Mustapha hamdi
INSAT Mini Project
Dependencies: ST_INTERFACES X_NUCLEO_COMMON
Fork of
X_NUCLEO_6180XA1
by 
ST
Diff: Components/VL6180X/vl6180x_class.cpp
- Revision:
- 16:0d4776564733
- Parent:
- 15:454710d17358
- Child:
- 19:39ea6bab0e5b
--- a/Components/VL6180X/vl6180x_class.cpp Tue Oct 20 16:44:28 2015 +0200
+++ b/Components/VL6180X/vl6180x_class.cpp Tue Oct 27 15:25:11 2015 +0100
@@ -34,11 +34,11 @@
*
******************************************************************************
*/
-
+
/* Includes */
#include "vl6180x_class.h"
-
+
#ifndef VL6180x_RANGE_STATUS_ERRSTRING
#warning "VL6180x_RANGE_STATUS_ERRSTRING not defined ?"
/* TODO you may remove or comment these #warning and keep the default below to keep compatibility
@@ -48,7 +48,7 @@
*/
#define VL6180x_RANGE_STATUS_ERRSTRING 0
#endif
-
+
#ifndef VL6180X_SAFE_POLLING_ENTER
#warning "VL6180X_SAFE_POLLING_ENTER not defined, likely old vl6180x_cfg.h file ?"
/* TODO you may remove or comment these #warning and keep the default below to keep compatibility
@@ -58,41 +58,41 @@
*/
#define VL6180X_SAFE_POLLING_ENTER 0 /* off by default as in api 2.0 */
#endif
-
+
#ifndef VL6180X_LOG_ENABLE
/**
* Force VL6180X_LOG_ENABLE to none as default
*/
#define VL6180X_LOG_ENABLE 0
#endif
-
+
#if VL6180x_RANGE_STATUS_ERRSTRING
/**@def VL6180x_HAVE_RANGE_STATUS_ERRSTRING
* @brief is defined when @a #VL6180x_RANGE_STATUS_ERRSTRING is enable
*/
#define VL6180x_HAVE_RANGE_STATUS_ERRSTRING
#endif
-
-
+
+
/** @brief Get API version as "hex integer" 0xMMnnss
*/
#define VL6180x_ApiRevInt ((VL6180x_API_REV_MAJOR<<24)+(VL6180x_API_REV_MINOR<<16)+VL6180x_API_REV_SUB)
-
+
/** Get API version as string for exe "2.1.12" "
*/
#define VL6180x_ApiRevStr VL6180X_STR(VL6180x_API_REV_MAJOR) "." VL6180X_STR(VL6180x_API_REV_MINOR) "." VL6180X_STR(VL6180x_API_REV_SUB)
-
+
/** @defgroup api_init Init functions
* @brief API init functions
* @ingroup api_hl
* @{
*/
-
-
+
+
/****************** define for i2c configuration *******************************/
-
-#define TEMP_BUF_SIZE 32
-
+
+#define TEMP_BUF_SIZE 32
+
#define IsValidGPIOFunction(x) ((x)==GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT || (x)==GPIOx_SELECT_OFF)
/**
* @brief Clear All interrupt causes (als+range+error)
@@ -115,19 +115,19 @@
* @return 0 On success
*/
#define VL6180x_RangeClearInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_RANGING)
-
+
/******************************************************************************/
/******************************* file api.c ***********************************/
-
+
#define VL6180x_9to7Conv(x) (x)
-
+
/* TODO when set all "cached" value with "default init" are updated after init from register read back */
#define REFRESH_CACHED_DATA_AFTER_INIT 1
-
-
+
+
#define IsValidGPIOFunction(x) ((x)==GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT || (x)==GPIOx_SELECT_OFF)
-
-
+
+
/** default value ECE factor Molecular */
#define DEF_ECE_FACTOR_M 85
/** default value ECE factor Denominator */
@@ -142,21 +142,21 @@
#define DEF_DMAX_ENABLE 1
/** default ambient tuning factor %x1000 */
#define DEF_AMBIENT_TUNING 80
-
+
#if VL6180x_SINGLE_DEVICE_DRIVER
extern struct VL6180xDevData_t SingleVL6180xDevData;
#define VL6180xDevDataGet(dev, field) (SingleVL6180xDevData.field)
#define VL6180xDevDataSet(dev, field, data) SingleVL6180xDevData.field=(data)
#endif
-
+
#define LUXRES_FIX_PREC 8
#define GAIN_FIX_PREC 8 /* ! if not sme as LUX_PREC then :( adjust GetLux */
#define AN_GAIN_MULT (1<<GAIN_FIX_PREC)
-
-
+
+
static int32_t _GetAveTotalTime(VL6180xDev_t dev);
static int VL6180x_RangeSetEarlyConvergenceEestimateThreshold(VL6180xDev_t dev);
-
+
/**
* ScalerLookUP scaling factor-1 to register #RANGE_SCALER lookup
*/
@@ -178,8 +178,8 @@
(uint16_t)(1.0f * AN_GAIN_MULT),
(uint16_t)(40.0f * AN_GAIN_MULT),
};
-
-
+
+
#if VL6180x_RANGE_STATUS_ERRSTRING
const char * ROMABLE_DATA VL6180x_RangeStatusErrString[]={
"No Error",
@@ -198,17 +198,17 @@
"Raw Ranging Algo Overflow",
"Ranging Algo Underflow",
"Ranging Algo Overflow",
-
+
"Filtered by post processing"
};
-
+
const char * VL6180x_RangeGetStatusErrString(uint8_t RangeErrCode){
if( RangeErrCode > sizeof(VL6180x_RangeStatusErrString)/sizeof(VL6180x_RangeStatusErrString[0]) )
return NULL;
return VL6180x_RangeStatusErrString[RangeErrCode];
}
#endif
-
+
#if VL6180x_UPSCALE_SUPPORT == 1
#define _GetUpscale(dev, ... ) 1
#define _SetUpscale(...) -1
@@ -226,8 +226,8 @@
#define _GetUpscale(dev, ... ) VL6180xDevDataGet(dev, UpscaleFactor)
#define _SetUpscale(dev, Scaling ) VL6180xDevDataSet(dev, UpscaleFactor, Scaling)
#endif
-
-
+
+
#if VL6180x_SINGLE_DEVICE_DRIVER
/**
* the unique driver data When single device driver is active
@@ -248,16 +248,16 @@
#endif
};
#endif /* VL6180x_SINGLE_DEVICE_DRIVER */
-
-
-
+
+
+
#define Fix7_2_KCPs(x) ((((uint32_t)(x))*1000)>>7)
-
-
+
+
#if VL6180x_WRAP_AROUND_FILTER_SUPPORT || VL6180x_HAVE_DMAX_RANGING
static int _GetRateResult(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData);
#endif
-
+
#if VL6180x_WRAP_AROUND_FILTER_SUPPORT
static int _filter_Init(VL6180xDev_t dev);
static int _filter_GetResult(VL6180xDev_t dev, VL6180x_RangeData_t *pData);
@@ -265,8 +265,8 @@
#else
#define _IsWrapArroundActive(dev) 0
#endif
-
-
+
+
#if VL6180x_HAVE_DMAX_RANGING
void _DMax_OneTimeInit(VL6180xDev_t dev);
static int _DMax_InitData(VL6180xDev_t dev);
@@ -277,22 +277,22 @@
#define _DMax_OneTimeInit(...) (void)0
#define _IsDMaxActive(...) 0
#endif
-
+
static int VL6180x_RangeStaticInit(VL6180xDev_t dev);
static int VL6180x_UpscaleStaticInit(VL6180xDev_t dev);
-
+
int VL6180X::VL6180x_WaitDeviceBooted(VL6180xDev_t dev){
- uint8_t FreshOutReset;
- int status;
- LOG_FUNCTION_START("");
- do{
- status = VL6180x_RdByte(dev,SYSTEM_FRESH_OUT_OF_RESET, &FreshOutReset);
- }
- while( FreshOutReset!=1 && status==0);
- LOG_FUNCTION_END(status);
- return status;
+ uint8_t FreshOutReset;
+ int status;
+ LOG_FUNCTION_START("");
+ do{
+ status = VL6180x_RdByte(dev,SYSTEM_FRESH_OUT_OF_RESET, &FreshOutReset);
+ }
+ while( FreshOutReset!=1 && status==0);
+ LOG_FUNCTION_END(status);
+ return status;
}
-
+
int VL6180X::VL6180x_InitData(VL6180xDev_t dev){
int status, dmax_status ;
int8_t offset;
@@ -300,30 +300,30 @@
uint32_t CalValue;
uint16_t u16;
uint32_t XTalkCompRate_KCps;
-
+
LOG_FUNCTION_START("");
-
+
VL6180xDevDataSet(dev, EceFactorM , DEF_ECE_FACTOR_M);
VL6180xDevDataSet(dev, EceFactorD , DEF_ECE_FACTOR_D);
-
+
#ifdef VL6180x_HAVE_UPSCALE_DATA
VL6180xDevDataSet(dev, UpscaleFactor , DEF_UPSCALE);
#endif
-
+
#ifdef VL6180x_HAVE_ALS_DATA
VL6180xDevDataSet(dev, IntegrationPeriod, DEF_INT_PEFRIOD);
VL6180xDevDataSet(dev, AlsGainCode, DEF_ALS_GAIN);
VL6180xDevDataSet(dev, AlsScaler, DEF_ALS_SCALER);
#endif
-
+
#ifdef VL6180x_HAVE_WRAP_AROUND_DATA
VL6180xDevDataSet(dev, WrapAroundFilterActive, (VL6180x_WRAP_AROUND_FILTER_SUPPORT >0));
VL6180xDevDataSet(dev, DMaxEnable, DEF_DMAX_ENABLE);
#endif
-
+
_DMax_OneTimeInit(dev);
do{
-
+
/* backup offset initial value from nvm these must be done prior any over call that use offset */
status = VL6180X::VL6180x_RdByte(dev,SYSRANGE_PART_TO_PART_RANGE_OFFSET, (uint8_t*)&offset);
if( status ){
@@ -331,7 +331,7 @@
break;
}
VL6180xDevDataSet(dev, Part2PartOffsetNVM, offset);
-
+
status=VL6180x_RdDWord( dev, SYSRANGE_RANGE_IGNORE_THRESHOLD, &CalValue);
if( status ){
VL6180x_ErrLog("Part2PartAmbNVM rd fail");
@@ -341,7 +341,7 @@
CalValue=0x00CE03F8;
}
VL6180xDevDataSet(dev, Part2PartAmbNVM, CalValue);
-
+
status = VL6180x_RdWord(dev, SYSRANGE_CROSSTALK_COMPENSATION_RATE ,&u16);
if( status){
VL6180x_ErrLog("SYSRANGE_CROSSTALK_COMPENSATION_RATE rd fail ");
@@ -349,13 +349,13 @@
}
XTalkCompRate_KCps = Fix7_2_KCPs(u16);
VL6180xDevDataSet(dev, XTalkCompRate_KCps , XTalkCompRate_KCps );
-
+
dmax_status = _DMax_InitData(dev);
if( dmax_status < 0 ){
VL6180x_ErrLog("DMax init failure");
break;
}
-
+
/* Read or wait for fresh out of reset */
status = VL6180x_RdByte(dev,SYSTEM_FRESH_OUT_OF_RESET, &FreshOutReset);
if( status ) {
@@ -364,14 +364,14 @@
}
if( FreshOutReset!= 1 || dmax_status )
status = CALIBRATION_WARNING;
-
+
}
while(0);
-
+
LOG_FUNCTION_END(status);
return status;
}
-
+
int8_t VL6180X::VL6180x_GetOffsetCalibrationData(VL6180xDev_t dev)
{
int8_t offset;
@@ -380,14 +380,14 @@
LOG_FUNCTION_END( offset );
return offset;
}
-
+
void VL6180X::VL6180x_SetOffsetCalibrationData(VL6180xDev_t dev, int8_t offset)
{
LOG_FUNCTION_START("%d", offset);
VL6180xDevDataSet(dev, Part2PartOffsetNVM, offset);
LOG_FUNCTION_END(0);
}
-
+
int VL6180X::VL6180x_SetXTalkCompensationRate(VL6180xDev_t dev, FixPoint97_t Rate)
{
int status;
@@ -403,11 +403,11 @@
LOG_FUNCTION_END(status);
return status;
}
-
+
int VL6180X::VL6180x_SetI2CAddress(VL6180xDev_t dev, uint8_t NewAddress){
int status;
LOG_FUNCTION_START("");
-
+
status = VL6180x_WrByte(dev, I2C_SLAVE_DEVICE_ADDRESS, NewAddress);
if( status ){
VL6180x_ErrLog("new i2c addr Wr fail");
@@ -415,43 +415,43 @@
LOG_FUNCTION_END(status);
return status;
}
-
-
+
+
uint16_t VL6180X::VL6180x_GetUpperLimit(VL6180xDev_t dev) {
uint16_t limit;
int scaling;
-
+
LOG_FUNCTION_START("");
-
+
scaling = _GetUpscale(dev);
/* FIXME we do assume here _GetUpscale is valid if user call us prior to init we may overflow the LUT mem area */
limit = UpperLimitLookUP[scaling - 1];
-
+
LOG_FUNCTION_END((int )limit);
return limit;
}
-
-
-
+
+
+
int VL6180X::VL6180x_StaticInit(VL6180xDev_t dev){
int status=0, init_status;
LOG_FUNCTION_START("");
-
+
/* TODO doc When using configurable scaling but using 1x as start condition
* load tunning upscale or not ??? */
if( _GetUpscale(dev) == 1 && !(VL6180x_UPSCALE_SUPPORT<0))
- init_status=VL6180x_RangeStaticInit(dev);
+ init_status=VL6180x_RangeStaticInit(dev);
else
- init_status=VL6180x_UpscaleStaticInit(dev);
-
+ init_status=VL6180x_UpscaleStaticInit(dev);
+
if( init_status <0 ){
- VL6180x_ErrLog("StaticInit fail");
- goto error;
+ VL6180x_ErrLog("StaticInit fail");
+ goto error;
}
else if(init_status > 0){
- VL6180x_ErrLog("StaticInit warning");
+ VL6180x_ErrLog("StaticInit warning");
}
-
+
#if REFRESH_CACHED_DATA_AFTER_INIT
/* update cached value after tuning applied */
do{
@@ -460,7 +460,7 @@
status= VL6180x_RdByte(dev, FW_ALS_RESULT_SCALER, &data);
if( status ) break;
VL6180xDevDataSet(dev, AlsScaler, data);
-
+
status= VL6180x_RdByte(dev, SYSALS_ANALOGUE_GAIN, &data);
if( status ) break;
VL6180x_AlsSetAnalogueGain(dev, data);
@@ -472,45 +472,45 @@
VL6180x_ErrLog("StaticInit fail");
}
if( !status && init_status){
- status = init_status;
+ status = init_status;
}
error:
LOG_FUNCTION_END(status);
return status;
}
-
-
+
+
int VL6180X::VL6180x_SetGroupParamHold(VL6180xDev_t dev, int Hold)
{
int status;
uint8_t value;
-
+
LOG_FUNCTION_START("%d", Hold);
if( Hold )
value = 1;
else
value = 0;
status = VL6180x_WrByte(dev, SYSTEM_GROUPED_PARAMETER_HOLD, value);
-
+
LOG_FUNCTION_END(status);
return status;
-
+
}
-
+
int VL6180X::VL6180x_Prepare(VL6180xDev_t dev)
{
int status;
LOG_FUNCTION_START("");
-
+
do{
status=VL6180x_StaticInit(dev);
if( status<0) break;
-
+
/* set range InterruptMode to new sample */
status=VL6180x_RangeConfigInterrupt(dev, CONFIG_GPIO_INTERRUPT_DISABLED );
if( status)
break;
-
+
/* set default threshold */
status=VL6180x_RangeSetRawThresholds(dev, 10, 200);
if( status ){
@@ -541,10 +541,10 @@
}
while(0);
LOG_FUNCTION_END(status);
-
+
return status;
}
-
+
#if VL6180x_ALS_SUPPORT
int VL6180X::VL6180x_AlsGetLux(VL6180xDev_t dev, lux_t *pLux)
{
@@ -555,14 +555,14 @@
uint32_t AlsAnGain;
uint32_t GainFix;
uint32_t AlsScaler;
-
+
#if LUXRES_FIX_PREC != GAIN_FIX_PREC
#error "LUXRES_FIX_PREC != GAIN_FIX_PREC review these code to be correct"
#endif
const uint32_t LuxResxIntIme =(uint32_t)(0.56f* DEF_INT_PEFRIOD *(1<<LUXRES_FIX_PREC));
-
+
LOG_FUNCTION_START("%p", pLux);
-
+
status = VL6180x_RdWord( dev, RESULT_ALS_VAL, &RawAls);
if( !status){
/* wer are yet here at no fix point */
@@ -577,34 +577,34 @@
luxValue = luxValue / (AlsScaler * GainFix);
*pLux=luxValue;
}
-
+
LOG_FUNCTION_END_FMT(status, "%x",(int)*pLux);
return status;
}
-
+
int VL6180X::VL6180x_AlsGetMeasurement(VL6180xDev_t dev, VL6180x_AlsData_t *pAlsData)
{
