Mustapha hamdi
INSAT Mini Project
Dependencies: ST_INTERFACES X_NUCLEO_COMMON
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X_NUCLEO_6180XA1
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ST
Revision 7:2dc81120c917, committed 2015-09-25
- Comitter:
- gallonm
- Date:
- Fri Sep 25 12:12:51 2015 +0200
- Parent:
- 6:6a09fe77ad3c
- Child:
- 8:f943a1fca15f
- Commit message:
- update files
Changed in this revision
--- a/Components/Display/Display_class.h Fri Sep 18 13:19:50 2015 +0000
+++ b/Components/Display/Display_class.h Fri Sep 25 12:12:51 2015 +0200
@@ -0,0 +1,69 @@
+/**
+ ******************************************************************************
+ * @file Display.h
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 14-April-2015
+ * @brief Header file for display
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+*/
+
+#ifndef __DISPLAY_H
+#define __DISPLAY_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "mbed.h"
+
+
+/* Classes -------------------------------------------------------------------*/
+/** Class representing GPIO expander
+ */
+
+/*
+class Display :
+{
+ public:
+
+ Display(DevI2C &i2c) : device_i2c(i2c);
+
+ virtual ~Display()
+ {
+ //nella classe board ci sara' un puntatore ad un oggetto di tipo Display che verra' creato con una new
+ //qui devo fare il delete[] del new
+ }
+
+
+ private:
+ DevI2C &device_i2c;
+
+};
+*/
+
+#endif // __GPIO_EXPANDER_CLASS_H
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/STMPE1600/stmpe1600_class.h Fri Sep 25 12:12:51 2015 +0200
@@ -0,0 +1,162 @@
+/**
+ ******************************************************************************
+ * @file vl6180x_class.h
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 14-April-2015
+ * @brief Header file for component VL6180X
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+*/
+#ifndef __STMPE1600_CLASS
+#define __STMPE1600_CLASS
+/* Includes ------------------------------------------------------------------*/
+#include "mbed.h"
+#include <assert.h>
+
+#define STMPE1600_DEF_DEVICE_ADDRESS (uint8_t)0x42*2 // in 7 bits I2C format
+#define STMPE1600_DEF_DIGIOUT_LVL 0
+
+/** STMPE1600 registr map **/
+#define VersionId (uint8_t)0x02
+#define SystemControl (uint8_t)0x03
+#define IEGPIOR_0_7 (uint8_t)0x08
+#define IEGPIOR_8_15 (uint8_t)0x09
+#define ISGPIOR_0_7 (uint8_t)0x0A
+#define ISGPIOR_8_15 (uint8_t)0x0B
+#define GPMR_0_7 (uint8_t)0x10
+#define GPMR_8_15 (uint8_t)0x11
+#define GPSR_0_7 (uint8_t)0x12
+#define GPSR_8_15 (uint8_t)0x13
+#define GPDR_0_7 (uint8_t)0x14
+#define GPDR_8_15 (uint8_t)0x15
+#define GPIR_0_7 (uint8_t)0x16
+#define GPIR_8_15 (uint8_t)0x17
