm 3:454541a079f4 2355 uint32_t u32;
gallonm 3:454541a079f4 2356 uint32_t Reg2A_KCps;
gallonm 3:454541a079f4 2357 uint32_t RegB8;
gallonm 3:454541a079f4 2358 uint8_t MaxConvTime;
gallonm 3:454541a079f4 2359 uint32_t XTalkCompRate_KCps;
gallonm 3:454541a079f4 2360 uint32_t RangeIgnoreThreshold;
gallonm 3:454541a079f4 2361 int32_t minSignalNeeded;
gallonm 3:454541a079f4 2362 uint8_t SysRangeCheckEn;
gallonm 3:454541a079f4 2363 uint8_t snrLimit;
gallonm 3:454541a079f4 2364 warning=0;
gallonm 3:454541a079f4 2365
gallonm 3:454541a079f4 2366 static const int ROMABLE_DATA MaxConvTimeAdjust=-4;
gallonm 3:454541a079f4 2367
gallonm 3:454541a079f4 2368 LOG_FUNCTION_START("");
gallonm 3:454541a079f4 2369 do{
gallonm 7:2dc81120c917 2370 status = VL6180x_RdByte(dev, 0x02A ,&u8);
gallonm 3:454541a079f4 2371 if( status ){
gallonm 3:454541a079f4 2372 VL6180x_ErrLog("Reg 0x02A rd fail");
gallonm 3:454541a079f4 2373 break;
gallonm 3:454541a079f4 2374 }
gallonm 3:454541a079f4 2375
gallonm 3:454541a079f4 2376 if( u8 == 0 ) {
gallonm 3:454541a079f4 2377 warning = CALIBRATION_WARNING;
gallonm 3:454541a079f4 2378 u8 = 40; /* use a default average value */
gallonm 3:454541a079f4 2379 }
gallonm 3:454541a079f4 2380 Reg2A_KCps = Fix7_2_KCPs(u8); /* convert to KCPs */
gallonm 3:454541a079f4 2381
gallonm 7:2dc81120c917 2382 status = VL6180x_RdByte(dev, SYSRANGE_RANGE_CHECK_ENABLES, &SysRangeCheckEn);
gallonm 3:454541a079f4 2383 if (status) {
gallonm 3:454541a079f4 2384 VL6180x_ErrLog("SYSRANGE_RANGE_CHECK_ENABLES rd fail ");
gallonm 3:454541a079f4 2385 break;
gallonm 3:454541a079f4 2386 }
gallonm 3:454541a079f4 2387
gallonm 7:2dc81120c917 2388 status = VL6180x_RdByte(dev, SYSRANGE_MAX_CONVERGENCE_TIME, &MaxConvTime);
gallonm 3:454541a079f4 2389 if( status){
gallonm 3:454541a079f4 2390 VL6180x_ErrLog("SYSRANGE_MAX_CONVERGENCE_TIME rd fail ");
gallonm 3:454541a079f4 2391 break;
gallonm 3:454541a079f4 2392 }
gallonm 3:454541a079f4 2393
gallonm 7:2dc81120c917 2394 status = VL6180x_RdDWord(dev, 0x0B8, &RegB8);
gallonm 3:454541a079f4 2395 if( status ){
gallonm 3:454541a079f4 2396 VL6180x_ErrLog("reg 0x0B8 rd fail ");
gallonm 3:454541a079f4 2397 break;
gallonm 3:454541a079f4 2398 }
gallonm 3:454541a079f4 2399
gallonm 7:2dc81120c917 2400 status = VL6180x_RdByte(dev, SYSRANGE_MAX_AMBIENT_LEVEL_MULT, &snrLimit);
gallonm 3:454541a079f4 2401 if( status){
gallonm 3:454541a079f4 2402 VL6180x_ErrLog("SYSRANGE_MAX_AMBIENT_LEVEL_MULT rd fail ");
gallonm 3:454541a079f4 2403 break;
gallonm 3:454541a079f4 2404 }
gallonm 3:454541a079f4 2405 _DMaxData(snrLimit_K) = (int32_t)16*1000/snrLimit;
gallonm 3:454541a079f4 2406 XTalkCompRate_KCps = VL6180xDevDataGet(dev, XTalkCompRate_KCps );
gallonm 3:454541a079f4 2407
gallonm 3:454541a079f4 2408 if( Reg2A_KCps >= XTalkCompRate_KCps){
gallonm 3:454541a079f4 2409 _DMaxData(retSignalAt400mm)=( Reg2A_KCps - XTalkCompRate_KCps);
gallonm 3:454541a079f4 2410 }
gallonm 3:454541a079f4 2411 else{
gallonm 3:454541a079f4 2412 _DMaxData(retSignalAt400mm)=0; /* Reg2A_K - XTalkCompRate_KCp <0 is invalid */