int status;
uint8_t ErrStatus;
-
+
LOG_FUNCTION_START("%p", pAlsData);
-
+
status = VL6180x_AlsGetLux(dev, &pAlsData->lux);
if( !status ){
status = VL6180x_RdByte(dev, RESULT_ALS_STATUS, & ErrStatus);
pAlsData->errorStatus = ErrStatus>>4;
}
LOG_FUNCTION_END_FMT(status,"%d %d", (int)pAlsData->lux, (int)pAlsData->errorStatus);
-
+
return status;
}
-
-
+
+
int VL6180X::VL6180x_AlsPollMeasurement(VL6180xDev_t dev, VL6180x_AlsData_t *pAlsData) {
int status;
int ClrStatus;
uint8_t IntStatus;
-
+
LOG_FUNCTION_START("%p", pAlsData);
#if VL6180X_SAFE_POLLING_ENTER
/* if device get stopped with left interrupt uncleared , it is required to clear them now or poll for new condition will never occur*/
@@ -614,13 +614,13 @@
goto over;
}
#endif
-
+
status=VL6180x_AlsSetSystemMode(dev, MODE_START_STOP|MODE_SINGLESHOT);
if( status){
VL6180x_ErrLog("VL6180x_AlsSetSystemMode fail");
goto over;
}
-
+
/* poll for new sample ready */
while (1 ) {
status = VL6180x_AlsGetInterruptStatus(dev, &IntStatus);
@@ -630,14 +630,14 @@
if (IntStatus == RES_INT_STAT_GPIO_NEW_SAMPLE_READY) {
break; /* break on new data (status is 0) */
}
-
+
VL6180x_PollDelay(dev);
};
-
+
if (!status) {
status = VL6180x_AlsGetMeasurement(dev, pAlsData);
}
-
+
ClrStatus = VL6180x_AlsClearInterrupt(dev);
if (ClrStatus) {
VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
@@ -647,22 +647,22 @@
}
over:
LOG_FUNCTION_END(status);
-
+
return status;
}
-
+
int VL6180X::VL6180x_AlsGetInterruptStatus(VL6180xDev_t dev, uint8_t *pIntStatus) {
int status;
uint8_t IntStatus;
LOG_FUNCTION_START("%p", pIntStatus);
-
+
status = VL6180x_RdByte(dev, RESULT_INTERRUPT_STATUS_GPIO, &IntStatus);
*pIntStatus= (IntStatus>>3)&0x07;
-
+
LOG_FUNCTION_END_FMT(status, "%d", (int)*pIntStatus);
return status;
}
-
+
int VL6180X::VL6180x_AlsWaitDeviceReady(VL6180xDev_t dev, int MaxLoop ){
int status;
int n;
@@ -679,7 +679,7 @@
u8 = u8 & ALS_DEVICE_READY_MASK;
if( u8 )
break;
-
+
}
if( !status && !u8 ){
status = TIME_OUT;
@@ -688,7 +688,7 @@
LOG_FUNCTION_END(status);
return status;
}
-
+
int VL6180X::VL6180x_AlsSetSystemMode(VL6180xDev_t dev, uint8_t mode)
{
int status;
@@ -704,11 +704,11 @@
LOG_FUNCTION_END(status);
return status;
}
-
+
int VL6180X::VL6180x_AlsConfigInterrupt(VL6180xDev_t dev, uint8_t ConfigGpioInt)
{
int status;
-
+
if( ConfigGpioInt<= CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY){
status = VL6180x_UpdateByte(dev, SYSTEM_INTERRUPT_CONFIG_GPIO, (uint8_t)(~CONFIG_GPIO_ALS_MASK), (ConfigGpioInt<<3));
}
@@ -719,78 +719,78 @@
LOG_FUNCTION_END(status);
return status;
}
-
-
-
+
+
+
int VL6180X::VL6180x_AlsSetThresholds(VL6180xDev_t dev, uint8_t low, uint8_t high) {
int status;
-
+
LOG_FUNCTION_START("%d %d", (int )low, (int)high);
-
+
status = VL6180x_WrByte(dev, SYSALS_THRESH_LOW, low); //FIXME i valori passati devono essere uint16_t (vedi registri), inoltre i valori delle soglie NON sono in lux! bisogna invertire il calcolo fatto nella VL6180x_AlsGetLux()
if(!status ){
status = VL6180x_WrByte(dev, SYSALS_THRESH_HIGH, high);
}
-
+
LOG_FUNCTION_END(status) ;
return status;
}
-
-
+
+
int VL6180X::VL6180x_AlsSetAnalogueGain(VL6180xDev_t dev, uint8_t gain) {
int status;
uint8_t GainTotal;
-
+
LOG_FUNCTION_START("%d", (int )gain);
gain&=~0x40;
if (gain > 7) {
gain = 7;
}
GainTotal = gain|0x40;
-
+
status = VL6180x_WrByte(dev, SYSALS_ANALOGUE_GAIN, GainTotal);
if( !status){
VL6180xDevDataSet(dev, AlsGainCode, gain);
}
-
+
LOG_FUNCTION_END_FMT(status, "%d %d", (int ) gain, (int )GainTotal);
return status;
}
-
+
int VL6180X::VL6180x_AlsSetInterMeasurementPeriod(VL6180xDev_t dev, uint16_t intermeasurement_period_ms)
{
int status;
-
+
LOG_FUNCTION_START("%d",(int)intermeasurement_period_ms);
/* clipping: range is 0-2550ms */
if (intermeasurement_period_ms >= 255 *10)
intermeasurement_period_ms = 255 *10;
status=VL6180x_WrByte(dev, SYSALS_INTERMEASUREMENT_PERIOD, (uint8_t)(intermeasurement_period_ms/10));
-
+
LOG_FUNCTION_END_FMT(status, "%d", (int) intermeasurement_period_ms);
return status;
}
-
-
+
+
int VL6180X::VL6180x_AlsSetIntegrationPeriod(VL6180xDev_t dev, uint16_t period_ms)
{
int status;
uint16_t SetIntegrationPeriod;
-
+
LOG_FUNCTION_START("%d", (int)period_ms);
-
+
if( period_ms>=1 )
SetIntegrationPeriod = period_ms - 1;
else
SetIntegrationPeriod = period_ms;
-
+
if (SetIntegrationPeriod > 464) {
SetIntegrationPeriod = 464;
}
else if (SetIntegrationPeriod == 255) {
SetIntegrationPeriod++; /* can't write 255 since this causes the device to lock out.*/
}
-
+
status =VL6180x_WrWord(dev, SYSALS_INTEGRATION_PERIOD, SetIntegrationPeriod);
if( !status ){
VL6180xDevDataSet(dev, IntegrationPeriod, SetIntegrationPeriod) ;
@@ -798,20 +798,20 @@
LOG_FUNCTION_END_FMT(status, "%d", (int)SetIntegrationPeriod);
return status;
}
-
+
#endif /* HAVE_ALS_SUPPORT */
-
-
+
+
int VL6180X::VL6180x_RangePollMeasurement(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData)
{
int status;
int ClrStatus;
IntrStatus_t IntStatus;
-
+
LOG_FUNCTION_START("");
/* start single range measurement */
-
-
+
+
#if VL6180X_SAFE_POLLING_ENTER
/* if device get stopped with left interrupt uncleared , it is required to clear them now or poll for new condition will never occur*/
status=VL6180x_RangeClearInterrupt(dev);
@@ -826,7 +826,7 @@
VL6180x_ErrLog("VL6180x_RangeSetSystemMode fail");
goto done;
}
-
+
/* poll for new sample ready */
while(1 ){
status=VL6180x_RangeGetInterruptStatus(dev, &IntStatus.val);
@@ -846,11 +846,11 @@
VL6180x_PollDelay(dev);
}
/* //![single_shot_snipet] */
-
+
if ( !status ){
status = VL6180x_RangeGetMeasurement(dev, pRangeData);
}
-
+
/* clear range interrupt source */
ClrStatus = VL6180x_RangeClearInterrupt(dev);
if( ClrStatus ){
@@ -864,17 +864,17 @@
LOG_FUNCTION_END(status);
return status;
}
-
-
-
+
+
+
int VL6180X::VL6180x_RangeGetMeasurement(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData)
{
int status;
uint16_t RawRate;
uint8_t RawStatus;
-
+
LOG_FUNCTION_START("");
-
+
status = VL6180x_RangeGetResult(dev, &pRangeData->range_mm);
if( !status ){
status = VL6180x_RdWord(dev,RESULT_RANGE_SIGNAL_RATE, &RawRate );
@@ -887,11 +887,11 @@
else{
VL6180x_ErrLog("Rd RESULT_RANGE_STATUS fail");
}
- #if VL6180x_WRAP_AROUND_FILTER_SUPPORT || VL6180x_HAVE_DMAX_RANGING
+ #if VL6180x_WRAP_AROUND_FILTER_SUPPORT || VL6180x_HAVE_DMAX_RANGING
status = _GetRateResult(dev, pRangeData);
if( status )
- goto error;
- #endif
+ goto error;
+ #endif
#if VL6180x_WRAP_AROUND_FILTER_SUPPORT
/* if enabled run filter */
if( _IsWrapArroundActive(dev) ){
@@ -905,7 +905,7 @@
}
}
#endif
-
+
#if VL6180x_HAVE_DMAX_RANGING
if(_IsDMaxActive(dev) ){
_DMax_Compute(dev, pRangeData);
@@ -923,15 +923,15 @@
LOG_FUNCTION_END_FMT(status, "%d %d %d", (int)pRangeData->range_mm, (int)pRangeData->signalRate_mcps, (int)pRangeData->errorStatus) ;
return status;
}
-
-
+
+
int VL6180X::VL6180x_RangeGetMeasurementIfReady(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData)
{
int status;
IntrStatus_t IntStatus;
-
+
LOG_FUNCTION_START();
-
+
status = VL6180x_RangeGetInterruptStatus(dev, &IntStatus.val);
if( status ==0 ){
if( IntStatus.status.Error !=0 ){
@@ -959,7 +959,7 @@
LOG_FUNCTION_END(status) ;
return status;
}
-
+
int VL6180X::VL6180x_FilterSetState(VL6180xDev_t dev, int state){
int status;
LOG_FUNCTION_START("%d", state);
@@ -972,7 +972,7 @@
LOG_FUNCTION_END(status);
return status;
}
-
+
int VL6180X::VL6180x_FilterGetState(VL6180xDev_t dev){
int status;
LOG_FUNCTION_START("");
@@ -984,14 +984,14 @@
LOG_FUNCTION_END(status);
return status;
}
-
+
int VL6180X::VL6180x_RangeGetResult(VL6180xDev_t dev, int32_t *pRange_mm) {
int status;
uint8_t RawRange;
int32_t Upscale;
-
+
LOG_FUNCTION_START("%p",pRange_mm);
-
+
status = VL6180x_RdByte(dev, RESULT_RANGE_VAL, &RawRange);
if( !status ){
Upscale = _GetUpscale(dev);
@@ -1000,7 +1000,7 @@
LOG_FUNCTION_END_FMT(status, "%d", (int)*pRange_mm);
return status;
}
-
+
int VL6180X::VL6180x_RangeSetRawThresholds(VL6180xDev_t dev, uint8_t low, uint8_t high)
{
int status;
@@ -1010,11 +1010,11 @@
if( !status){
status=VL6180x_WrByte(dev, SYSRANGE_THRESH_LOW, low);
}
-
+
LOG_FUNCTION_END(status);
return status;
}
-
+
int VL6180X::VL6180x_RangeSetThresholds(VL6180xDev_t dev, uint16_t low, uint16_t high, int UseSafeParamHold)
{
int status;
@@ -1045,20 +1045,20 @@
}
while(0);
}
-
+
LOG_FUNCTION_END(status);
return status;
}
-
-
+
+
int VL6180X::VL6180x_RangeGetThresholds(VL6180xDev_t dev, uint16_t *low, uint16_t *high)
{
int status;
uint8_t RawLow, RawHigh;
int scale;
-
+
LOG_FUNCTION_START("%p %p", low , high);
-
+
scale=_GetUpscale(dev,UpscaleFactor);
do{
if( high != NULL ){
@@ -1082,8 +1082,8 @@
LOG_FUNCTION_END_FMT(status, "%d %d",(int)*low ,(int)*high);
return status;
}
-
-
+
+
int VL6180X::VL6180x_RangeGetInterruptStatus(VL6180xDev_t dev, uint8_t *pIntStatus) {
int status;
uint8_t IntStatus;
@@ -1092,12 +1092,12 @@
* not just new sample or over status , that will nevr show up in case of error*/
status = VL6180x_RdByte(dev, RESULT_INTERRUPT_STATUS_GPIO, &IntStatus);
*pIntStatus= IntStatus&0xC7;
-
+
LOG_FUNCTION_END_FMT(status, "%d", (int)*pIntStatus);
return status;
}
-
-
+
+
int VL6180X::VL6180x_GetInterruptStatus(VL6180xDev_t dev, uint8_t *IntStatus)
{
int status;
@@ -1106,7 +1106,7 @@
LOG_FUNCTION_END_FMT(status, "%d", (int)*IntStatus);
return status;
}
-
+
int VL6180X::VL6180x_ClearInterrupt(VL6180xDev_t dev, uint8_t IntClear )
{
int status;
@@ -1120,13 +1120,13 @@
LOG_FUNCTION_END(status);
return status;
}
-
-
+
+
int VL6180X::VL6180x_RangeStaticInit(VL6180xDev_t dev)
{
int status;
LOG_FUNCTION_START("");
-
+
/* REGISTER_TUNING_SR03_270514_CustomerView.txt */
VL6180x_WrByte( dev, 0x0207, 0x01);
VL6180x_WrByte( dev, 0x0208, 0x01);
@@ -1158,7 +1158,7 @@
VL6180x_WrByte( dev, 0x01ac, 0x3e);
VL6180x_WrByte( dev, 0x01a7, 0x1f);
VL6180x_WrByte( dev, 0x0030, 0x00);
-
+
/* Recommended : Public registers - See data sheet for more detail */
VL6180x_WrByte( dev, 0x0011, 0x10); /* Enables polling for New Sample ready when measurement completes */
VL6180x_WrByte( dev, 0x010a, 0x30); /* Set the averaging sample period (compromise between lower noise and increased execution time) */
@@ -1166,21 +1166,21 @@
VL6180x_WrByte( dev, 0x0031, 0xFF); /* sets the # of range measurements after which auto calibration of system is performed */
VL6180x_WrByte( dev, 0x0040, 0x63); /* Set ALS integration time to 100ms */
VL6180x_WrByte( dev, 0x002e, 0x01); /* perform a single temperature calibration of the ranging sensor */
-
+
/* Optional: Public registers - See data sheet for more detail */
VL6180x_WrByte( dev, 0x001b, 0x09); /* Set default ranging inter-measurement period to 100ms */
VL6180x_WrByte( dev, 0x003e, 0x31); /* Set default ALS inter-measurement period to 500ms */
VL6180x_WrByte( dev, 0x0014, 0x24); /* Configures interrupt on New sample ready */
-
-
+
+
status=VL6180x_RangeSetMaxConvergenceTime(dev, 50); /* Calculate ece value on initialization (use max conv) */
LOG_FUNCTION_END(status);
-
+
return status;
}
-
+
#if VL6180x_UPSCALE_SUPPORT != 1
-
+
int VL6180X::_UpscaleInitPatch0(VL6180xDev_t dev){
int status;
uint32_t CalValue=0;
@@ -1188,7 +1188,7 @@
status=VL6180x_WrDWord( dev, 0xDA, CalValue);
return status;
}
-
+
/* only include up-scaling register setting when up-scale support is configured in */
int VL6180X::VL6180x_UpscaleRegInit(VL6180xDev_t dev)
{
@@ -1204,9 +1204,9 @@
VL6180x_WrByte( dev, 0x00e7, 0x03);
VL6180x_WrByte( dev, 0x00f5, 0x02);
VL6180x_WrByte( dev, 0x00d9, 0x05);
-
+
_UpscaleInitPatch0(dev);
-
+
VL6180x_WrByte( dev, 0x009f, 0x00);
VL6180x_WrByte( dev, 0x00a3, 0x28);
VL6180x_WrByte( dev, 0x00b7, 0x00);
@@ -1243,15 +1243,15 @@
#else
#define VL6180x_UpscaleRegInit(...) -1
#endif
-
+
int VL6180X::VL6180x_UpscaleSetScaling(VL6180xDev_t dev, uint8_t scaling)
{
int status;
uint16_t Scaler;
int8_t Offset;
-
+
LOG_FUNCTION_START("%d",(int) scaling);
-
+
#ifdef VL6180x_HAVE_UPSCALE_DATA
#define min_scaling 1
#define max_scaling sizeof(ScalerLookUP)/sizeof(ScalerLookUP[0])
@@ -1260,13 +1260,13 @@
#define min_scaling VL6180x_UPSCALE_SUPPORT
#define max_scaling VL6180x_UPSCALE_SUPPORT
#endif
-
+
if( scaling>=min_scaling && scaling<= max_scaling ){