+
+ typedef enum {
+ // GPIO Expander pin names
+ GPIO_0,
+ GPIO_1,
+ GPIO_2,
+ GPIO_3,
+ GPIO_4,
+ GPIO_5,
+ GPIO_6,
+ GPIO_7,
+ GPIO_8,
+ GPIO_9,
+ GPIO_10,
+ GPIO_11,
+ GPIO_12,
+ GPIO_13,
+ GPIO_14,
+ GPIO_15
+} ExpGpioPinName;
+
+typedef enum {
+ INPUT,
+ OUTPUT,
+ NOT_CONNECTED
+}ExpGpioPinDirection;
+
+
+class STMPE1600DigiOut {
+
+ public:
+ STMPE1600DigiOut (DevI2C &i2c, ExpGpioPinName outpinname, uint8_t DevAddr=STMPE1600_DEF_DEVICE_ADDRESS, bool lvl=STMPE1600_DEF_DIGIOUT_LVL): dev_i2c(i2c), expdevaddr(DevAddr), exppinname(outpinname)
+ {
+ uint8_t data[2];
+ /* set the exppinname as output */
+ dev_i2c.i2c_read(data, expdevaddr, GPDR_0_7, 1);
+ dev_i2c.i2c_read(&data[1], expdevaddr, GPDR_8_15, 1);
+ *(uint16_t*)data = *(uint16_t*)data | (1<<(uint16_t)exppinname); // set gopio as out
+ dev_i2c.i2c_write(data, expdevaddr, GPDR_0_7, 1);
+ dev_i2c.i2c_write(&data[1], expdevaddr, GPDR_8_15, 1);
+ write(lvl);
+
+ }
+
+ void write (int lvl) {
+ uint8_t data[2];
+ /* set the exppinname state to lvl */
+ dev_i2c.i2c_read(data, expdevaddr, GPSR_0_7, 1);
+ dev_i2c.i2c_read(&data[1], expdevaddr, GPSR_8_15, 1);
+ *(uint16_t*)data = *(uint16_t*)data & (~(1<<(uint16_t)exppinname)); // set pin mask
+ if (lvl) *(uint16_t*)data = *(uint16_t*)data | ( 1<<(uint16_t)exppinname);
+ dev_i2c.i2c_write(data, expdevaddr, GPSR_0_7, 1);
+ dev_i2c.i2c_write(&data[1], expdevaddr, GPSR_8_15, 1);
+ }
+
+ STMPE1600DigiOut& operator=(int lvl) {
+ write (lvl);
+ return *this;
+ }
+
+ private:
+ DevI2C &dev_i2c;
+ uint8_t expdevaddr;
+ ExpGpioPinName exppinname;
+};
+
+class STMPE1600DigiIn {
+
+ public:
+ STMPE1600DigiIn (DevI2C &i2c, ExpGpioPinName inpinname, uint8_t DevAddr=STMPE1600_DEF_DEVICE_ADDRESS): dev_i2c(i2c), expdevaddr(DevAddr), exppinname(inpinname)
+ {
+ uint8_t data[2];
+ /* set the exppinname as input pin direction */
+ dev_i2c.i2c_read(data, expdevaddr, GPDR_0_7, 1);
+ dev_i2c.i2c_read(&data[1], expdevaddr, GPDR_8_15, 1);
+ *(uint16_t*)data = *(uint16_t*)data & (~(1<<(uint16_t)exppinname)); // set gopio as in
+ dev_i2c.i2c_write(data, expdevaddr, GPDR_0_7, 1);
+ dev_i2c.i2c_write(&data[1], expdevaddr, GPDR_8_15, 1);
+ }
+
+ bool read () {
+ uint8_t data[2];
+ /* read the exppinname */
+ dev_i2c.i2c_read(data, expdevaddr, GPMR_0_7, 1);
+ dev_i2c.i2c_read(&data[1], expdevaddr, GPMR_8_15, 1);
+ *(uint16_t*)data = *(uint16_t*)data & (1<<(uint16_t)exppinname); // mask the in gpio
+ if (data[0] || data[1]) return 1;
+ return 0;
+ }
+
+ operator int() {
+ return read();
+ }
+
+ private:
+ DevI2C &dev_i2c;
+ uint8_t expdevaddr;
+ ExpGpioPinName exppinname;
+};
+
+