gallonm 3:454541a079f4 2413 }
gallonm 3:454541a079f4 2414
gallonm 3:454541a079f4 2415 /* if xtalk range check is off omit it in snr clipping */
gallonm 3:454541a079f4 2416 if( SysRangeCheckEn&RANGE_CHECK_RANGE_ENABLE_MASK ){
gallonm 7:2dc81120c917 2417 status = VL6180x_RdWord(dev, SYSRANGE_RANGE_IGNORE_THRESHOLD, &u16);
gallonm 3:454541a079f4 2418 if( status){
gallonm 3:454541a079f4 2419 VL6180x_ErrLog("SYSRANGE_RANGE_IGNORE_THRESHOLD rd fail ");
gallonm 3:454541a079f4 2420 break;
gallonm 3:454541a079f4 2421 }
gallonm 3:454541a079f4 2422 RangeIgnoreThreshold = Fix7_2_KCPs(u16);
gallonm 3:454541a079f4 2423 }
gallonm 3:454541a079f4 2424 else{
gallonm 3:454541a079f4 2425 RangeIgnoreThreshold = 0;
gallonm 3:454541a079f4 2426 }
gallonm 3:454541a079f4 2427
gallonm 3:454541a079f4 2428 minSignalNeeded = (RegB8*256)/((int32_t)MaxConvTime+(int32_t)MaxConvTimeAdjust); /* KCps 8+8 bit -(1 to 6 bit) => 15-10 bit */
gallonm 3:454541a079f4 2429 /* minSignalNeeded = max ( minSignalNeeded, RangeIgnoreThreshold - XTalkCompRate_KCps) */
gallonm 3:454541a079f4 2430 if( minSignalNeeded <= RangeIgnoreThreshold - XTalkCompRate_KCps )
gallonm 3:454541a079f4 2431 minSignalNeeded = RangeIgnoreThreshold - XTalkCompRate_KCps;
gallonm 3:454541a079f4 2432
gallonm 3:454541a079f4 2433 u32 = (minSignalNeeded*(uint32_t)snrLimit)/16;
gallonm 3:454541a079f4 2434 _DMaxData(ClipSnrLimit ) = _DMax_RawValueAtRateKCps(dev, u32 ); /* clip to dmax to min signal snr limit rate*/
gallonm 3:454541a079f4 2435 }
gallonm 3:454541a079f4 2436 while(0);
gallonm 3:454541a079f4 2437 if( !status )
gallonm 3:454541a079f4 2438 status = warning;
gallonm 3:454541a079f4 2439 LOG_FUNCTION_END(status);
gallonm 3:454541a079f4 2440 return status;
gallonm 1:1de1ea2994d9 2441 }
gallonm 1:1de1ea2994d9 2442
gallonm 7:2dc81120c917 2443 static int _DMax_Compute(VL6180xDev_t dev, VL6180x_RangeData_t *pRange){
gallonm 7:2dc81120c917 2444 uint32_t rtnAmbRate;
gallonm 7:2dc81120c917 2445 int32_t DMax;
gallonm 7:2dc81120c917 2446 int scaling;
gallonm 7:2dc81120c917 2447 uint16_t HwLimitAtScale;
gallonm 7:2dc81120c917 2448 static const int ROMABLE_DATA rtnAmbLowLimit_KCps=330*1000;
gallonm 7:2dc81120c917 2449
gallonm 7:2dc81120c917 2450 rtnAmbRate = pRange->rtnAmbRate;
gallonm 7:2dc81120c917 2451 if( rtnAmbRate < rtnAmbLowLimit_KCps ){
gallonm 7:2dc81120c917 2452 DMax = _DMax_RawValueAtRateKCps( dev, rtnAmbRate);
gallonm 7:2dc81120c917 2453 scaling = _GetUpscale(dev);
gallonm 7:2dc81120c917 2454 HwLimitAtScale=UpperLimitLookUP[scaling - 1];
gallonm 7:2dc81120c917 2455
gallonm 7:2dc81120c917 2456 if( DMax > _DMaxData(ClipSnrLimit) ){
gallonm 7:2dc81120c917 2457 DMax=_DMaxData(ClipSnrLimit);
gallonm 7:2dc81120c917 2458 }
gallonm 7:2dc81120c917 2459 if( DMax > HwLimitAtScale ){
gallonm 7:2dc81120c917 2460 DMax=HwLimitAtScale;
gallonm 7:2dc81120c917 2461 }
gallonm 7:2dc81120c917 2462 pRange->DMax=DMax;
gallonm 7:2dc81120c917 2463 }
gallonm 7:2dc81120c917 2464 else{