-
+
Scaler = ScalerLookUP[scaling-1];
status = VL6180x_WrWord(dev, RANGE_SCALER, Scaler);
_SetUpscale(dev, scaling );
-
+
/* Apply scaling on part-2-part offset */
Offset = VL6180xDevDataGet(dev, Part2PartOffsetNVM)/scaling;
status = VL6180x_WrByte(dev, SYSRANGE_PART_TO_PART_RANGE_OFFSET, Offset);
@@ -1275,7 +1275,7 @@
status = VL6180x_RangeSetEceState(dev, scaling == 1); /* enable ece only at 1x scaling */
}
if( status == 0 && !VL6180x_EXTENDED_RANGE && scaling!=1 ){
- status = NOT_GUARANTEED ;
+ status = NOT_GUARANTEED ;
}
#endif
}
@@ -1287,24 +1287,24 @@
LOG_FUNCTION_END(status);
return status;
}
-
-
+
+
int VL6180X::VL6180x_UpscaleGetScaling(VL6180xDev_t dev)
{
int status;
LOG_FUNCTION_START("");
status=_GetUpscale(dev );
LOG_FUNCTION_END(status);
-
+
return status;
}
-
-
+
+
int VL6180X::VL6180x_UpscaleStaticInit(VL6180xDev_t dev)
{
/* todo make these a fail macro in case only 1x is suppoted */
int status;
-
+
LOG_FUNCTION_START("");
do{
status=VL6180x_UpscaleRegInit(dev);
@@ -1328,13 +1328,13 @@
LOG_FUNCTION_END(status);
return status;
}
-
-
+
+
int VL6180X::VL6180x_SetGPIOxPolarity(VL6180xDev_t dev, int pin, int active_high)
{
int status;
LOG_FUNCTION_START("%d %d",(int) pin, (int)active_high);
-
+
if( pin ==0 || pin ==1 ){
uint16_t RegIndex;
uint8_t DataSet;
@@ -1342,38 +1342,38 @@
RegIndex= SYSTEM_MODE_GPIO0;
else
RegIndex= SYSTEM_MODE_GPIO1;
-
+
if (active_high )
DataSet = GPIOx_POLARITY_SELECT_MASK;
else
DataSet = 0;
-
+
status = VL6180x_UpdateByte(dev, RegIndex, (uint8_t)~GPIOx_POLARITY_SELECT_MASK, DataSet);
}
else{
VL6180x_ErrLog("Invalid pin param %d", (int)pin);
status = INVALID_PARAMS;
}
-
+
LOG_FUNCTION_END(status);
-
+
return status;
}
-
+
int VL6180X::VL6180x_SetGPIOxFunctionality(VL6180xDev_t dev, int pin, uint8_t functionality)
{
int status;
-
+
LOG_FUNCTION_START("%d %d",(int) pin, (int)functionality);
-
+
if( ((pin ==0) || (pin ==1)) && IsValidGPIOFunction(functionality) ){
uint16_t RegIndex;
-
+
if( pin==0 )
RegIndex= SYSTEM_MODE_GPIO0;
else
RegIndex= SYSTEM_MODE_GPIO1;
-
+
status = VL6180x_UpdateByte(dev, RegIndex, (uint8_t)~GPIOx_FUNCTIONALITY_SELECT_MASK, functionality<<GPIOx_FUNCTIONALITY_SELECT_SHIFT);
if( status){
VL6180x_ErrLog("Update SYSTEM_MODE_GPIO%d fail", (int)pin);
@@ -1383,30 +1383,30 @@
VL6180x_ErrLog("Invalid pin %d or function %d", (int)pin, (int) functionality);
status = INVALID_PARAMS;
}
-
+
LOG_FUNCTION_END(status);
return status;
}
-
-
+
+
int VL6180X::VL6180x_SetupGPIOx(VL6180xDev_t dev, int pin, uint8_t IntFunction, int ActiveHigh)
{
int status;
-
+
LOG_FUNCTION_START("%d %d",(int) pin, (int)IntFunction);
-
+
if( ((pin ==0) || (pin ==1)) && IsValidGPIOFunction(IntFunction) ){
uint16_t RegIndex;
uint8_t value=0;
-
+
if( pin==0 )
RegIndex= SYSTEM_MODE_GPIO0;
else
RegIndex= SYSTEM_MODE_GPIO1;
-
+
if( ActiveHigh )
value|=GPIOx_POLARITY_SELECT_MASK;
-
+
value |= IntFunction<<GPIOx_FUNCTIONALITY_SELECT_SHIFT;
status = VL6180x_WrByte(dev, RegIndex, value);
if( status ){
@@ -1417,24 +1417,24 @@
VL6180x_ErrLog("Invalid pin %d or function %d", (int)pin, (int) IntFunction);
status = INVALID_PARAMS;
}
-
+
LOG_FUNCTION_END(status);
return status;
}
-
-
+
+
int VL6180X::VL6180x_DisableGPIOxOut(VL6180xDev_t dev, int pin) {
int status;
-
+
LOG_FUNCTION_START("%d",(int)pin);
-
+
status=VL6180x_SetGPIOxFunctionality(dev, pin, GPIOx_SELECT_OFF);
-
+
LOG_FUNCTION_END(status);
return status;
}
-
-
+
+
int VL6180X::VL6180x_SetupGPIO1(VL6180xDev_t dev, uint8_t IntFunction, int ActiveHigh)
{
int status;
@@ -1443,11 +1443,11 @@
LOG_FUNCTION_END(status);
return status;
}
-
+
int VL6180X::VL6180x_RangeConfigInterrupt(VL6180xDev_t dev, uint8_t ConfigGpioInt)
{
int status;
-
+
if( ConfigGpioInt<= CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY){
status = VL6180x_UpdateByte(dev, SYSTEM_INTERRUPT_CONFIG_GPIO, (uint8_t)(~CONFIG_GPIO_RANGE_MASK), ConfigGpioInt);
}
@@ -1458,12 +1458,12 @@
LOG_FUNCTION_END(status);
return status;
}
-
-
+
+
int VL6180X::VL6180x_RangeSetEceFactor(VL6180xDev_t dev, uint16_t FactorM, uint16_t FactorD){
int status;
uint8_t u8;
-
+
LOG_FUNCTION_START("%d %d", (int)FactorM, (int)FactorD );
do{
/* D cannot be 0 M must be <=D and >= 0 */
@@ -1491,23 +1491,23 @@
LOG_FUNCTION_END(status);
return status;
}
-
+
int VL6180X::VL6180x_RangeSetEceState(VL6180xDev_t dev, int enable ){
int status;
uint8_t or_mask;
-
+
LOG_FUNCTION_START("%d", (int)enable);
if( enable )
or_mask = RANGE_CHECK_ECE_ENABLE_MASK;
else
or_mask = 0;
-
+
status =VL6180x_UpdateByte(dev, SYSRANGE_RANGE_CHECK_ENABLES, ~RANGE_CHECK_ECE_ENABLE_MASK, or_mask);
LOG_FUNCTION_END(status);
return status;
}
-
-
+
+
int VL6180X::VL6180x_RangeSetMaxConvergenceTime(VL6180xDev_t dev, uint8_t MaxConTime_msec)
{
int status = 0;
@@ -1527,11 +1527,11 @@
LOG_FUNCTION_END(status);
return status;
}
-
+
int VL6180X::VL6180x_RangeSetInterMeasPeriod(VL6180xDev_t dev, uint32_t InterMeasTime_msec){
uint8_t SetTime;
int status;
-
+
LOG_FUNCTION_START("%d",(int)InterMeasTime_msec);
do {
if( InterMeasTime_msec > 2550 ){
@@ -1556,8 +1556,8 @@
LOG_FUNCTION_END(status);
return status;
}
-
-
+
+
int VL6180X::VL6180x_RangeGetDeviceReady(VL6180xDev_t dev, int * Ready){
int status;
uint8_t u8;
@@ -1568,8 +1568,8 @@
LOG_FUNCTION_END_FMT(status,"%d", *Ready);
return status;
}
-
-
+
+
int VL6180X::VL6180x_RangeWaitDeviceReady(VL6180xDev_t dev, int MaxLoop ){
int status; /* if user specify an invalid <=0 loop count we'll return error */
int n;
@@ -1586,7 +1586,7 @@
u8 = u8 & RANGE_DEVICE_READY_MASK;
if( u8 )
break;
-
+
}
if( !status && !u8 ){
status = TIME_OUT;
@@ -1595,7 +1595,7 @@
LOG_FUNCTION_END(status);
return status;
}
-
+
int VL6180X::VL6180x_RangeSetSystemMode(VL6180xDev_t dev, uint8_t mode)
{
int status;
@@ -1616,8 +1616,8 @@
LOG_FUNCTION_END(status);
return status;
}
-
-
+
+
int VL6180X::VL6180x_RangeStartContinuousMode(VL6180xDev_t dev)
{
int status;
@@ -1626,7 +1626,7 @@
LOG_FUNCTION_END(status);
return status;
}
-
+
int VL6180X::VL6180x_RangeStartSingleShot(VL6180xDev_t dev) {
int status;
LOG_FUNCTION_START("");
@@ -1634,12 +1634,12 @@
LOG_FUNCTION_END(status);
return status;
}
-
-
+
+
int VL6180X::VL6180x_RangeSetEarlyConvergenceEestimateThreshold(VL6180xDev_t dev)
{
int status;
-
+
const uint32_t cMicroSecPerMilliSec = 1000;
const uint32_t cEceSampleTime_us = 500;
uint32_t ece_factor_m = VL6180xDevDataGet(dev, EceFactorM);
@@ -1650,9 +1650,9 @@
uint8_t u8;
uint32_t maxConv_ms;
int32_t AveTime;
-
+
LOG_FUNCTION_START("");
-
+
do{
status = VL6180x_RdByte(dev, SYSRANGE_MAX_CONVERGENCE_TIME, &u8);
if( status ){
@@ -1665,7 +1665,7 @@
status=-1;
break;
}
-
+
convergTime_us = maxConv_ms * cMicroSecPerMilliSec - AveTime;
status = VL6180x_RdDWord(dev, 0xB8, &fineThresh);
if( status ) {
@@ -1674,15 +1674,15 @@
}
fineThresh*=256;
eceThresh = ece_factor_m * cEceSampleTime_us * fineThresh/(convergTime_us * ece_factor_d);
-
+
status=VL6180x_WrWord(dev, SYSRANGE_EARLY_CONVERGENCE_ESTIMATE, (uint16_t)eceThresh);
}
while(0);
-
+
LOG_FUNCTION_END(status);
return status;
}
-
+
/*
* Return >0 = time
* <0 1 if fail to get read data from device to compute time
@@ -1698,9 +1698,9 @@
int32_t TotalAveTime_us;
uint8_t u8;
int status;
-
+
LOG_FUNCTION_START("");
-
+
status = VL6180x_RdByte(dev, 0x109, &u8);
if (status) {
VL6180x_ErrLog("rd 0x109 fail");
@@ -1715,25 +1715,25 @@
SamplePeriod = u8;
SingleTime_us = cFwOverhead_us + cVcpSetupTime_us + (SamplePeriod * 10);
TotalAveTime_us = (Samples + 1) * SingleTime_us + cPLL2_StartupDelay_us;
-
+
LOG_FUNCTION_END(TotalAveTime_us);
return TotalAveTime_us;
}
-
+
#if VL6180x_HAVE_DMAX_RANGING
#define _GetDMaxDataRetSignalAt400mm(dev) VL6180xDevDataGet(dev, DMaxData.retSignalAt400mm)
#else
#define _GetDMaxDataRetSignalAt400mm(dev) 375 // Use a default high value
#endif
-
-
+
+
#if VL6180x_WRAP_AROUND_FILTER_SUPPORT
-
+
#define FILTER_STDDEV_SAMPLES 6
#define MIN_FILTER_STDDEV_SAMPLES 3
#define MIN_FILTER_VALID_STDDEV_SAMPLES 3
#define FILTER_INVALID_DISTANCE 65535
-
+
#define _FilterData(field) VL6180xDevDataGet(dev, FilterData.field)
/*
* One time init
@@ -1741,32 +1741,32 @@
int _filter_Init( VL6180xDev_t dev) {
int i;
_FilterData(MeasurementIndex) = 0;
-
+
_FilterData(Default_ZeroVal) = 0;
_FilterData(Default_VAVGVal) = 0;
_FilterData(NoDelay_ZeroVal) = 0;
_FilterData(NoDelay_VAVGVal) = 0;
_FilterData(Previous_VAVGDiff) = 0;
-
+
_FilterData(StdFilteredReads) = 0;
-
+
for (i = 0; i < FILTER_NBOF_SAMPLES; i++) {
_FilterData(LastTrueRange)[i] = FILTER_INVALID_DISTANCE;
_FilterData(LastReturnRates)[i] = 0;
}
return 0;
}
-
-
+
+
static uint32_t _filter_StdDevDamper(uint32_t AmbientRate, uint32_t SignalRate, const uint32_t StdDevLimitLowLight, const uint32_t StdDevLimitLowLightSNR, const uint32_t StdDevLimitHighLight, const uint32_t StdDevLimitHighLightSNR) {
uint32_t newStdDev;
uint16_t SNR;
-
+
if (AmbientRate > 0)
SNR = (uint16_t) ((100 * SignalRate) / AmbientRate);
else
SNR = 9999;
-
+
if (SNR >= StdDevLimitLowLightSNR) {
newStdDev = StdDevLimitLowLight;
} else {
@@ -1776,35 +1776,35 @@
newStdDev = (uint32_t) (StdDevLimitHighLight + (SNR - StdDevLimitHighLightSNR) * (int) (StdDevLimitLowLight - StdDevLimitHighLight) / (StdDevLimitLowLightSNR - StdDevLimitHighLightSNR));
}
}
-
+
return newStdDev;
}
-
-
+
+
/*
* Return <0 on error
*/
int32_t VL6180X::_filter_Start(VL6180xDev_t dev, uint16_t m_trueRange_mm, uint16_t m_rawRange_mm, uint32_t m_rtnSignalRate, uint32_t m_rtnAmbientRate, uint16_t errorCode) {
int status;
uint16_t m_newTrueRange_mm = 0;
-
+
uint16_t i;
uint16_t bypassFilter = 0;
-
+
uint16_t registerValue;
-
+
uint32_t register32BitsValue1;
uint32_t register32BitsValue2;
-
+
uint16_t ValidDistance = 0;
-
+
uint16_t WrapAroundFlag = 0;
uint16_t NoWrapAroundFlag = 0;
uint16_t NoWrapAroundHighConfidenceFlag = 0;
-
+
uint16_t FlushFilter = 0;
uint32_t RateChange = 0;
-
+
uint16_t StdDevSamples = 0;
uint32_t StdDevDistanceSum = 0;
uint32_t StdDevDistanceMean = 0;
@@ -1813,44 +1813,44 @@
uint32_t StdDevRateMean = 0;
uint32_t StdDevRate = 0;
uint32_t StdDevLimitWithTargetMove = 0;
-
+
uint32_t VAVGDiff;
uint32_t IdealVAVGDiff;
uint32_t MinVAVGDiff;
uint32_t MaxVAVGDiff;
-
+
/* Filter Parameters */
static const uint16_t ROMABLE_DATA WrapAroundLowRawRangeLimit = 60;
static const uint32_t ROMABLE_DATA WrapAroundLowReturnRateLimit_ROM = 800; // Shall be adapted depending on crossTalk
static const uint16_t ROMABLE_DATA WrapAroundLowRawRangeLimit2 = 165;
static const uint32_t ROMABLE_DATA WrapAroundLowReturnRateLimit2_ROM = 180; // Shall be adapted depending on crossTalk and device sensitivity
-
+
static const uint32_t ROMABLE_DATA WrapAroundLowReturnRateFilterLimit_ROM = 850; // Shall be adapted depending on crossTalk and device sensitivity
static const uint16_t ROMABLE_DATA WrapAroundHighRawRangeFilterLimit = 350;
static const uint32_t ROMABLE_DATA WrapAroundHighReturnRateFilterLimit_ROM = 1400; // Shall be adapted depending on crossTalk and device sensitivity
-
+
static const uint32_t ROMABLE_DATA WrapAroundMaximumAmbientRateFilterLimit = 7500;
-
+
/* Temporal filter data and flush values */
static const uint32_t ROMABLE_DATA MinReturnRateFilterFlush = 75;
static const uint32_t ROMABLE_DATA MaxReturnRateChangeFilterFlush = 50;
-
+
/* STDDEV values and damper values */
-
+
static const uint32_t ROMABLE_DATA StdDevLimitLowLight = 300;
static const uint32_t ROMABLE_DATA StdDevLimitLowLightSNR = 30; /* 0.3 */
static const uint32_t ROMABLE_DATA StdDevLimitHighLight = 2500;
static const uint32_t ROMABLE_DATA StdDevLimitHighLightSNR = 5; /* 0.05 */
-
+
static const uint32_t ROMABLE_DATA StdDevHighConfidenceSNRLimit = 8;
-
+
static const uint32_t ROMABLE_DATA StdDevMovingTargetStdDevLimit = 90000;
-
+
static const uint32_t ROMABLE_DATA StdDevMovingTargetReturnRateLimit = 3500;
static const uint32_t ROMABLE_DATA StdDevMovingTargetStdDevForReturnRateLimit = 5000;
-
+
static const uint32_t ROMABLE_DATA MAX_VAVGDiff = 1800;
-
+
/* WrapAroundDetection variables */
static const uint16_t ROMABLE_DATA WrapAroundNoDelayCheckPeriod = 2;
static const uint16_t ROMABLE_DATA StdFilteredReadsIncrement = 2;
@@ -1861,13 +1861,13 @@
uint32_t WrapAroundLowReturnRateLimit2;