+#endif // __STMPE1600_CLASS
--- a/Components/VL6180X/vl6180x_api.h Fri Sep 18 13:19:50 2015 +0000 +++ b/Components/VL6180X/vl6180x_api.h Fri Sep 25 12:12:51 2015 +0200 @@ -175,7 +175,7 @@ * @param dev The device * @return 0 on success */ - int VL6180x_Prepare(VL6180xDev_t dev); +int VL6180x_Prepare(VL6180xDev_t dev); /** @} */
--- a/Components/VL6180X/vl6180x_appcfg.h Fri Sep 18 13:19:50 2015 +0000 +++ b/Components/VL6180X/vl6180x_appcfg.h Fri Sep 25 12:12:51 2015 +0200 @@ -48,7 +48,7 @@ * value 0 => multiple device capable user must review "device" structure and type in porting files * @ingroup Configuration */ -#define VL6180x_SINGLE_DEVICE_DRIVER 1 +#define VL6180x_SINGLE_DEVICE_DRIVER 1 // fix_me: da sistemare il valore di single_device_driver (0 o 1) /**
--- a/Components/VL6180X/vl6180x_class.cpp Fri Sep 18 13:19:50 2015 +0000
+++ b/Components/VL6180X/vl6180x_class.cpp Fri Sep 25 12:12:51 2015 +0200
@@ -35,76 +35,10 @@
******************************************************************************
*/
-/* Includes ------------------------------------------------------------------*/
+/* Includes */
#include "vl6180x_class.h"
-/* define for inizialization -------------------------------------------------*/
-
-#if VL6180x_UPSCALE_SUPPORT == 1
- #define _GetUpscale(dev, ... ) 1
- #define _SetUpscale(...) -1
- #define DEF_UPSCALE 1
-#elif VL6180x_UPSCALE_SUPPORT == 2
- #define _GetUpscale(dev, ... ) 2
- #define _SetUpscale(...)
- #define DEF_UPSCALE 2
-#elif VL6180x_UPSCALE_SUPPORT == 3
- #define _GetUpscale(dev, ... ) 3
- #define _SetUpscale(...)
- #define DEF_UPSCALE 3
-#else
- #define DEF_UPSCALE (-(VL6180x_UPSCALE_SUPPORT))
- #define _GetUpscale(dev, ... ) VL6180xDevDataGet(dev, UpscaleFactor)
- #define _SetUpscale(dev, Scaling ) VL6180xDevDataSet(dev, UpscaleFactor, Scaling)
-#endif
-
-
-#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
-
-
-#if VL6180x_UPSCALE_SUPPORT == 1
- #define _GetUpscale(dev, ... ) 1
- #define _SetUpscale(...) -1
- #define DEF_UPSCALE 1
-#elif VL6180x_UPSCALE_SUPPORT == 2
- #define _GetUpscale(dev, ... ) 2
- #define _SetUpscale(...)
- #define DEF_UPSCALE 2
-#elif VL6180x_UPSCALE_SUPPORT == 3
- #define _GetUpscale(dev, ... ) 3
- #define _SetUpscale(...)
- #define DEF_UPSCALE 3
-#else
- #define DEF_UPSCALE (-(VL6180x_UPSCALE_SUPPORT))
- #define _GetUpscale(dev, ... ) VL6180xDevDataGet(dev, UpscaleFactor)
- #define _SetUpscale(dev, Scaling ) VL6180xDevDataSet(dev, UpscaleFactor, Scaling)
-#endif
-
-
-struct VL6180xDevData_t VL6180x_DEV_DATA_ATTR SingleVL6180xDevData={
- .EceFactorM = DEF_ECE_FACTOR_M,
- .EceFactorD = DEF_ECE_FACTOR_D,