gallonm 7:2dc81120c917 2465 pRange->DMax = 0;
gallonm 7:2dc81120c917 2466 }
gallonm 7:2dc81120c917 2467 return 0;
gallonm 7:2dc81120c917 2468 }
gallonm 7:2dc81120c917 2469
gallonm 7:2dc81120c917 2470 #undef _DMaxData
gallonm 3:454541a079f4 2471 #undef Fix7_2_KCPs
gallonm 1:1de1ea2994d9 2472
gallonm 7:2dc81120c917 2473 #endif /* VL6180x_HAVE_DMAX_RANGING */
gallonm 7:2dc81120c917 2474
gallonm 7:2dc81120c917 2475
gallonm 7:2dc81120c917 2476 /******************************************************************************/
gallonm 7:2dc81120c917 2477 /******************************************************************************/
gallonm 7:2dc81120c917 2478
gallonm 7:2dc81120c917 2479
gallonm 7:2dc81120c917 2480
gallonm 7:2dc81120c917 2481 /****************** Write and read functions from I2C *************************/
gallonm 4:a5abf7757947 2482
gallonm 4:a5abf7757947 2483 int VL6180X::VL6180x_WrByte(VL6180xDev_t dev, uint16_t index, uint8_t data)
gallonm 4:a5abf7757947 2484 {
gallonm 4:a5abf7757947 2485 int status;
licio.mapelli@st.com 8:f943a1fca15f 2486
licio.mapelli@st.com 8:f943a1fca15f 2487 status=VL6180x_I2CWrite(dev.I2cAddr, index, &data,(uint8_t)1);
gallonm 4:a5abf7757947 2488 return status;
gallonm 4:a5abf7757947 2489 }
gallonm 4:a5abf7757947 2490
gallonm 4:a5abf7757947 2491 int VL6180X::VL6180x_WrWord(VL6180xDev_t dev, uint16_t index, uint16_t data)
gallonm 4:a5abf7757947 2492 {
gallonm 4:a5abf7757947 2493 int status;
licio.mapelli@st.com 8:f943a1fca15f 2494 status=VL6180x_I2CWrite(dev.I2cAddr, index, (uint8_t *)&data,(uint8_t)2);
gallonm 4:a5abf7757947 2495 return status;
gallonm 4:a5abf7757947 2496 }
gallonm 4:a5abf7757947 2497
gallonm 4:a5abf7757947 2498 int VL6180X::VL6180x_WrDWord(VL6180xDev_t dev, uint16_t index, uint32_t data)
gallonm 4:a5abf7757947 2499 {
gallonm 4:a5abf7757947 2500 int status;
licio.mapelli@st.com 8:f943a1fca15f 2501 status=VL6180x_I2CWrite(dev.I2cAddr, index, (uint8_t *)&data,(uint8_t)4);
gallonm 4:a5abf7757947 2502 return status;
gallonm 4:a5abf7757947 2503 }
gallonm 4:a5abf7757947 2504
gallonm 4:a5abf7757947 2505 int VL6180X::VL6180x_RdByte(VL6180xDev_t dev, uint16_t index, uint8_t *data)
gallonm 4:a5abf7757947 2506 {
gallonm 4:a5abf7757947 2507 int status;
gallonm 4:a5abf7757947 2508 uint8_t buffer;
licio.mapelli@st.com 8:f943a1fca15f 2509 status=VL6180x_I2CRead(dev.I2cAddr, index, &buffer,1);
gallonm 4:a5abf7757947 2510 if( !status ){
gallonm 4:a5abf7757947 2511 *data=buffer;
gallonm 4:a5abf7757947 2512 }
gallonm 4:a5abf7757947 2513 return status;
gallonm 4:a5abf7757947 2514 }
gallonm 4:a5abf7757947 2515
gallonm 4:a5abf7757947 2516 int VL6180X::VL6180x_RdWord(VL6180xDev_t dev, uint16_t index, uint16_t *data)
gallonm 4:a5abf7757947 2517 {
gallonm 4:a5abf7757947 2518 int status;
licio.mapelli@st.com 8:f943a1fca15f 2519 uint8_t buffer[2];
licio.mapelli@st.com 8:f943a1fca15f 2520 status=VL6180x_I2CRead(dev.I2cAddr, index, buffer, 2);
gallonm 4:a5abf7757947 2521 return status;
gallonm 4:a5abf7757947 2522 }
gallonm 4:a5abf7757947 2523