uint32_t WrapAroundLowReturnRateFilterLimit;
uint32_t WrapAroundHighReturnRateFilterLimit;
-
+
uint8_t u8, u8_2;
uint32_t XTalkCompRate_KCps;
uint32_t StdDevLimit = 300;
uint32_t MaxOrInvalidDistance = 255*_GetUpscale(dev);
/* #define MaxOrInvalidDistance (uint16_t) (255 * 3) */
-
+
/* Check if distance is Valid or not */
switch (errorCode) {
case 0x0C:
@@ -1893,7 +1893,7 @@
m_newTrueRange_mm = m_trueRange_mm;
XTalkCompRate_KCps = VL6180xDevDataGet(dev, XTalkCompRate_KCps );
-
+
//Update signal rate limits depending on crosstalk
SignalRateDMax = (uint32_t)_GetDMaxDataRetSignalAt400mm(dev) + XTalkCompRate_KCps;
@@ -1901,8 +1901,8 @@
WrapAroundLowReturnRateLimit2 = ((WrapAroundLowReturnRateLimit2_ROM * SignalRateDMax) / 312) + XTalkCompRate_KCps;
WrapAroundLowReturnRateFilterLimit = ((WrapAroundLowReturnRateFilterLimit_ROM * SignalRateDMax) / 312) + XTalkCompRate_KCps;
WrapAroundHighReturnRateFilterLimit = ((WrapAroundHighReturnRateFilterLimit_ROM * SignalRateDMax) / 312) + XTalkCompRate_KCps;
-
-
+
+
/* Checks on low range data */
if ((m_rawRange_mm < WrapAroundLowRawRangeLimit) && (m_rtnSignalRate < WrapAroundLowReturnRateLimit)) {
m_newTrueRange_mm = MaxOrInvalidDistance;
@@ -1912,7 +1912,7 @@
m_newTrueRange_mm = MaxOrInvalidDistance;
bypassFilter = 1;
}
-
+
/* Checks on Ambient rate level */
if (m_rtnAmbientRate > WrapAroundMaximumAmbientRateFilterLimit) {
/* Too high ambient rate */
@@ -1953,11 +1953,11 @@
else
_FilterData(LastTrueRange)[0] = FILTER_INVALID_DISTANCE;
_FilterData(LastReturnRates)[0] = m_rtnSignalRate;
-
+
/* Check if we need to go through the filter or not */
if (!(((m_rawRange_mm < WrapAroundHighRawRangeFilterLimit) && (m_rtnSignalRate < WrapAroundLowReturnRateFilterLimit)) || ((m_rawRange_mm >= WrapAroundHighRawRangeFilterLimit) && (m_rtnSignalRate < WrapAroundHighReturnRateFilterLimit))))
bypassFilter = 1;
-
+
/* Check which kind of measurement has been made */
status = VL6180x_RdByte(dev, 0x01AC, &u8 );
if( status ){
@@ -1965,7 +1965,7 @@
goto done_err;
}
registerValue =u8;
-
+
/* Read data for filtering */
status = VL6180x_RdByte(dev, 0x10C, &u8 ); /* read only 8 lsb bits */
if( status ){
@@ -1979,7 +1979,7 @@
goto done_err;
}
register32BitsValue2 = u8;
-
+
if (registerValue == 0x3E) {
_FilterData(Default_ZeroVal) = register32BitsValue1;
_FilterData(Default_VAVGVal) = register32BitsValue2;
@@ -1987,7 +1987,7 @@
_FilterData(NoDelay_ZeroVal) = register32BitsValue1;
_FilterData(NoDelay_VAVGVal) = register32BitsValue2;
}
-
+
if (bypassFilter == 1) {
/* Do not go through the filter */
if (registerValue != 0x3E) {
@@ -2008,13 +2008,13 @@
_FilterData(NoDelay_ZeroVal) = register32BitsValue1;
_FilterData(NoDelay_VAVGVal) = register32BitsValue2;
_FilterData(MeasurementIndex) = 0;
-
+
return m_newTrueRange_mm;
}
-
+
if (_FilterData(MeasurementIndex) % WrapAroundNoDelayCheckPeriod == 0) {
u8=0x3C;
- u8_2 = 0x05;
+ u8_2 = 0x05;
} else {
u8=0x3E;
u8_2 = 0x01;
@@ -2029,17 +2029,17 @@
VL6180x_ErrLog("0x0F2 wr fail");
goto done_err;
}
-
-
+
+
_FilterData(MeasurementIndex)++;
-
+
/* Computes current VAVGDiff */
if (_FilterData(Default_VAVGVal) > _FilterData(NoDelay_VAVGVal))
VAVGDiff = _FilterData(Default_VAVGVal) - _FilterData(NoDelay_VAVGVal);
else
VAVGDiff = 0;
_FilterData(Previous_VAVGDiff) = VAVGDiff;
-
+
/* Check the VAVGDiff */
if (_FilterData(Default_ZeroVal) > _FilterData(NoDelay_ZeroVal))
IdealVAVGDiff = _FilterData(Default_ZeroVal) - _FilterData(NoDelay_ZeroVal);
@@ -2054,10 +2054,10 @@
WrapAroundFlag = 1;
} else {
/* Go through filtering check */
-
+
/* StdDevLimit Damper on SNR */
StdDevLimit = _filter_StdDevDamper(m_rtnAmbientRate, m_rtnSignalRate, StdDevLimitLowLight, StdDevLimitLowLightSNR, StdDevLimitHighLight, StdDevLimitHighLightSNR);
-
+
/* Standard deviations computations */
StdDevSamples = 0;
StdDevDistanceSum = 0;
@@ -2095,7 +2095,7 @@
StdDevDistance = 0;
StdDevRate = 0;
}
-
+
/* Check Return rate standard deviation */
if (StdDevRate < StdDevMovingTargetStdDevLimit) {
if (StdDevSamples < MIN_FILTER_VALID_STDDEV_SAMPLES) {
@@ -2106,7 +2106,7 @@
StdDevLimitWithTargetMove = StdDevLimit + (((StdDevMovingTargetStdDevForReturnRateLimit - StdDevLimit) * StdDevRate) / StdDevMovingTargetReturnRateLimit);
else
StdDevLimitWithTargetMove = StdDevMovingTargetStdDevForReturnRateLimit;
-
+
if ((StdDevDistance * StdDevHighConfidenceSNRLimit) < StdDevLimitWithTargetMove) {
NoWrapAroundHighConfidenceFlag = 1;
} else {
@@ -2125,7 +2125,7 @@
WrapAroundFlag = 1;
}
}
-
+
if (m_newTrueRange_mm == MaxOrInvalidDistance) {
if (_FilterData(StdFilteredReads) > 0)
_FilterData(StdFilteredReads) = (uint16_t) (_FilterData(StdFilteredReads) - 1);
@@ -2151,22 +2151,22 @@
}
}
}
-
+
return m_newTrueRange_mm;
done_err:
return -1;
-
+
#undef MaxOrInvalidDistance
}
-
-
+
+
int VL6180X::_filter_GetResult(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData) {
uint32_t m_rawRange_mm = 0;
int32_t FilteredRange;
const uint8_t scaler = _GetUpscale(dev);
uint8_t u8;
int status;
-
+
do {
status = VL6180x_RdByte(dev, RESULT_RANGE_RAW, &u8);
if (status) {
@@ -2174,7 +2174,7 @@
break;
}
m_rawRange_mm = u8;
-
+
FilteredRange = _filter_Start(dev, pRangeData->range_mm, (m_rawRange_mm * scaler), pRangeData->rtnRate, pRangeData->rtnAmbRate, pRangeData->errorStatus);
if( FilteredRange<0 ){
status = -1;
@@ -2185,17 +2185,17 @@
} while (0);
return status;
}
-
+
#undef _FilterData
#undef FILTER_STDDEV_SAMPLES
#undef MIN_FILTER_STDDEV_SAMPLES
#undef MIN_FILTER_VALID_STDDEV_SAMPLES
#undef FILTER_INVALID_DISTANCE
-
+
#endif /* VL6180x_WRAP_AROUND_FILTER_SUPPORT */
-
+
#ifdef VL6180x_HAVE_RATE_DATA
-
+
int VL6180X::_GetRateResult(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData) {
uint32_t m_rtnConvTime = 0;
uint32_t m_rtnSignalRate = 0;
@@ -2206,11 +2206,11 @@
uint32_t cRtnSignalCountMax = 0x7FFFFFFF;
uint32_t cDllPeriods = 6;
uint32_t calcConvTime = 0;
-
+
int status;
-
+
do {
-
+
status = VL6180x_RdDWord(dev, RESULT_RANGE_RETURN_SIGNAL_COUNT, &m_rtnSignalCount);
if (status) {
VL6180x_ErrLog("RESULT_RANGE_RETURN_SIGNAL_COUNT rd fail");
@@ -2219,49 +2219,49 @@
if (m_rtnSignalCount > cRtnSignalCountMax) {
m_rtnSignalCount = 0;
}
-
+
status = VL6180x_RdDWord(dev, RESULT_RANGE_RETURN_AMB_COUNT, &m_rtnAmbientCount);
if (status) {
VL6180x_ErrLog("RESULT_RANGE_RETURN_AMB_COUNTrd fail");
break;
}
-
-
+
+
status = VL6180x_RdDWord(dev, RESULT_RANGE_RETURN_CONV_TIME, &m_rtnConvTime);
if (status) {
VL6180x_ErrLog("RESULT_RANGE_RETURN_CONV_TIME rd fail");
break;
}
-
+
status = VL6180x_RdDWord(dev, RESULT_RANGE_REFERENCE_CONV_TIME, &m_refConvTime);
if (status) {
VL6180x_ErrLog("RESULT_RANGE_REFERENCE_CONV_TIME rd fail");
break;
}
-
+
pRangeData->rtnConvTime = m_rtnConvTime;
pRangeData->refConvTime = m_refConvTime;
-
+
calcConvTime = m_refConvTime;
if (m_rtnConvTime > m_refConvTime) {
calcConvTime = m_rtnConvTime;
}
if (calcConvTime == 0)
calcConvTime = 63000;
-
+
m_rtnSignalRate = (m_rtnSignalCount * 1000) / calcConvTime;
m_rtnAmbientRate = (m_rtnAmbientCount * cDllPeriods * 1000) / calcConvTime;
-
+
pRangeData->rtnRate = m_rtnSignalRate;
pRangeData->rtnAmbRate = m_rtnAmbientRate;
-
-
+
+
} while (0);
return status;
}
#endif /* VL6180x_HAVE_RATE_DATA */
-
-
+
+
int VL6180X::VL6180x_DMaxSetState(VL6180xDev_t dev, int state){
int status;
LOG_FUNCTION_START("%d", state);
@@ -2279,7 +2279,7 @@
LOG_FUNCTION_END(status);
return status;
}
-
+
int VL6180X::VL6180x_DMaxGetState(VL6180xDev_t dev){
int status;
LOG_FUNCTION_START("");
@@ -2291,17 +2291,17 @@
LOG_FUNCTION_END(status);
return status;
}
-
-
+
+
#if VL6180x_HAVE_DMAX_RANGING
-
+
#define _DMaxData(field) VL6180xDevDataGet(dev, DMaxData.field)
/*
* Convert fix point x.7 to KCpount per sec
*/
-
+
#ifndef VL6180x_PLATFORM_PROVIDE_SQRT
-
+
/*
* 32 bit integer square root with not so bad precision (integer result) and is quite fast
* see http://en.wikipedia.org/wiki/Methods_of_computing_square_roots
@@ -2309,11 +2309,11 @@
uint32_t VL6180x_SqrtUint32(uint32_t num) {
uint32_t res = 0;
uint32_t bit = 1 << 30; /* The second-to-top bit is set: 1 << 30 for 32 bits */
-
+
/* "bit" starts at the highest power of four <= the argument. */
while (bit > num)
bit >>= 2;
-
+
while (bit != 0) {
if (num >= res + bit) {
num -= res + bit;
@@ -2326,22 +2326,22 @@
return res;
}
#endif
-
-
+
+
/* DMax one time init */
void _DMax_OneTimeInit(VL6180xDev_t dev){
_DMaxData(ambTuningWindowFactor_K)=DEF_AMBIENT_TUNING;
}
-
-
+
+
static uint32_t _DMax_RawValueAtRateKCps(VL6180xDev_t dev, int32_t rate){
uint32_t snrLimit_K;
int32_t DMaxSq;
uint32_t RawDMax;
DMaxFix_t retSignalAt400mm;
uint32_t ambTuningWindowFactor_K;
-
-
+
+
ambTuningWindowFactor_K = _DMaxData(ambTuningWindowFactor_K);
snrLimit_K = _DMaxData(snrLimit_K);
retSignalAt400mm = _DMaxData(retSignalAt400mm); /* 12 to 18 bits Kcps */
@@ -2365,7 +2365,7 @@
}
return RawDMax;
}
-
+
/*
* fetch static data from register to avoid re-read
* precompute all intermediate constant and cliipings
@@ -2392,9 +2392,9 @@
uint8_t SysRangeCheckEn;
uint8_t snrLimit;
warning=0;
-
+
static const int ROMABLE_DATA MaxConvTimeAdjust=-4;
-
+
LOG_FUNCTION_START("");
do{
status = VL6180x_RdByte(dev, 0x02A ,&u8);
@@ -2402,31 +2402,31 @@
VL6180x_ErrLog("Reg 0x02A rd fail");
break;
}
-
+
if( u8 == 0 ) {
warning = CALIBRATION_WARNING;
u8 = 40; /* use a default average value */
}
Reg2A_KCps = Fix7_2_KCPs(u8); /* convert to KCPs */
-
+
status = VL6180x_RdByte(dev, SYSRANGE_RANGE_CHECK_ENABLES, &SysRangeCheckEn);
if (status) {
VL6180x_ErrLog("SYSRANGE_RANGE_CHECK_ENABLES rd fail ");
break;
}
-
+
status = VL6180x_RdByte(dev, SYSRANGE_MAX_CONVERGENCE_TIME, &MaxConvTime);
if( status){
VL6180x_ErrLog("SYSRANGE_MAX_CONVERGENCE_TIME rd fail ");
break;
}
-
+
status = VL6180x_RdDWord(dev, 0x0B8, &RegB8);
if( status ){
VL6180x_ErrLog("reg 0x0B8 rd fail ");
break;
}
-
+
status = VL6180x_RdByte(dev, SYSRANGE_MAX_AMBIENT_LEVEL_MULT, &snrLimit);
if( status){
VL6180x_ErrLog("SYSRANGE_MAX_AMBIENT_LEVEL_MULT rd fail ");
@@ -2434,14 +2434,14 @@
}
_DMaxData(snrLimit_K) = (int32_t)16*1000/snrLimit;
XTalkCompRate_KCps = VL6180xDevDataGet(dev, XTalkCompRate_KCps );
-
+
if( Reg2A_KCps >= XTalkCompRate_KCps){
_DMaxData(retSignalAt400mm)=( Reg2A_KCps - XTalkCompRate_KCps);
}
else{
_DMaxData(retSignalAt400mm)=0; /* Reg2A_K - XTalkCompRate_KCp <0 is invalid */
}
-
+
/* if xtalk range check is off omit it in snr clipping */
if( SysRangeCheckEn&RANGE_CHECK_RANGE_ENABLE_MASK ){
status = VL6180x_RdWord(dev, SYSRANGE_RANGE_IGNORE_THRESHOLD, &u16);
@@ -2454,12 +2454,12 @@
else{
RangeIgnoreThreshold = 0;
}
-
+
minSignalNeeded = (RegB8*256)/((int32_t)MaxConvTime+(int32_t)MaxConvTimeAdjust); /* KCps 8+8 bit -(1 to 6 bit) => 15-10 bit */
/* minSignalNeeded = max ( minSignalNeeded, RangeIgnoreThreshold - XTalkCompRate_KCps) */
if( minSignalNeeded <= RangeIgnoreThreshold - XTalkCompRate_KCps )
minSignalNeeded = RangeIgnoreThreshold - XTalkCompRate_KCps;
-
+
u32 = (minSignalNeeded*(uint32_t)snrLimit)/16;
_DMaxData(ClipSnrLimit ) = _DMax_RawValueAtRateKCps(dev, u32 ); /* clip to dmax to min signal snr limit rate*/
}
@@ -2469,20 +2469,20 @@
LOG_FUNCTION_END(status);
return status;
}
-
+
static int _DMax_Compute(VL6180xDev_t dev, VL6180x_RangeData_t *pRange){
uint32_t rtnAmbRate;
int32_t DMax;
int scaling;
uint16_t HwLimitAtScale;
static const int ROMABLE_DATA rtnAmbLowLimit_KCps=330*1000;
-
+
rtnAmbRate = pRange->rtnAmbRate;
if( rtnAmbRate < rtnAmbLowLimit_KCps ){
DMax = _DMax_RawValueAtRateKCps( dev, rtnAmbRate);
scaling = _GetUpscale(dev);
HwLimitAtScale=UpperLimitLookUP[scaling - 1];
-
+
if( DMax > _DMaxData(ClipSnrLimit) ){
DMax=_DMaxData(ClipSnrLimit);
}
@@ -2496,1081 +2496,1097 @@
}
return 0;
}
-
+
#undef _DMaxData
#undef Fix7_2_KCPs
-
+
#endif /* VL6180x_HAVE_DMAX_RANGING */
-
-
+
+
/******************************************************************************/
/******************************************************************************/
-
-
-
+
+
+
/****************** Write and read functions from I2C *************************/
-
+
int VL6180X::VL6180x_WrByte(VL6180xDev_t dev, uint16_t index, uint8_t data)
{
- int status;
-
- status=VL6180x_I2CWrite(Device->I2cAddr, index, &data,(uint8_t)1);