-#ifdef VL6180x_HAVE_UPSCALE_DATA
- .UpscaleFactor = DEF_UPSCALE,
-#endif
-#ifdef VL6180x_HAVE_ALS_DATA
- .IntegrationPeriod = DEF_INT_PEFRIOD,
- .AlsGainCode = DEF_ALS_GAIN,
- .AlsScaler = DEF_ALS_SCALER,
-#endif
-#ifdef VL6180x_HAVE_DMAX_RANGING
- .DMaxEnable = DEF_DMAX_ENABLE,
-#endif
-};
-
-
-#define Fix7_2_KCPs(x) ((((uint32_t)(x))*1000)>>7)
-
-/* define for i2c configuration ----------------------------------------------*/
+/****************** define for i2c configuration *******************************/
#define I2C_BUFFER_CONFIG 1
#define VL6180x_I2C_USER_VAR
@@ -134,10 +68,188 @@
#error "invalid I2C_BUFFER_CONFIG "
#endif
-/* Initialization functions --------------------------------------------------*/
-
-int VL6180X::VL6180x_InitData(VL6180xDev_t dev)
-{
+#define IsValidGPIOFunction(x) ((x)==GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT || (x)==GPIOx_SELECT_OFF)
+
+
+
+/******************************************************************************/
+/******************************* 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 */
+#define DEF_ECE_FACTOR_D 100
+/** default value ALS integration time */
+#define DEF_INT_PEFRIOD 100
+/** default value ALS gain */
+#define DEF_ALS_GAIN 1
+/** default value ALS scaler */
+#define DEF_ALS_SCALER 1
+/** default value for DMAX Enbale */
+#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
+ */
+static const uint16_t ScalerLookUP[] ROMABLE_DATA ={ 253, 127, 84}; /* lookup table for scaling->scalar 1x2x 3x */
+/**
+ * scaling factor to Upper limit look up
+ */
+static const uint16_t UpperLimitLookUP[] ROMABLE_DATA ={ 185, 370, 580}; /* lookup table for scaling->limit 1x2x3x */
+/**
+ * Als Code gain to fix point gain lookup
+ */
+static const uint16_t AlsGainLookUp[8] ROMABLE_DATA = {
+ (uint16_t)(20.0f * AN_GAIN_MULT),
+ (uint16_t)(10.0f * AN_GAIN_MULT),
+ (uint16_t)(5.0f * AN_GAIN_MULT),
+ (uint16_t)(2.5f * AN_GAIN_MULT),
+ (uint16_t)(1.67f * AN_GAIN_MULT),
+ (uint16_t)(1.25f * AN_GAIN_MULT),
+ (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",
+ "VCSEL Continuity Test",
+ "VCSEL Watchdog Test",
+ "VCSEL Watchdog",
+ "PLL1 Lock",
+ "PLL2 Lock",
+ "Early Convergence Estimate",
+ "Max Convergence",
+ "No Target Ignore",
+ "Not used 9",
+ "Not used 10",
+ "Max Signal To Noise Ratio",
+ "Raw Ranging Algo Underflow",
+ "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
+ #define DEF_UPSCALE 1
+#elif VL6180x_UPSCALE_SUPPORT == 2
+ #define _GetUpscale(dev, ... ) 2
+ #define _SetUpscale(...)
+ #define DEF_UPSCALE 2
+#elif VL6180x_UPSCALE_SUPPORT == 3
+ #define _GetUpscale(dev, ... ) 3
+ #define _SetUpscale(...)