gallonm 4:a5abf7757947 2524 int VL6180X::VL6180x_RdDWord(VL6180xDev_t dev, uint16_t index, uint32_t *data)
gallonm 4:a5abf7757947 2525 {
gallonm 4:a5abf7757947 2526 int status;
licio.mapelli@st.com 8:f943a1fca15f 2527 uint8_t buffer[4];
gallonm 4:a5abf7757947 2528
licio.mapelli@st.com 8:f943a1fca15f 2529 status=VL6180x_I2CRead(dev.I2cAddr, index, buffer,4);
gallonm 4:a5abf7757947 2530 return status;
gallonm 4:a5abf7757947 2531 }
gallonm 4:a5abf7757947 2532
licio.mapelli@st.com 8:f943a1fca15f 2533 int VL6180X::VL6180x_UpdateByte(VL6180xDev_t dev, uint16_t index, uint8_t AndData, uint8_t OrData)
licio.mapelli@st.com 8:f943a1fca15f 2534 {
gallonm 7:2dc81120c917 2535 int status;
licio.mapelli@st.com 8:f943a1fca15f 2536 uint8_t buffer;
licio.mapelli@st.com 8:f943a1fca15f 2537
licio.mapelli@st.com 8:f943a1fca15f 2538 status=VL6180x_I2CWrite(dev.I2cAddr, index, (uint8_t *)buffer,(uint8_t)0);
gallonm 7:2dc81120c917 2539 if( !status ){
gallonm 7:2dc81120c917 2540 /* read data direct onto buffer */
licio.mapelli@st.com 8:f943a1fca15f 2541 status=VL6180x_I2CRead(dev.I2cAddr, index, &buffer,1);
gallonm 7:2dc81120c917 2542 if( !status ){
licio.mapelli@st.com 8:f943a1fca15f 2543 buffer=(buffer & AndData)|OrData;
licio.mapelli@st.com 8:f943a1fca15f 2544 status=VL6180x_I2CWrite(dev.I2cAddr, index, &buffer, (uint8_t)1);
gallonm 7:2dc81120c917 2545 }
gallonm 7:2dc81120c917 2546 }
gallonm 7:2dc81120c917 2547
gallonm 7:2dc81120c917 2548 return status;
gallonm 7:2dc81120c917 2549 }
gallonm 7:2dc81120c917 2550
gallonm 4:a5abf7757947 2551 int VL6180X::VL6180x_I2CWrite(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t* pBuffer, uint16_t NumByteToWrite)
gallonm 4:a5abf7757947 2552 {
gallonm 4:a5abf7757947 2553 int ret;
gallonm 4:a5abf7757947 2554 int i;
gallonm 4:a5abf7757947 2555 uint8_t tmp[TEMP_BUF_SIZE];
gallonm 4:a5abf7757947 2556 uint16_t myRegisterAddr = RegisterAddr;
gallonm 7:2dc81120c917 2557 uint16_t WriteDeviceAddr=0;
licio.mapelli@st.com 8:f943a1fca15f 2558 /* First, prepare 8 bits device address in 7bits i2ci format */
gallonm 7:2dc81120c917 2559 WriteDeviceAddr=DeviceAddr*2;
gallonm 4:a5abf7757947 2560 if(NumByteToWrite >= TEMP_BUF_SIZE) return -2;
gallonm 4:a5abf7757947 2561
licio.mapelli@st.com 8:f943a1fca15f 2562 /* then prepare 16 bits register address in BE format. Then, send data and STOP condition */
gallonm 4:a5abf7757947 2563 tmp[0] = *(((uint8_t*)&myRegisterAddr)+1);
gallonm 4:a5abf7757947 2564 tmp[1] = (uint8_t)RegisterAddr;
gallonm 4:a5abf7757947 2565
licio.mapelli@st.com 8:f943a1fca15f 2566 if(NumByteToWrite>1) /* swap data endianess */
gallonm 4:a5abf7757947 2567 {
gallonm 4:a5abf7757947 2568 for(i=0;i<NumByteToWrite;i++)
gallonm 4:a5abf7757947 2569 {
licio.mapelli@st.com 8:f943a1fca15f 2570 tmp[NumByteToWrite+sizeof(RegisterAddr)-i]=pBuffer[i];
gallonm 4:a5abf7757947 2571 }
gallonm 4:a5abf7757947 2572 }
gallonm 7:2dc81120c917 2573 else
gallonm 7:2dc81120c917 2574 {
licio.mapelli@st.com 8:f943a1fca15f 2575 memcpy(tmp+sizeof(RegisterAddr), pBuffer, NumByteToWrite);