- return status;
+ int status;
+
+ status=VL6180x_I2CWrite(Device->I2cAddr, index, &data,(uint8_t)1);
+ return status;
}
-
+
int VL6180X::VL6180x_WrWord(VL6180xDev_t dev, uint16_t index, uint16_t data)
{
- int status;
- status=VL6180x_I2CWrite(Device->I2cAddr, index, (uint8_t *)&data,(uint8_t)2);
- return status;
+ int status;
+
+ status=VL6180x_I2CWrite(Device->I2cAddr, index, (uint8_t *)&data,(uint8_t)2);
+ return status;
}
-
+
int VL6180X::VL6180x_WrDWord(VL6180xDev_t dev, uint16_t index, uint32_t data)
{
- int status;
- status=VL6180x_I2CWrite(Device->I2cAddr, index, (uint8_t *)&data,(uint8_t)4);
- return status;
+ int status;
+
+ status=VL6180x_I2CWrite(Device->I2cAddr, index, (uint8_t *)&data,(uint8_t)4);
+ return status;
}
-
+
int VL6180X::VL6180x_RdByte(VL6180xDev_t dev, uint16_t index, uint8_t *data)
{
- int status;
- uint8_t buffer;
- status=VL6180x_I2CRead(Device->I2cAddr, index, &buffer,1);
- if( !status )
- {
- *data=buffer;
- }
- return status;
+ int status;
+
+ uint8_t buffer;
+ status=VL6180x_I2CRead(Device->I2cAddr, index, &buffer,1);
+ if(!status)
+ {
+ *data=buffer;
+ }
+ return status;
}
-
+
int VL6180X::VL6180x_RdWord(VL6180xDev_t dev, uint16_t index, uint16_t *data)
{
- int status;
- uint8_t buffer[2];
- status=VL6180x_I2CRead(Device->I2cAddr, index, buffer, 2);
- if( !status )
- {
- memcpy(data, buffer, 2);
- }
- return status;
+ int status;
+
+ uint8_t buffer[2];
+ status=VL6180x_I2CRead(Device->I2cAddr, index, buffer, 2);
+ if(!status)
+ {
+ memcpy(data, buffer, 2);
+ }
+ return status;
}
-
+
int VL6180X::VL6180x_RdDWord(VL6180xDev_t dev, uint16_t index, uint32_t *data)
{
- int status;
- uint8_t buffer[4];
- status=VL6180x_I2CRead(Device->I2cAddr, index, buffer,4);
- if( !status )
- {
- memcpy(data, buffer, 4);
- }
- return status;
+ int status;
+ uint8_t buffer[4];
+ status=VL6180x_I2CRead(Device->I2cAddr, index, buffer,4);
+ if(!status)
+ {
+ memcpy(data, buffer, 4);
+ }
+ return status;
}
-
+
int VL6180X::VL6180x_UpdateByte(VL6180xDev_t dev, uint16_t index, uint8_t AndData, uint8_t OrData)
{
- int status;
- uint8_t buffer;
-
- status=VL6180x_I2CWrite(Device->I2cAddr, index, (uint8_t *)buffer,(uint8_t)0);
- if( !status ){
- /* read data direct onto buffer */
- status=VL6180x_I2CRead(Device->I2cAddr, index, &buffer,1);
- if( !status ){
- buffer=(buffer & AndData)|OrData;
- status=VL6180x_I2CWrite(Device->I2cAddr, index, &buffer, (uint8_t)1);
- }
- }
-
- return status;
+ int status;
+ uint8_t buffer;
+
+ status=VL6180x_I2CWrite(Device->I2cAddr, index, (uint8_t *)buffer,(uint8_t)0);
+ if(!status)
+ {
+ /* read data direct onto buffer */
+ status=VL6180x_I2CRead(Device->I2cAddr, index, &buffer,1);
+ if(!status)
+ {
+ buffer=(buffer & AndData)|OrData;
+ status=VL6180x_I2CWrite(Device->I2cAddr, index, &buffer, (uint8_t)1);
+ }
+ }
+ return status;
}
-
+
int VL6180X::VL6180x_I2CWrite(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t* pBuffer, uint16_t NumByteToWrite)
{
- int ret;
- int i;
- uint8_t tmp[TEMP_BUF_SIZE];
- uint16_t myRegisterAddr = RegisterAddr;
- uint16_t WriteDeviceAddr=0;
- /* First, prepare 8 bits device address in 7bits i2ci format */
- WriteDeviceAddr=DeviceAddr*2;
- if(NumByteToWrite >= TEMP_BUF_SIZE) return -2;
+ int ret;
+ int i;
+ uint8_t tmp[TEMP_BUF_SIZE];
+ uint16_t myRegisterAddr = RegisterAddr;
+ uint16_t WriteDeviceAddr=0;
+
+ /* First, prepare 8 bits device address in 7bits i2ci format */
+ WriteDeviceAddr=DeviceAddr*2;
+ if(NumByteToWrite >= TEMP_BUF_SIZE) return -2;
- /* then prepare 16 bits register address in BE format. Then, send data and STOP condition */
- tmp[0] = *(((uint8_t*)&myRegisterAddr)+1);
- tmp[1] = (uint8_t)RegisterAddr;
+ /* then prepare 16 bits register address in BE format. Then, send data and STOP condition */
+ tmp[0] = *(((uint8_t*)&myRegisterAddr)+1);
+ tmp[1] = (uint8_t)RegisterAddr;
- if(NumByteToWrite>1) /* swap data endianess */
- {
- for(i=0;i<NumByteToWrite;i++)
- {
- tmp[NumByteToWrite+sizeof(RegisterAddr)-1-i]=pBuffer[i];
- }
- }
- else
- {
- memcpy(tmp+sizeof(RegisterAddr), pBuffer, NumByteToWrite);
- }
- ret = dev_i2c.write(WriteDeviceAddr, (const char*)tmp, NumByteToWrite+sizeof(RegisterAddr), false);
-
- if(ret) return -1;
- return 0;
+ if(NumByteToWrite>1) /* swap data endianess */
+ {
+ for(i=0;i<NumByteToWrite;i++)
+ {
+ tmp[NumByteToWrite+sizeof(RegisterAddr)-1-i]=pBuffer[i];
+ }
+ }
+ else
+ {
+ memcpy(tmp+sizeof(RegisterAddr), pBuffer, NumByteToWrite);
+ }
+ ret = dev_i2c.write(WriteDeviceAddr, (const char*)tmp, NumByteToWrite+sizeof(RegisterAddr), false);
+
+ if(ret)
+ return -1;
+ return 0;
}
-
+
int VL6180X::VL6180x_I2CRead(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t* pBuffer, uint16_t NumByteToRead)
{
- int ret,i;
- uint8_t tmp[TEMP_BUF_SIZE];
- uint16_t myRegisterAddr = RegisterAddr;
- uint16_t myRegisterAddrBE;
- uint16_t ReadDeviceAddr=DeviceAddr;
+ int ret,i;
+ uint8_t tmp[TEMP_BUF_SIZE];
+ uint16_t myRegisterAddr = RegisterAddr;
+ uint16_t myRegisterAddrBE;
+ uint16_t ReadDeviceAddr=DeviceAddr;
- ReadDeviceAddr=DeviceAddr*2;
- myRegisterAddrBE = *(((uint8_t*)&myRegisterAddr)+1);
- *(((uint8_t*)&myRegisterAddrBE)+1) = (uint8_t)myRegisterAddr;
+ ReadDeviceAddr=DeviceAddr*2;
+ myRegisterAddrBE = *(((uint8_t*)&myRegisterAddr)+1);
+ *(((uint8_t*)&myRegisterAddrBE)+1) = (uint8_t)myRegisterAddr;
- /* Send 8 bits device address and 16 bits register address in BE format, with no STOP condition */
- ret = dev_i2c.write(ReadDeviceAddr, (const char*)&myRegisterAddrBE, sizeof(RegisterAddr), true);
- if(!ret) {
- ReadDeviceAddr|=0x001;
- /* Read data, with STOP condition */
- ret = dev_i2c.read(ReadDeviceAddr, (char*)tmp, NumByteToRead, false);
- }
- if(ret) return -1;
-
- if(NumByteToRead>1) /* swap data endianess */
- {
- for(i=0;i<NumByteToRead;i++)
- {
- pBuffer[i] = tmp[NumByteToRead-1-i];
- }
- }
- else
- {
- memcpy(pBuffer, tmp, NumByteToRead);
- }
- return 0;
+ /* Send 8 bits device address and 16 bits register address in BE format, with no STOP condition */
+ ret = dev_i2c.write(ReadDeviceAddr, (const char*)&myRegisterAddrBE, sizeof(RegisterAddr), true);
+ if(!ret)
+ {
+ ReadDeviceAddr|=0x001;
+ /* Read data, with STOP condition */
+ ret = dev_i2c.read(ReadDeviceAddr, (char*)tmp, NumByteToRead, false);
+ }
+ if(ret)
+ return -1;
+
+ if(NumByteToRead>1) /* swap data endianess */
+ {
+ for(i=0;i<NumByteToRead;i++)
+ {
+ pBuffer[i] = tmp[NumByteToRead-1-i];
+ }
+ }
+ else
+ {
+ memcpy(pBuffer, tmp, NumByteToRead);
+ }
+ return 0;
}
-
-
+
+
int VL6180X::ReadID()
{
- int status;
- uint8_t rl_id=0;
-
- status=VL6180x_RdByte(Device, IDENTIFICATION_MODEL_ID, &rl_id);
- if((status==0)&&(rl_id==0xB4))
- return status;
- else
- return INVALID_PARAMS;
+ int status;
+ uint8_t rl_id=0;
+
+ status=VL6180x_RdByte(Device, IDENTIFICATION_MODEL_ID, &rl_id);
+ if((status==0)&&(rl_id==0xB4))
+ return status;
+ else
+ return INVALID_PARAMS;
}
-
-
+
+
int VL6180X::InitSensor(uint8_t NewAddr) //FIXME printf da sostituire con VL6180x_ErrLog e poi specificare il contenuto di questa funzione
{
int status;
-
+
VL6180x_Off();
VL6180x_On();
- /*status=VL6180x_WaitDeviceBooted(Device);
- if(status)
- printf("WaitDeviceBooted fail\n\r");*/
+ /*status=VL6180x_WaitDeviceBooted(Device);
+ if(status)
+ printf("WaitDeviceBooted fail\n\r");*/
status=IsPresent();
if(!status)
{
- Device->Present=1;
- status=Init();
- if(status)
- {
- printf("Failed to init VL6180X sensor!\n\r");
- return status;
- }
- status=Prepare();
- if(status)
- {
- printf("Failed to prepare VL6180X!\n\r");
- return status;
- }
- if(NewAddr!=DEFAULT_DEVICE_ADDRESS)
- {
- status=SetI2CAddress(NewAddr);
- if(status)
- {
- printf("Failed to change I2C address!\n\r");
- return status;
- }
- }
- else
- {
- printf("Invalid new address!\n\r");
- return INVALID_PARAMS;
- }
- Device->Ready=1;
- }
- return status;
+ Device->Present=1;
+ status=Init();
+ if(status)
+ {
+ printf("Failed to init VL6180X sensor!\n\r");
+ return status;
+ }
+ status=Prepare();
+ if(status)
+ {
+ printf("Failed to prepare VL6180X!\n\r");
+ return status;
+ }
+ if(NewAddr!=DEFAULT_DEVICE_ADDRESS)
+ {
+ status=SetI2CAddress(NewAddr);
+ if(status)
+ {
+ printf("Failed to change I2C address!\n\r");
+ return status;
+ }
+ }
+ else
+ {
+ printf("Invalid new address!\n\r");
+ return INVALID_PARAMS;
+ }
+ Device->Ready=1;
+ }
+ VL6180x_RangeSetMaxConvergenceTime(Device,10); //FIXME temporaneo, capire se devo fissare questi valori di default oppure impostarli solo quando faccio la hand gesture
+ VL6180x_RangeSetInterMeasPeriod(Device,10); //FIXME
+ return status;
}
-
-
+
+
int VL6180X::StartMeasurement(OperatingMode operating_mode, void (*fptr)(void), MeasureData_t *Data, uint16_t low, uint16_t high)
{
int status, r_status, l_status;
-
+
switch(operating_mode)
{
- case(range_single_shot_polling):
- r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
- l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- return RangeMeasPollSingleShot(Data);
- else
- return (r_status|l_status);
-
+ case(range_single_shot_polling):
+ r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
+ l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ return RangeMeasPollSingleShot(Data);
+ else
+ return (r_status|l_status);
+
case(als_single_shot_polling):
- r_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
- l_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- return AlsMeasPollSingleShot(Data);
- else
- return (r_status|l_status);
-
- case(range_continuous_polling):
- r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
- l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- return RangeMeasPollContinuousMode();
- else
- return (r_status|l_status);
-
- case(als_continuous_polling):
- r_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
- l_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- return AlsMeasPollContinuousMode();
- else
- return (r_status|l_status);
-
+ r_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
+ l_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ return AlsMeasPollSingleShot(Data);
+ else
+ return (r_status|l_status);
+
+ case(range_continuous_polling):
+ r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
+ l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ return RangeMeasPollContinuousMode();
+ else
+ return (r_status|l_status);
+
+ case(als_continuous_polling):
+ r_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
+ l_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ return AlsMeasPollContinuousMode();
+ else
+ return (r_status|l_status);
+
case(range_continuous_interrupt):
- r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
- l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- return RangeMeasIntContinuousMode(fptr);
- else
- return (r_status|l_status);
-
- case(als_continuous_interrupt):
- l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
- r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- return AlsMeasIntContinuousMode(fptr);
- else
- return (r_status|l_status);
-
- case(interleaved_mode_interrupt):
- l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
- r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- return InterleavedMode(fptr);
- else
- return (r_status|l_status);
-
+ r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
+ l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ return RangeMeasIntContinuousMode(fptr);
+ else
+ return (r_status|l_status);
+
+ case(als_continuous_interrupt):
+ l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
+ r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ return AlsMeasIntContinuousMode(fptr);
+ else
+ return (r_status|l_status);
+
+ case(interleaved_mode_interrupt):
+ l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
+ r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ return InterleavedMode(fptr);
+ else
+ return (r_status|l_status);
+
case(range_continuous_polling_low_threshold):
- r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_LOW);
- l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- {
+ r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_LOW);
+ l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ {
status=RangeSetLowThreshold(low);
- if(!status)
- return RangeMeasPollContinuousMode();
- else
- return status;
- }
+ if(!status)
+ return RangeMeasPollContinuousMode();
+ else
+ return status;
+ }
else
return (r_status|l_status);
- case(range_continuous_polling_high_threshold):
+ case(range_continuous_polling_high_threshold):
status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_HIGH);
- status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- {
+ status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ {
status=RangeSetHighThreshold(high);
- if(!status)
- return RangeMeasPollContinuousMode();
- else
- return status;
- }
+ if(!status)
+ return RangeMeasPollContinuousMode();
+ else
+ return status;
+ }
else
return (r_status|l_status);
-
- case(range_continuous_polling_out_of_window):
- status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW);
- status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- {
+
+ case(range_continuous_polling_out_of_window):
+ status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW);
+ status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ {
status=VL6180x_RangeSetThresholds(Device,low,high,1);
- if(!status)
- return RangeMeasPollContinuousMode();
- else
- return status;
- }
+ if(!status)
+ return RangeMeasPollContinuousMode();
+ else
+ return status;
+ }
else
return (r_status|l_status);
-
+
case(als_continuous_polling_low_threshold):
status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_LOW);
- status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- {
+ status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ {
status=AlsSetLowThreshold(low);
- if(!status)
- return AlsMeasPollContinuousMode();
- else
- return status;
- }
+ if(!status)
+ return AlsMeasPollContinuousMode();
+ else
+ return status;
+ }
else
return (r_status|l_status);
-
- case(als_continuous_polling_high_threshold):
- status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_HIGH);
- status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- {
+
+ case(als_continuous_polling_high_threshold):
+ status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_HIGH);
+ status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ {
status=AlsSetHighThreshold(high);
- if(!status)
- return AlsMeasPollContinuousMode();
- else
- return status;
- }
+ if(!status)
+ return AlsMeasPollContinuousMode();
+ else
+ return status;
+ }
else
return (r_status|l_status);
-
- case(als_continuous_polling_out_of_window):
- status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW);
- status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- {
+
+ case(als_continuous_polling_out_of_window):
+ status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW);
+ status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ {
status=VL6180x_AlsSetThresholds(Device,low,high);
- if(!status)
- return AlsMeasPollContinuousMode();
- else
- return status;
- }
+ if(!status)
+ return AlsMeasPollContinuousMode();
+ else
+ return status;
+ }
else
return (r_status|l_status);
-
- case(range_continuous_interrupt_low_threshold):
- status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_LOW);
- status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- {
+
+ case(range_continuous_interrupt_low_threshold):
+ status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_LOW);
+ status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ {
status=RangeSetLowThreshold(low);
- if(!status)
- return RangeMeasIntContinuousMode(fptr);
- else
- return status;
- }
+ if(!status)
+ return RangeMeasIntContinuousMode(fptr);
+ else
+ return status;
+ }
else
- return (r_status|l_status);
-
- case(range_continuous_interrrupt_high_threshold):
- status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_HIGH);
- status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- {
+ return (r_status|l_status);
+
+ case(range_continuous_interrrupt_high_threshold):
+ status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_HIGH);
+ status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ {
status=RangeSetHighThreshold(high);
- if(!status)
- return RangeMeasIntContinuousMode(fptr);
- else
- return status;
- }
+ if(!status)
+ return RangeMeasIntContinuousMode(fptr);
+ else
+ return status;
+ }
else
return (r_status|l_status);
-
- case(range_continuous_interrupt_out_of_window):
- status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW);
- status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- {
+
+ case(range_continuous_interrupt_out_of_window):
+ status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW);
+ status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ {
status=VL6180x_RangeSetThresholds(Device,low,high,1);
- if(!status)
- return RangeMeasIntContinuousMode(fptr);
- else
- return status;
- }
+ if(!status)
+ return RangeMeasIntContinuousMode(fptr);
+ else
+ return status;
+ }
else
return (r_status|l_status);
-
- case(als_continuous_interrupt_low_threshold):
- status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_LOW);
- status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- {
+
+ case(als_continuous_interrupt_low_threshold):
+ status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_LOW);
+ status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ {
status=AlsSetLowThreshold(low);
- if(!status)
- return AlsMeasIntContinuousMode(fptr);
- else
- return status;
- }
+ if(!status)
+ return AlsMeasIntContinuousMode(fptr);
+ else
+ return status;
+ }
else
- return (r_status|l_status);
-
- case(als_continuous_interrupt_high_threshold):
- status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_HIGH);
- status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- {
+ return (r_status|l_status);
+
+ case(als_continuous_interrupt_high_threshold):
+ status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_HIGH);
+ status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ {
status=AlsSetHighThreshold(high);
- if(!status)
- return AlsMeasIntContinuousMode(fptr);
- else
- return status;
- }
+ if(!status)
+ return AlsMeasIntContinuousMode(fptr);
+ else
+ return status;
+ }
else
return (r_status|l_status);
-
- case(als_continuous_interrupt_out_of_window):
- status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW);
- status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- {
+
+ case(als_continuous_interrupt_out_of_window):
+ status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW);
+ status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ {
status=VL6180x_AlsSetThresholds(Device,low,high);
- if(!status)
- return AlsMeasIntContinuousMode(fptr);
- else
- return status;
- }
+ if(!status)
+ return AlsMeasIntContinuousMode(fptr);
+ else
+ return status;
+ }
else
return (r_status|l_status);
-
- default:
- return INVALID_PARAMS;
- }
+
+ default:
+ return INVALID_PARAMS;
+ }
}
-
-
+
+
int VL6180X::GetRangeError(MeasureData_t *Data, VL6180x_RangeData_t RangeData)
{
- Data->range_error=RangeData.errorStatus;
- if(Data->range_error!=0)
- {
+ Data->range_error=RangeData.errorStatus;
+ if(Data->range_error!=0)
+ {
VL6180x_ErrLog("Range error %d",Data->range_error);
return RANGE_ERROR;
- }
- return NoError_;
+ }
+ return NoError_;
}
-
-
+
+
int VL6180X::GetAlsError(MeasureData_t *Data, VL6180x_AlsData_t AlsData)
{
- Data->als_error=AlsData.errorStatus;
- if(Data->als_error!=0)
- {
+ Data->als_error=AlsData.errorStatus;
+ if(Data->als_error!=0)
+ {
VL6180x_ErrLog("Light error %d",Data->light_error);
- return API_ERROR;
- }
- return NoError_;
+ return API_ERROR;
+ }
+ return NoError_;
}
-
-
+
+
int VL6180X::RangeMeasPollSingleShot(MeasureData_t *Data)
{
- VL6180x_RangeData_t RangeData;
- int status;
-
- status=RangePollMeasurement(&RangeData);
- if(!status)
- {
- status=GetRangeError(Data, RangeData);
- if(!status)
- Data->range_mm=RangeData.range_mm;
- else
- Data->range_mm=0xFFFFFFFF;
- }
- return status;
-}
-
-
+ VL6180x_RangeData_t RangeData;
+ int status;
+
+ status=RangePollMeasurement(&RangeData);
+ if(!status)
+ {
+ status=GetRangeError(Data, RangeData);
+ if(!status)
+ Data->range_mm=RangeData.range_mm;
+ else
+ Data->range_mm=0xFFFFFFFF;
+ }
+ return status;
+}
+
+
int VL6180X::AlsMeasPollSingleShot(MeasureData_t *Data)
{
- VL6180x_AlsData_t AlsData;
- int status;
-
- status=AlsPollMeasurement(&AlsData);
- if(!status)
- {
- status=GetAlsError(Data, AlsData);
- if(!status)
- Data->lux=AlsData.lux;
- else
- Data->lux=0xFFFFFFFF;
- }
- return status;
+ VL6180x_AlsData_t AlsData;
+ int status;
+
+ status=AlsPollMeasurement(&AlsData);
+ if(!status)
+ {
+ status=GetAlsError(Data, AlsData);
+ if(!status)
+ Data->lux=AlsData.lux;
+ else
+ Data->lux=0xFFFFFFFF;
+ }
+ return status;
}
-
-
+
+
int VL6180X::RangeMeasPollContinuousMode()
{
int status;
-
- status=VL6180x_RangeClearInterrupt(Device);
- if(status)
- {
- VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
- return status;
- }
- status=VL6180x_ClearErrorInterrupt(Device);
- if(status)
- {
- VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
- return status;
- }
- return RangeStartContinuousMode();
+
+ status=VL6180x_RangeClearInterrupt(Device);
+ if(status)
+ {
+ VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
+ return status;
+ }
+ status=VL6180x_ClearErrorInterrupt(Device);
+ if(status)
+ {
+ VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
+ return status;
+ }
+ return RangeStartContinuousMode();
}
-
-
+
+
int VL6180X::AlsMeasPollContinuousMode()
{
- int status;
-
- status=VL6180x_AlsClearInterrupt(Device);
- if(status)
- {
- VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
- return status;
- }
- status=VL6180x_ClearErrorInterrupt(Device);
- if(status)
- {
- VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
- return status;
- }
- return AlsStartContinuousMode();
+ int status;
+
+ status=VL6180x_AlsClearInterrupt(Device);
+ if(status)
+ {
+ VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
+ return status;
+ }
+ status=VL6180x_ClearErrorInterrupt(Device);
+ if(status)
+ {
+ VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
+ return status;
+ }
+ return AlsStartContinuousMode();
}
-
-
+
+
int VL6180X::AlsGetMeasurementIfReady(VL6180xDev_t dev, VL6180x_AlsData_t *pAlsData)
{
int status;
- uint8_t IntStatus;
-
- status=VL6180x_AlsGetInterruptStatus(dev, &IntStatus);
- if(!status)
- {
- if(IntStatus==RES_INT_STAT_GPIO_NEW_SAMPLE_READY)
- {
- status = VL6180x_AlsGetMeasurement(dev, pAlsData);
- if(!status)
- {
- status=VL6180x_AlsClearInterrupt(Device);
+ uint8_t IntStatus;
+
+ status=VL6180x_AlsGetInterruptStatus(dev, &IntStatus);
+ if(!status)
+ {
+ if(IntStatus==RES_INT_STAT_GPIO_NEW_SAMPLE_READY)
+ {
+ status = VL6180x_AlsGetMeasurement(dev, pAlsData);
+ if(!status)
+ {
+ status=VL6180x_AlsClearInterrupt(Device);
if(status)
VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
- }
- }
- else
- status=NOT_READY;
- }
- else
- VL6180x_ErrLog("Failed to get interrupt status");
- return status;
+ }
+ }
+ else
+ status=NOT_READY;
+ }
+ else
+ VL6180x_ErrLog("Failed to get interrupt status");
+ return status;
}
-
-
+
+
int VL6180X::RangeMeasIntContinuousMode(void (*fptr)(void))
{
- int status, ClrStatus;
-
- EnableInterruptMeasureDetectionIRQ();
- AttachInterruptMeasureDetectionIRQ(fptr);
- status=SetupGPIO1(GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT, 1);
- ClrStatus=VL6180x_ClearAllInterrupt(Device);
- if(ClrStatus)
- VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
+ int status, ClrStatus;
+
+ EnableInterruptMeasureDetectionIRQ();
+ AttachInterruptMeasureDetectionIRQ(fptr);
+ status=SetupGPIO1(GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT, 1);
+ ClrStatus=VL6180x_ClearAllInterrupt(Device);
+ if(ClrStatus)
+ VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
if(!status)
- status=RangeStartContinuousMode();
- return status;
+ status=RangeStartContinuousMode();
+ return status;
}
-
-
+
+
int VL6180X::AlsMeasIntContinuousMode(void (*fptr)(void))
{
int status, ClrStatus;
-
- EnableInterruptMeasureDetectionIRQ();
+
+ EnableInterruptMeasureDetectionIRQ();
AttachInterruptMeasureDetectionIRQ(fptr);