+ #define DEF_UPSCALE 3
+#else
+ #define DEF_UPSCALE (-(VL6180x_UPSCALE_SUPPORT))
+ #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
+ */
+struct VL6180xDevData_t VL6180x_DEV_DATA_ATTR SingleVL6180xDevData={
+ .EceFactorM = DEF_ECE_FACTOR_M,
+ .EceFactorD = DEF_ECE_FACTOR_D,
+#ifdef VL6180x_HAVE_UPSCALE_DATA
+ .UpscaleFactor = DEF_UPSCALE,
+#endif
+#ifdef VL6180x_HAVE_ALS_DATA
+ .IntegrationPeriod = DEF_INT_PEFRIOD,
+ .AlsGainCode = DEF_ALS_GAIN,
+ .AlsScaler = DEF_ALS_SCALER,
+#endif
+#ifdef VL6180x_HAVE_DMAX_RANGING
+ .DMaxEnable = DEF_DMAX_ENABLE,
+#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);
+ #define _IsWrapArroundActive(dev) VL6180xDevDataGet(dev,WrapAroundFilterActive)
+#else
+ #define _IsWrapArroundActive(dev) 0
+#endif
+
+
+#if VL6180x_HAVE_DMAX_RANGING
+ void _DMax_OneTimeInit(VL6180xDev_t dev);
+ static int _DMax_InitData(VL6180xDev_t dev);
+ static int _DMax_Compute(VL6180xDev_t dev, VL6180x_RangeData_t *pRange);
+ #define _IsDMaxActive(dev) VL6180xDevDataGet(dev,DMaxEnable)
+#else
+ #define _DMax_InitData(...) 0 /* success */
+ #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;
+}
+
+int VL6180X::VL6180x_InitData(VL6180xDev_t dev){
int status, dmax_status ;
int8_t offset;
uint8_t FreshOutReset;
@@ -169,14 +281,14 @@
do{
/* backup offset initial value from nvm these must be done prior any over call that use offset */
- status = VL6180x_RdByte(MyDevice,SYSRANGE_PART_TO_PART_RANGE_OFFSET, (uint8_t*)&offset);
+ status = VL6180X::VL6180x_RdByte(dev,SYSRANGE_PART_TO_PART_RANGE_OFFSET, (uint8_t*)&offset);
if( status ){
VL6180x_ErrLog("SYSRANGE_PART_TO_PART_RANGE_OFFSET rd fail");
break;
}
VL6180xDevDataSet(dev, Part2PartOffsetNVM, offset);
- status=VL6180x_RdDWord(MyDevice, SYSRANGE_RANGE_IGNORE_THRESHOLD, &CalValue);
+ status=VL6180x_RdDWord( dev, SYSRANGE_RANGE_IGNORE_THRESHOLD, &CalValue);
if( status ){
VL6180x_ErrLog("Part2PartAmbNVM rd fail");
break;
@@ -186,7 +298,7 @@
}
VL6180xDevDataSet(dev, Part2PartAmbNVM, CalValue);
- status = VL6180x_RdWord(MyDevice, SYSRANGE_CROSSTALK_COMPENSATION_RATE ,&u16);
+ status = VL6180x_RdWord(dev, SYSRANGE_CROSSTALK_COMPENSATION_RATE ,&u16);
if( status){
VL6180x_ErrLog("SYSRANGE_CROSSTALK_COMPENSATION_RATE rd fail ");
break;
@@ -201,7 +313,7 @@
}
/* Read or wait for fresh out of reset */
- status = VL6180x_RdByte(MyDevice,SYSTEM_FRESH_OUT_OF_RESET, &FreshOutReset);
+ status = VL6180x_RdByte(dev,SYSTEM_FRESH_OUT_OF_RESET, &FreshOutReset);
if( status ) {
VL6180x_ErrLog("SYSTEM_FRESH_OUT_OF_RESET rd fail");
break;
@@ -216,13 +328,1941 @@
return status;
}
+int8_t VL6180X::VL6180x_GetOffsetCalibrationData(VL6180xDev_t dev)
+{
+ int8_t offset;
+ LOG_FUNCTION_START("");
+ offset = VL6180xDevDataGet(dev, Part2PartOffsetNVM);
+ 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;
+ LOG_FUNCTION_START("%d", Rate);
+ status = VL6180x_WrWord(dev, SYSRANGE_CROSSTALK_COMPENSATION_RATE, Rate);
+ if( status ==0 ){
+ uint32_t XTalkCompRate_KCps;
+ XTalkCompRate_KCps = Fix7_2_KCPs(Rate);
+ VL6180xDevDataSet(dev, XTalkCompRate_KCps , XTalkCompRate_KCps );
+ /* update dmax whenever xtalk rate changes */
+ status = _DMax_InitData(dev);
+ }