gallonm 7:2dc81120c917 2576 }
licio.mapelli@st.com 8:f943a1fca15f 2577 ret = dev_i2c.write(DeviceAddr, (const char*)tmp, NumByteToWrite+sizeof(RegisterAddr), false);
gallonm 4:a5abf7757947 2578
gallonm 4:a5abf7757947 2579 if(ret) return -1;
gallonm 4:a5abf7757947 2580 return 0;
gallonm 4:a5abf7757947 2581 }
gallonm 4:a5abf7757947 2582
gallonm 4:a5abf7757947 2583 int VL6180X::VL6180x_I2CRead(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t* pBuffer, uint16_t NumByteToRead)
gallonm 4:a5abf7757947 2584 {
licio.mapelli@st.com 8:f943a1fca15f 2585 int ret,i;
licio.mapelli@st.com 8:f943a1fca15f 2586 uint8_t tmp[TEMP_BUF_SIZE];
gallonm 4:a5abf7757947 2587 uint16_t myRegisterAddr = RegisterAddr;
gallonm 4:a5abf7757947 2588 uint16_t myRegisterAddrBE;
gallonm 7:2dc81120c917 2589 uint16_t ReadDeviceAddr=DeviceAddr;
gallonm 7:2dc81120c917 2590
gallonm 7:2dc81120c917 2591 ReadDeviceAddr=DeviceAddr*2;
gallonm 4:a5abf7757947 2592 myRegisterAddrBE = *(((uint8_t*)&myRegisterAddr)+1);
gallonm 4:a5abf7757947 2593 *(((uint8_t*)&myRegisterAddrBE)+1) = (uint8_t)myRegisterAddr;
gallonm 4:a5abf7757947 2594
gallonm 4:a5abf7757947 2595 /* Send 8 bits device address and 16 bits register address in BE format, with no STOP condition */
gallonm 7:2dc81120c917 2596 ret = dev_i2c.write(ReadDeviceAddr, (const char*)&myRegisterAddrBE, sizeof(RegisterAddr), true);
gallonm 4:a5abf7757947 2597 if(!ret) {
gallonm 7:2dc81120c917 2598 ReadDeviceAddr|=0x001;
gallonm 4:a5abf7757947 2599 /* Read data, with STOP condition */
licio.mapelli@st.com 8:f943a1fca15f 2600 ret = dev_i2c.read(ReadDeviceAddr, (char*)tmp, NumByteToRead, false);
licio.mapelli@st.com 8:f943a1fca15f 2601 }
licio.mapelli@st.com 8:f943a1fca15f 2602 if(ret) return -1;
licio.mapelli@st.com 8:f943a1fca15f 2603
licio.mapelli@st.com 8:f943a1fca15f 2604 if(NumByteToRead>1) /* swap data endianess */
licio.mapelli@st.com 8:f943a1fca15f 2605 {
licio.mapelli@st.com 8:f943a1fca15f 2606 for(i=0;i<NumByteToRead;i++)
licio.mapelli@st.com 8:f943a1fca15f 2607 {
licio.mapelli@st.com 8:f943a1fca15f 2608 pBuffer[i] = tmp[NumByteToRead-1-i];
licio.mapelli@st.com 8:f943a1fca15f 2609 }
gallonm 4:a5abf7757947 2610 }
licio.mapelli@st.com 8:f943a1fca15f 2611 else
licio.mapelli@st.com 8:f943a1fca15f 2612 {
licio.mapelli@st.com 8:f943a1fca15f 2613 memcpy(pBuffer, tmp, NumByteToRead);
licio.mapelli@st.com 8:f943a1fca15f 2614 }
gallonm 4:a5abf7757947 2615 return 0;
gallonm 4:a5abf7757947 2616 }
gallonm 4:a5abf7757947 2617
gallonm 7:2dc81120c917 2618 int VL6180X::VL6180X_ReadID()
gallonm 4:a5abf7757947 2619 {
licio.mapelli@st.com 8:f943a1fca15f 2620 uint8_t rd_id;
licio.mapelli@st.com 8:f943a1fca15f 2621 VL6180x_RdByte( DevData, IDENTIFICATION_MODEL_ID, &rd_id);
licio.mapelli@st.com 8:f943a1fca15f 2622 return rd_id;
gallonm 4:a5abf7757947 2623 }
gallonm 4:a5abf7757947 2624
gallonm 4:a5abf7757947 2625
gallonm 7:2dc81120c917 2626
gallonm 1:1de1ea2994d9 2627 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/