status=SetupGPIO1(GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT, 1);
- ClrStatus=VL6180x_ClearAllInterrupt(Device);
- if(ClrStatus)
- VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
+ ClrStatus=VL6180x_ClearAllInterrupt(Device);
+ if(ClrStatus)
+ VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
if(!status)
- status=AlsStartContinuousMode();
- return status;
-}
-
-
+ status=AlsStartContinuousMode();
+ return status;
+}
+
+
int VL6180X::StartInterleavedMode()
{
- int status;
- uint16_t integration_period, intermeasurement_period_ms;
- uint8_t max_convergence_time;
- uint8_t buf;
-
+ int status;
+ uint16_t integration_period, intermeasurement_period_ms;
+ uint8_t max_convergence_time;
+ uint8_t buf;
+
status=VL6180x_WrByte(Device, 0x2A3, 1);
if(status)
{
- VL6180x_ErrLog("Failed to write INTERLEAVED_MODE_ENABLE!\n\r");
- return status;
- }
- status=VL6180x_RdByte(Device, SYSRANGE_MAX_CONVERGENCE_TIME, &max_convergence_time);
- if(status)
- {
- VL6180x_ErrLog("Failed to read SYSRANGE_MAX_CONVERGENCE_TIME!\n\r");
- return status;
- }
- status=VL6180x_RdWord(Device, SYSALS_INTEGRATION_PERIOD, &integration_period);
- if(status)
- {
- VL6180x_ErrLog("Failed to read SYSALS_INTEGRATION_PERIOD!\n\r");
- return status;
- }
- max_convergence_time&=0x3F;
- integration_period&=0x01FF;
- intermeasurement_period_ms=((max_convergence_time+5)+(integration_period*1.1));
- intermeasurement_period_ms=(intermeasurement_period_ms/0.9)+10;
- intermeasurement_period_ms=200;
- status=VL6180x_AlsSetInterMeasurementPeriod(Device, intermeasurement_period_ms);
- VL6180x_RdByte(Device, 0x03E, &buf);
- if(status)
+ VL6180x_ErrLog("Failed to write INTERLEAVED_MODE_ENABLE!\n\r");
+ return status;
+ }
+ status=VL6180x_RdByte(Device, SYSRANGE_MAX_CONVERGENCE_TIME, &max_convergence_time);
+ if(status)
+ {
+ VL6180x_ErrLog("Failed to read SYSRANGE_MAX_CONVERGENCE_TIME!\n\r");
+ return status;
+ }
+ status=VL6180x_RdWord(Device, SYSALS_INTEGRATION_PERIOD, &integration_period);
+ if(status)
{
- VL6180x_ErrLog("Failed to write SYSALS_INTERMEASUREMENT_PERIOD!\n\r");
- return status;
- }
- return AlsStartContinuousMode();
+ VL6180x_ErrLog("Failed to read SYSALS_INTEGRATION_PERIOD!\n\r");
+ return status;
+ }
+ max_convergence_time&=0x3F;
+ integration_period&=0x01FF;
+ intermeasurement_period_ms=((max_convergence_time+5)+(integration_period*1.1));
+ intermeasurement_period_ms=(intermeasurement_period_ms/0.9)+10;
+ intermeasurement_period_ms=200;
+ status=VL6180x_AlsSetInterMeasurementPeriod(Device, intermeasurement_period_ms);
+ VL6180x_RdByte(Device, 0x03E, &buf);
+ if(status)
+ {
+ VL6180x_ErrLog("Failed to write SYSALS_INTERMEASUREMENT_PERIOD!\n\r");
+ return status;
+ }
+ return AlsStartContinuousMode();
}
-
-
+
+
int VL6180X::InterleavedMode(void (*fptr)(void))
{
- int status, ClrStatus;
-
- EnableInterruptMeasureDetectionIRQ();
- AttachInterruptMeasureDetectionIRQ(fptr);
- status=SetupGPIO1(GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT, 1);
- ClrStatus=VL6180x_ClearAllInterrupt(Device);
- if(ClrStatus)
- VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
- if(!status)
+ int status, ClrStatus;
+
+ EnableInterruptMeasureDetectionIRQ();
+ AttachInterruptMeasureDetectionIRQ(fptr);
+ status=SetupGPIO1(GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT, 1);
+ ClrStatus=VL6180x_ClearAllInterrupt(Device);
+ if(ClrStatus)
+ VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
+ if(!status)
status=StartInterleavedMode();
- return status;
+ return status;
}
-
-
+
+
int VL6180X::HandleIRQ(OperatingMode operating_mode, MeasureData_t *Data)
{
- int status;
-
- status=GetMeasurement(operating_mode, Data);
- EnableInterruptMeasureDetectionIRQ();
- return status;
+ int status;
+
+ EnableInterruptMeasureDetectionIRQ();
+ status=GetMeasurement(operating_mode, Data);
+ return status;
}
-
-
+
+
int VL6180X::RangeSetLowThreshold(uint16_t threshold)
{
- int status;
- uint16_t low, high;
-
- status=VL6180x_RangeGetThresholds(Device, &low, &high);
- if(!status)
- status=VL6180x_RangeSetThresholds(Device, threshold, high, 1);
- return status;
+ int status;
+ uint16_t low, high;
+
+ status=VL6180x_RangeGetThresholds(Device, &low, &high);
+ if(!status)
+ status=VL6180x_RangeSetThresholds(Device, threshold, high, 1);
+ return status;
}
-
-
+
+
int VL6180X::RangeSetHighThreshold(uint16_t threshold)
{
- int status;
- uint16_t low, high;
-
- status=VL6180x_RangeGetThresholds(Device, &low, &high);
- if(!status)
- status=VL6180x_RangeSetThresholds(Device, low, threshold, 1);
- return status;
+ int status;
+ uint16_t low, high;
+
+ status=VL6180x_RangeGetThresholds(Device, &low, &high);
+ if(!status)
+ status=VL6180x_RangeSetThresholds(Device, low, threshold, 1);
+ return status;
}
-
-
+
+
int VL6180X::AlsSetLowThreshold(uint16_t threshold)
{
- int status;
- uint16_t low, high;
-
- status=VL6180x_AlsGetThresholds(Device, &low, &high);
- if(!status)
- status=VL6180x_AlsSetThresholds(Device, threshold, high);
- return status;
+ int status;
+ uint16_t low, high;
+
+ status=VL6180x_AlsGetThresholds(Device, &low, &high);
+ if(!status)
+ status=VL6180x_AlsSetThresholds(Device, threshold, high);
+ return status;
}
-
-
+
+
int VL6180X::AlsSetHighThreshold(uint16_t threshold)
{
- int status;
- uint16_t low, high;
-
- status=VL6180x_AlsGetThresholds(Device, &low, &high);
- if(!status)
- status=VL6180x_AlsSetThresholds(Device, low, threshold);
- return status;
+ int status;
+ uint16_t low, high;
+
+ status=VL6180x_AlsGetThresholds(Device, &low, &high);
+ if(!status)
+ status=VL6180x_AlsSetThresholds(Device, low, threshold);
+ return status;
}
-
-
-int VL6180X::VL6180x_AlsGetThresholds(VL6180xDev_t dev, uint16_t *low, uint16_t *high)
+
+
+int VL6180X::VL6180x_AlsGetThresholds(VL6180xDev_t dev, uint16_t *low, uint16_t *high)
{
int status;
-
- status=VL6180x_RdWord(dev, SYSALS_THRESH_LOW, low);
- if(status)
- {
- VL6180x_ErrLog("rd SYSALS_THRESH_LOW fail");
- return status;
- }
- status=VL6180x_RdWord(dev, SYSALS_THRESH_HIGH, high);
- if(status)
- {
- VL6180x_ErrLog("rd SYSALS_THRESH_HIGH fail");
- return status;
- }
- return status;
+
+ status=VL6180x_RdWord(dev, SYSALS_THRESH_LOW, low);
+ if(status)
+ {
+ VL6180x_ErrLog("rd SYSALS_THRESH_LOW fail");
+ return status;
+ }
+ status=VL6180x_RdWord(dev, SYSALS_THRESH_HIGH, high);
+ if(status)
+ {
+ VL6180x_ErrLog("rd SYSALS_THRESH_HIGH fail");
+ return status;
+ }
+ return status;
}
-
-
+
+
int VL6180X::GetMeasurement(OperatingMode operating_mode, MeasureData_t *Data)
{
- switch(operating_mode)
- {
- case(range_continuous_polling):
- case(range_continuous_interrupt):
- case(range_continuous_polling_low_threshold):
- case(range_continuous_polling_high_threshold):
- case(range_continuous_polling_out_of_window):
- case(range_continuous_interrupt_low_threshold):
- case(range_continuous_interrrupt_high_threshold):
- case(range_continuous_interrupt_out_of_window):
- return GetRangeMeas(operating_mode, Data);
-
- case(als_continuous_polling):
- case(als_continuous_interrupt):
- case(als_continuous_polling_low_threshold):
- case(als_continuous_polling_high_threshold):
- case(als_continuous_polling_out_of_window):
- case(als_continuous_interrupt_low_threshold):
- case(als_continuous_interrupt_high_threshold):
- case(als_continuous_interrupt_out_of_window):
- return GetAlsMeas(operating_mode, Data);
-
- case(interleaved_mode_interrupt):
- return GetRangeAlsMeas(Data);
-
- default:
- return INVALID_PARAMS;
- }
+ switch(operating_mode)
+ {
+ case(range_continuous_polling):
+ case(range_continuous_interrupt):
+ case(range_continuous_polling_low_threshold):
+ case(range_continuous_polling_high_threshold):
+ case(range_continuous_polling_out_of_window):
+ case(range_continuous_interrupt_low_threshold):
+ case(range_continuous_interrrupt_high_threshold):
+ case(range_continuous_interrupt_out_of_window):
+ return GetRangeMeas(operating_mode, Data);
+
+ case(als_continuous_polling):
+ case(als_continuous_interrupt):
+ case(als_continuous_polling_low_threshold):
+ case(als_continuous_polling_high_threshold):
+ case(als_continuous_polling_out_of_window):
+ case(als_continuous_interrupt_low_threshold):
+ case(als_continuous_interrupt_high_threshold):
+ case(als_continuous_interrupt_out_of_window):
+ return GetAlsMeas(operating_mode, Data);
+
+ case(interleaved_mode_interrupt):
+ return GetRangeAlsMeas(Data);
+
+ default:
+ return INVALID_PARAMS;
+ }
}
-
-
+
+
int VL6180X::GetRangeMeas(OperatingMode operating_mode, MeasureData_t *Data)
{
VL6180x_RangeData_t RangeData;
- int status, ClrStatus;
- IntrStatus_t IntStatus;
-
- status=VL6180x_RangeGetInterruptStatus(Device, &IntStatus.val);
- if(!status)
- {
- Data->int_error=IntStatus.status.Error;
- if(IntStatus.status.Error!=0)
- {
+ int status, ClrStatus;
+ IntrStatus_t IntStatus;
+
+ status=VL6180x_RangeGetInterruptStatus(Device, &IntStatus.val);
+ if(!status)
+ {
+ Data->int_error=IntStatus.status.Error;
+ if(IntStatus.status.Error!=0)
+ {
VL6180x_ErrLog("GPIO int Error report %d",(int)IntStatus.val);
- return RANGE_ERROR;
+ status=RANGE_ERROR;
}
- }
- else
- {
- VL6180x_ErrLog("Failed to read RESULT_INTERRUPT_STATUS_GPIO");
- return status;
- }
- if((operating_mode==range_continuous_polling)||(operating_mode==range_continuous_interrupt))
- {
- if(IntStatus.status.Range==RES_INT_STAT_GPIO_NEW_SAMPLE_READY)
- status=VL6180x_RangeGetMeasurement(Device, &RangeData);
- else
- return NOT_READY;
- }
- else if((operating_mode==range_continuous_polling_low_threshold)||(operating_mode==range_continuous_interrupt_low_threshold))
- {
- if(IntStatus.status.Range==RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD)
- status=VL6180x_RangeGetMeasurement(Device, &RangeData);
- else
- return NOT_READY;
- }
- else if((operating_mode==range_continuous_polling_high_threshold)||(operating_mode==range_continuous_interrrupt_high_threshold))
- {
- if(IntStatus.status.Range==RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD)
- status=VL6180x_RangeGetMeasurement(Device, &RangeData);
- else
- return NOT_READY;
- }
- else if((operating_mode==range_continuous_polling_out_of_window)||(operating_mode==range_continuous_interrupt_out_of_window))
- {
- if(IntStatus.status.Range==RES_INT_STAT_GPIO_OUT_OF_WINDOW)
- status=VL6180x_RangeGetMeasurement(Device, &RangeData);
- else
- return NOT_READY;
- }
- if(!status)
- {
- status=GetRangeError(Data, RangeData);
- if(!status)
- Data->range_mm=RangeData.range_mm;
- else
- Data->range_mm=0xFFFFFFFF;
- }
- ClrStatus=VL6180x_RangeClearInterrupt(Device);
- if(ClrStatus)
- {
- VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
- return ClrStatus;
- }
- ClrStatus=VL6180x_ClearErrorInterrupt(Device);
- if(ClrStatus)
- {
- VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
- return ClrStatus;
- }
- return status;
+ }
+ else
+ {
+ VL6180x_ErrLog("Failed to read RESULT_INTERRUPT_STATUS_GPIO");
+ }
+ ClrStatus=VL6180x_RangeClearInterrupt(Device);
+ if(ClrStatus)
+ {
+ VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
+ }
+ ClrStatus=VL6180x_ClearErrorInterrupt(Device);
+ if(ClrStatus)
+ {
+ VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
+ }
+ if(status)
+ return status;
+ if((operating_mode==range_continuous_polling)||(operating_mode==range_continuous_interrupt))
+ {
+ if(IntStatus.status.Range==RES_INT_STAT_GPIO_NEW_SAMPLE_READY)
+ status=VL6180x_RangeGetMeasurement(Device, &RangeData);
+ else
+ return NOT_READY;
+ }
+ else if((operating_mode==range_continuous_polling_low_threshold)||(operating_mode==range_continuous_interrupt_low_threshold))
+ {
+ if(IntStatus.status.Range==RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD)
+ status=VL6180x_RangeGetMeasurement(Device, &RangeData);
+ else
+ return NOT_READY;
+ }
+ else if((operating_mode==range_continuous_polling_high_threshold)||(operating_mode==range_continuous_interrrupt_high_threshold))
+ {
+ if(IntStatus.status.Range==RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD)
+ status=VL6180x_RangeGetMeasurement(Device, &RangeData);
+ else
+ return NOT_READY;
+ }
+ else if((operating_mode==range_continuous_polling_out_of_window)||(operating_mode==range_continuous_interrupt_out_of_window))