+ 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/2);
+ if( status ){
+ VL6180x_ErrLog("new i2c addr Wr fail");
+ }
+ 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);
+ else
+ init_status=VL6180x_UpscaleStaticInit(dev);
+
+ if( init_status <0 ){
+ VL6180x_ErrLog("StaticInit fail");
+ goto error;
+ }
+ else if(init_status > 0){
+ VL6180x_ErrLog("StaticInit warning");
+ }
+
+#if REFRESH_CACHED_DATA_AFTER_INIT
+ /* update cached value after tuning applied */
+ do{
+#ifdef VL6180x_HAVE_ALS_DATA
+ uint8_t data;
+ 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);
+#endif
+ }
+ while(0);
+#endif /* REFRESH_CACHED_DATA_AFTER_INIT */
+ if( status < 0 ){
+ VL6180x_ErrLog("StaticInit fail");
+ }
+ if( !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_NEW_SAMPLE_READY );
+ if( status)
+ break;
+
+ /* set default threshold */
+ status=VL6180x_RangeSetRawThresholds(dev, 10, 200);
+ if( status ){
+ VL6180x_ErrLog("VL6180x_RangeSetRawThresholds fail");
+ break;
+ }
+#if VL6180x_ALS_SUPPORT
+ status =VL6180x_AlsSetIntegrationPeriod(dev, 100);
+ if( status ) break;
+ status = VL6180x_AlsSetInterMeasurementPeriod(dev, 200);
+ if( status ) break;
+ status = VL6180x_AlsSetAnalogueGain(dev, 0);
+ if( status ) break;
+ status = VL6180x_AlsSetThresholds(dev, 0, 0xFF);
+ if( status ) break;
+ /* set Als InterruptMode to new sample */
+ status=VL6180x_AlsConfigInterrupt(dev, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
+ if( status ) {
+ VL6180x_ErrLog("VL6180x_AlsConfigInterrupt fail");
+ break;
+ }
+#endif
+#if VL6180x_WRAP_AROUND_FILTER_SUPPORT
+ _filter_Init(dev);
+#endif
+ /* make sure to reset any left previous condition that can hangs first poll */
+ status=VL6180x_ClearAllInterrupt(dev);
+ }
+ while(0);
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+#if VL6180x_ALS_SUPPORT
+int VL6180X::VL6180x_AlsGetLux(VL6180xDev_t dev, lux_t *pLux)
+{
+ int status;
+ uint16_t RawAls;
+ uint32_t luxValue = 0;
+ uint32_t IntPeriod;
+ 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 */
+ IntPeriod=VL6180xDevDataGet(dev, IntegrationPeriod);
+ AlsScaler=VL6180xDevDataGet(dev, AlsScaler);
+ IntPeriod++; /* what stored is real time ms -1 and it can be 0 for or 0 or 1ms */
+ luxValue = (uint32_t)RawAls * LuxResxIntIme; /* max # 16+8bits + 6bit (0.56*100) */
+ luxValue /= IntPeriod; /* max # 16+8bits + 6bit 16+8+1 to 9 bit */
+ /* between 29 - 21 bit */
+ AlsAnGain = VL6180xDevDataGet(dev, AlsGainCode);
+ GainFix = AlsGainLookUp[AlsAnGain];
+ 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*/
+ status=VL6180x_AlsClearInterrupt(dev);
+ if(status){
+ VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
+ 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);
+ if (status) {
+ break;
+ }
+ 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");
+ if (!status) {
+ status = ClrStatus; /* leave previous if already on error */
+ }
+ }
+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;
+ uint8_t u8;
+ LOG_FUNCTION_START("%d", (int)MaxLoop);
+ if( MaxLoop<1){
+ status=INVALID_PARAMS;
+ }
+ else{
+ for( n=0; n < MaxLoop ; n++){
+ status=VL6180x_RdByte(dev, RESULT_ALS_STATUS, &u8);