+ {
+ if(IntStatus.status.Range==RES_INT_STAT_GPIO_OUT_OF_WINDOW)
+ status=VL6180x_RangeGetMeasurement(Device, &RangeData);
+ else
+ return NOT_READY;
+ }
+ if(!status)
+ {
+ status=GetRangeError(Data, RangeData);
+ if(!status)
+ Data->range_mm=RangeData.range_mm;
+ else
+ Data->range_mm=0xFFFFFFFF;
+ }
+ return status;
}
-
-
+
+
int VL6180X::GetAlsMeas(OperatingMode operating_mode, MeasureData_t *Data)
{
VL6180x_AlsData_t AlsData;
- int status, ClrStatus;
- uint8_t IntStatus;
-
- status=VL6180x_AlsGetInterruptStatus(Device, &IntStatus);
- if(status)
- {
- VL6180x_ErrLog("Failed to read RESULT_INTERRUPT_STATUS_GPIO");
- return status;
- }
- if((operating_mode==als_continuous_polling)||(operating_mode==als_continuous_interrupt))
- {
- if(IntStatus==RES_INT_STAT_GPIO_NEW_SAMPLE_READY)
- status=VL6180x_AlsGetMeasurement(Device, &AlsData);
- else
- return NOT_READY;
- }
- else if((operating_mode==als_continuous_polling_low_threshold)||(operating_mode==als_continuous_interrupt_low_threshold))
- {
- if(IntStatus==RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD)
- status=VL6180x_AlsGetMeasurement(Device, &AlsData);
- else
- return NOT_READY;
- }
- else if((operating_mode==als_continuous_polling_high_threshold)||(operating_mode==als_continuous_interrupt_high_threshold))
- {
- if(IntStatus==RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD)
- status=VL6180x_AlsGetMeasurement(Device, &AlsData);
- else
- return NOT_READY;
- }
- else if((operating_mode==als_continuous_polling_out_of_window)||(operating_mode==als_continuous_interrupt_out_of_window))
- {
- if(IntStatus==RES_INT_STAT_GPIO_OUT_OF_WINDOW)
- status=VL6180x_AlsGetMeasurement(Device, &AlsData);
- else
- return NOT_READY;
- }
- if(!status)
- {
- status=GetAlsError(Data, AlsData);
- if(!status)
- Data->lux=AlsData.lux;
- else
- Data->lux=0xFFFFFFFF;
- }
- ClrStatus=VL6180x_AlsClearInterrupt(Device);
- if(ClrStatus)
- VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
- ClrStatus=VL6180x_ClearErrorInterrupt(Device);
- if(ClrStatus)
- VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
- return status;
+ int status, ClrStatus;
+ uint8_t IntStatus;
+
+ status=VL6180x_AlsGetInterruptStatus(Device, &IntStatus);
+ if(status)
+ {
+ VL6180x_ErrLog("Failed to read RESULT_INTERRUPT_STATUS_GPIO");
+ }
+ ClrStatus=VL6180x_AlsClearInterrupt(Device);
+ if(ClrStatus)
+ {
+ VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
+ }
+ ClrStatus=VL6180x_ClearErrorInterrupt(Device);
+ if(ClrStatus)
+ {
+ VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
+ }
+ if(status)
+ return status;
+ if((operating_mode==als_continuous_polling)||(operating_mode==als_continuous_interrupt))
+ {
+ if(IntStatus==RES_INT_STAT_GPIO_NEW_SAMPLE_READY)
+ status=VL6180x_AlsGetMeasurement(Device, &AlsData);
+ else
+ return NOT_READY;
+ }
+ else if((operating_mode==als_continuous_polling_low_threshold)||(operating_mode==als_continuous_interrupt_low_threshold))
+ {
+ if(IntStatus==RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD)
+ status=VL6180x_AlsGetMeasurement(Device, &AlsData);
+ else
+ return NOT_READY;
+ }
+ else if((operating_mode==als_continuous_polling_high_threshold)||(operating_mode==als_continuous_interrupt_high_threshold))
+ {
+ if(IntStatus==RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD)
+ status=VL6180x_AlsGetMeasurement(Device, &AlsData);
+ else
+ return NOT_READY;
+ }
+ else if((operating_mode==als_continuous_polling_out_of_window)||(operating_mode==als_continuous_interrupt_out_of_window))
+ {
+ if(IntStatus==RES_INT_STAT_GPIO_OUT_OF_WINDOW)
+ status=VL6180x_AlsGetMeasurement(Device, &AlsData);
+ else
+ return NOT_READY;
+ }
+ if(!status)
+ {
+ status=GetAlsError(Data, AlsData);
+ if(!status)
+ Data->lux=AlsData.lux;
+ else
+ Data->lux=0xFFFFFFFF;
+ }
+ return status;
}
-
-
+
+
int VL6180X::GetRangeAlsMeas(MeasureData_t *Data)
{
int status, ClrStatus, r_status, l_status;
- IntrStatus_t IntStatus;
- VL6180x_RangeData_t RangeData;
- VL6180x_AlsData_t AlsData;
-
- status=VL6180x_RdByte(Device, RESULT_INTERRUPT_STATUS_GPIO, &IntStatus.val);
- if(!status)
- {
- Data->int_error=IntStatus.status.Error;
- if(IntStatus.status.Error!=0)
- {
+ IntrStatus_t IntStatus;
+ VL6180x_RangeData_t RangeData;
+ VL6180x_AlsData_t AlsData;
+
+ status=VL6180x_RdByte(Device, RESULT_INTERRUPT_STATUS_GPIO, &IntStatus.val);
+ if(!status)
+ {
+ Data->int_error=IntStatus.status.Error;
+ if(IntStatus.status.Error!=0)
+ {
VL6180x_ErrLog("GPIO int Error report %d",(int)IntStatus.val);
- return RANGE_ERROR;
+ status=RANGE_ERROR;
}
- }
- else
- {
- VL6180x_ErrLog("Failed to read RESULT_INTERRUPT_STATUS_GPIO");
- return status;
- }
-
- if(IntStatus.status.Als==RES_INT_STAT_GPIO_NEW_SAMPLE_READY)
- {
- r_status=VL6180x_RangeGetMeasurement(Device, &RangeData);
- l_status=VL6180x_AlsGetMeasurement(Device, &AlsData);
- if((!r_status)&&(!l_status))
- {
- r_status=GetRangeError(Data, RangeData);
- l_status=GetAlsError(Data, AlsData);
- if(!r_status)
- Data->range_mm=RangeData.range_mm;
- else
- Data->range_mm=0xFFFFFFFF;
- if(!l_status)
- Data->lux=AlsData.lux;
- else
- Data->lux=0xFFFFFFFF;
- status=r_status|l_status;
- }
- else
- {
- status=r_status|l_status;
- }
- ClrStatus=VL6180x_ClearAllInterrupt(Device);
- if(ClrStatus)
- VL6180x_ErrLog("VL6180x_ClearAllInterrupt fail");
- }
- else
- return NOT_READY;
- return status;
+ }
+ else
+ {
+ VL6180x_ErrLog("Failed to read RESULT_INTERRUPT_STATUS_GPIO");
+ }
+ ClrStatus=VL6180x_ClearAllInterrupt(Device);
+ if(ClrStatus)
+ VL6180x_ErrLog("VL6180x_ClearAllInterrupt fail");
+ if(status)
+ return status;
+
+ if(IntStatus.status.Als==RES_INT_STAT_GPIO_NEW_SAMPLE_READY)
+ {
+ r_status=VL6180x_RangeGetMeasurement(Device, &RangeData);
+ l_status=VL6180x_AlsGetMeasurement(Device, &AlsData);
+ if((!r_status)&&(!l_status))
+ {
+ r_status=GetRangeError(Data, RangeData);
+ l_status=GetAlsError(Data, AlsData);
+ if(!r_status)
+ Data->range_mm=RangeData.range_mm;
+ else
+ Data->range_mm=0xFFFFFFFF;
+ if(!l_status)
+ Data->lux=AlsData.lux;
+ else
+ Data->lux=0xFFFFFFFF;
+ status=r_status|l_status;
+ }
+ else
+ {
+ status=r_status|l_status;
+ }
+ }
+ else
+ return NOT_READY;
+ return status;
}
-
-
+
+
int VL6180X::StopMeasurement(OperatingMode operating_mode)
{
- int status;
-
- switch(operating_mode)
- {
- case(range_single_shot_polling):
- case(range_continuous_polling):
- case(range_continuous_interrupt):
- case(range_continuous_polling_low_threshold):
- case(range_continuous_polling_high_threshold):
- case(range_continuous_polling_out_of_window):
- case(range_continuous_interrupt_low_threshold):
- case(range_continuous_interrrupt_high_threshold):
- case(range_continuous_interrupt_out_of_window):
- return StopRangeMeasurement(operating_mode);
-
- case(als_single_shot_polling):
- case(als_continuous_polling):
- case(als_continuous_interrupt):
- case(als_continuous_polling_low_threshold):
- case(als_continuous_polling_high_threshold):
- case(als_continuous_polling_out_of_window):
- case(als_continuous_interrupt_low_threshold):
- case(als_continuous_interrupt_high_threshold):
- case(als_continuous_interrupt_out_of_window):
- return StopAlsMeasurement(operating_mode);
-
- case(interleaved_mode_interrupt):
- status=StopRangeMeasurement(range_continuous_interrupt);
- if(!status)
- return StopAlsMeasurement(als_continuous_interrupt);
- else return status;
-
- default:
- return INVALID_PARAMS;
- }
+ int status;
+
+ switch(operating_mode)
+ {
+ case(range_single_shot_polling):
+ case(range_continuous_polling):
+ case(range_continuous_interrupt):
+ case(range_continuous_polling_low_threshold):
+ case(range_continuous_polling_high_threshold):
+ case(range_continuous_polling_out_of_window):
+ case(range_continuous_interrupt_low_threshold):
+ case(range_continuous_interrrupt_high_threshold):
+ case(range_continuous_interrupt_out_of_window):
+ return StopRangeMeasurement(operating_mode);
+
+ case(als_single_shot_polling):
+ case(als_continuous_polling):
+ case(als_continuous_interrupt):
+ case(als_continuous_polling_low_threshold):
+ case(als_continuous_polling_high_threshold):
+ case(als_continuous_polling_out_of_window):
+ case(als_continuous_interrupt_low_threshold):
+ case(als_continuous_interrupt_high_threshold):
+ case(als_continuous_interrupt_out_of_window):
+ return StopAlsMeasurement(operating_mode);
+
+ case(interleaved_mode_interrupt):
+ status=StopRangeMeasurement(range_continuous_interrupt);
+ if(!status)
+ return StopAlsMeasurement(als_continuous_interrupt);
+ else return status;
+
+ default:
+ return INVALID_PARAMS;
+ }
}
-
-
+
+
int VL6180X::StopRangeMeasurement(OperatingMode operating_mode)
{
- int status;
-
- if(operating_mode==range_single_shot_polling)
- status=VL6180x_RangeSetSystemMode(Device, MODE_SINGLESHOT);
- else
- status=VL6180x_RangeSetSystemMode(Device, MODE_START_STOP|MODE_SINGLESHOT);
- if(status)
- return status;
- status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if(status)
- {
- VL6180x_ErrLog("VL6180x_RangeConfigInterrupt fail"\n\r);
- return status;
- }
- status=VL6180x_RangeClearInterrupt(Device);
- if(status)
- {
- VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
- return status;
- }
- status=VL6180x_ClearErrorInterrupt(Device);
- if(status)
- {
- VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
- return status;
- }
- status=VL6180x_RangeSetRawThresholds(Device, 10, 200);
- if(status)
- VL6180x_ErrLog("VL6180x_RangeSetThresholds fail");
- return status;
+ int status;
+
+ if(operating_mode==range_single_shot_polling)
+ status=VL6180x_RangeSetSystemMode(Device, MODE_SINGLESHOT);
+ else
+ status=VL6180x_RangeSetSystemMode(Device, MODE_START_STOP|MODE_SINGLESHOT);
+ if(status)
+ return status;
+ status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if(status)
+ {
+ VL6180x_ErrLog("VL6180x_RangeConfigInterrupt fail"\n\r);
+ return status;
+ }
+ status=VL6180x_RangeClearInterrupt(Device);
+ if(status)
+ {
+ VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
+ return status;
+ }
+ status=VL6180x_ClearErrorInterrupt(Device);
+ if(status)
+ {
+ VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
+ return status;
+ }
+ status=VL6180x_RangeSetRawThresholds(Device, 10, 200);
+ if(status)
+ VL6180x_ErrLog("VL6180x_RangeSetThresholds fail");
+ return status;
}
-
-
+
+
int VL6180X::StopAlsMeasurement(OperatingMode operating_mode)
{
- int status;
-
- if(operating_mode==als_single_shot_polling)
- status=VL6180x_AlsSetSystemMode(Device, MODE_SINGLESHOT);
- else
- status=VL6180x_AlsSetSystemMode(Device, MODE_START_STOP|MODE_SINGLESHOT);
- if(status)
- return status;
- status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if(status)
- {
- VL6180x_ErrLog("VL6180x_AlsConfigInterrupt fail"\n\r);
- return status;
- }
- status=VL6180x_AlsClearInterrupt(Device);
- if(status)
- {
- VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
- return status;
- }
- status=VL6180x_ClearErrorInterrupt(Device);
- if(status)
- {
- VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
- return status;
- }
- status=VL6180x_AlsSetThresholds(Device, 0x0, 0xFF);
- if(status)
- VL6180x_ErrLog("VL6180x_AlsSetThresholds fail");
- return status;
+ int status;
+
+ if(operating_mode==als_single_shot_polling)
+ status=VL6180x_AlsSetSystemMode(Device, MODE_SINGLESHOT);
+ else
+ status=VL6180x_AlsSetSystemMode(Device, MODE_START_STOP|MODE_SINGLESHOT);
+ if(status)
+ return status;
+ status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if(status)
+ {
+ VL6180x_ErrLog("VL6180x_AlsConfigInterrupt fail"\n\r);
+ return status;
+ }
+ status=VL6180x_AlsClearInterrupt(Device);
+ if(status)
+ {
+ VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
+ return status;
+ }
+ status=VL6180x_ClearErrorInterrupt(Device);
+ if(status)
+ {
+ VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
+ return status;
+ }
+ status=VL6180x_AlsSetThresholds(Device, 0x0, 0xFF);
+ if(status)
+ VL6180x_ErrLog("VL6180x_AlsSetThresholds fail");
+ return status;
}
-
-
-
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+
+
+
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
\ No newline at end of file