+ if( status)
+ break;
+ u8 = u8 & ALS_DEVICE_READY_MASK;
+ if( u8 )
+ break;
+
+ }
+ if( !status && !u8 ){
+ status = TIME_OUT;
+ }
+ }
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+int VL6180X::VL6180x_AlsSetSystemMode(VL6180xDev_t dev, uint8_t mode)
+{
+ int status;
+ LOG_FUNCTION_START("%d", (int)mode);
+ /* FIXME if we are called back to back real fast we are not checking
+ * if previous mode "set" got absorbed => bit 0 must be 0 so that wr 1 work */
+ if( mode <= 3){
+ status=VL6180x_WrByte(dev, SYSALS_START, mode);
+ }
+ else{
+ status = INVALID_PARAMS;
+ }
+ 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));
+ }
+ else{
+ VL6180x_ErrLog("Invalid config mode param %d", (int)ConfigGpioInt);
+ status = INVALID_PARAMS;
+ }
+ 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);
+ 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) ;
+ }
+ 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);
+ if(status){
+ VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
+ goto done;
+ }
+#endif
+ /* //![single_shot_snipet] */
+ status=VL6180x_RangeSetSystemMode(dev, MODE_START_STOP|MODE_SINGLESHOT);
+ if( status ){
+ VL6180x_ErrLog("VL6180x_RangeSetSystemMode fail");
+ goto done;
+ }
+
+
+ /* poll for new sample ready */
+ while(1 ){
+ status=VL6180x_RangeGetInterruptStatus(dev, &IntStatus.val);
+ if( status ){
+ break;
+ }
+ if( IntStatus.status.Error !=0 ){
+ VL6180x_ErrLog("GPIO int Error report %d",(int)IntStatus.val);
+ status = RANGE_ERROR;
+ break;
+ }
+ else
+ if( IntStatus.status.Range == RES_INT_STAT_GPIO_NEW_SAMPLE_READY){
+ break;
+ }
+
+ VL6180x_PollDelay(dev);
+ }
+ /* //![single_shot_snipet] */
+
+ if ( !status ){
+ status = VL6180x_RangeGetMeasurement(dev, pRangeData);
+ }
+
+ /* clear range interrupt source */
+ ClrStatus = VL6180x_RangeClearInterrupt(dev);
+ if( ClrStatus ){
+ VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
+ /* leave initial status if already in error */
+ if( !status ){
+ status=ClrStatus;
+ }
+ }
+done:
+ 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 );
+ if( !status ){
+ pRangeData->signalRate_mcps = VL6180x_9to7Conv(RawRate);
+ status = VL6180x_RdByte(dev, RESULT_RANGE_STATUS, &RawStatus);
+ if( !status ){
+ pRangeData->errorStatus = RawStatus >>4;
+ }
+ else{
+ VL6180x_ErrLog("Rd RESULT_RANGE_STATUS fail");
+ }
+ #if VL6180x_WRAP_AROUND_FILTER_SUPPORT || VL6180x_HAVE_DMAX_RANGING
+ status = _GetRateResult(dev, pRangeData);
+ if( status )
+ goto error;
+ #endif
+ #if VL6180x_WRAP_AROUND_FILTER_SUPPORT
+ /* if enabled run filter */
+ if( _IsWrapArroundActive(dev) ){
+ status=_filter_GetResult(dev, pRangeData);
+ if( !status){
+ /* patch the range status and measure if it is filtered */
+ if( pRangeData->range_mm != pRangeData->FilteredData.range_mm) {
+ pRangeData->errorStatus=RangingFiltered;
+ pRangeData->range_mm = pRangeData->FilteredData.range_mm;
+ }
+ }
+ }
+ #endif
+
+#if VL6180x_HAVE_DMAX_RANGING
+ if(_IsDMaxActive(dev) ){
+ _DMax_Compute(dev, pRangeData);
+ }
+#endif
+ }
+ else{
+ VL6180x_ErrLog("Rd RESULT_RANGE_SIGNAL_RATE fail");
+ }
+ }
+ else{
+ VL6180x_ErrLog("VL6180x_GetRangeResult fail");
+ }
+error:
+ 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 ){
+ VL6180x_ErrLog("GPIO int Error report %d",(int)IntStatus.val);
+ status = RANGE_ERROR;
+ }
+ else
+ if( IntStatus.status.Range == RES_INT_STAT_GPIO_NEW_SAMPLE_READY){
+ status = VL6180x_RangeGetMeasurement(dev,pRangeData );
+ if( status == 0){
+ /* clear range interrupt source */
+ status = VL6180x_RangeClearInterrupt(dev);
+ if( status ){
+ VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
+ }
+ }
+ }
+ else{
+ status = NOT_READY;
+ }
+ }
+ else{
+ VL6180x_ErrLog("fail to get interrupt status");
+ }
+ LOG_FUNCTION_END(status) ;
+ return status;
+}
+
+int VL6180X::VL6180x_FilterSetState(VL6180xDev_t dev, int state){
+ int status;
+ LOG_FUNCTION_START("%d", state);
+#if VL6180x_WRAP_AROUND_FILTER_SUPPORT
+ VL6180xDevDataSet(dev,WrapAroundFilterActive, state);
+ status = 0;
+#else
+ status = NOT_SUPPORTED;
+#endif
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+int VL6180X::VL6180x_FilterGetState(VL6180xDev_t dev){
+ int status;
+ LOG_FUNCTION_START("");
+#if VL6180x_WRAP_AROUND_FILTER_SUPPORT
+ status = VL6180xDevDataGet(dev,WrapAroundFilterActive);
+#else
+ status = 0;
+#endif
+ 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);
+ *pRange_mm= Upscale*(int32_t)RawRange;
+ }
+ 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;
+ LOG_FUNCTION_START("%d %d", (int) low, (int)high);
+ /* TODO we can optimize here grouping high/low in a word but that's cpu endianness dependent */
+ status=VL6180x_WrByte(dev, SYSRANGE_THRESH_HIGH,high);
+ 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;
+ int scale;
+ LOG_FUNCTION_START("%d %d", (int) low, (int)high);
+ scale=_GetUpscale(dev,UpscaleFactor);
+ if( low>scale*255 || high >scale*255){
+ status = INVALID_PARAMS;
+ }
+ else{
+ do{
+ if( UseSafeParamHold ){
+ status=VL6180x_SetGroupParamHold(dev, 1);
+ if( status )
+ break;
+ }
+ status=VL6180x_RangeSetRawThresholds(dev, (uint8_t)(low/scale), (uint8_t)(high/scale));
+ if( status ){
+ VL6180x_ErrLog("VL6180x_RangeSetRawThresholds fail");
+ }
+ if( UseSafeParamHold ){
+ int HoldStatus;
+ /* tryt to unset param hold vene if previous fail */
+ HoldStatus=VL6180x_SetGroupParamHold(dev, 0);
+ if( !status)
+ status=HoldStatus;
+ }
+ }
+ 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 ){
+ status=VL6180x_RdByte(dev, SYSRANGE_THRESH_HIGH,&RawHigh);
+ if( status ){
+ VL6180x_ErrLog("rd SYSRANGE_THRESH_HIGH fail");
+ break;
+ }
+ *high=(uint16_t)RawHigh*scale;
+ }
+ if( low != NULL ) {
+ status=VL6180x_RdByte(dev, SYSRANGE_THRESH_LOW, &RawLow);
+ if( status ){
+ VL6180x_ErrLog("rd SYSRANGE_THRESH_LOW fail");
+ break;
+ }
+ *low=(uint16_t)RawLow*scale;
+ }
+ }
+ while(0);
+ 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;
+ LOG_FUNCTION_START("%p", pIntStatus);
+ /* FIXME we are grouping "error" with over status the user must check implicitly for it
+ * 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;
+ LOG_FUNCTION_START("%p" , IntStatus);
+ status = VL6180x_RdByte(dev, RESULT_INTERRUPT_STATUS_GPIO, IntStatus);
+ LOG_FUNCTION_END_FMT(status, "%d", (int)*IntStatus);
+ return status;
+}
+
+int VL6180X::VL6180x_ClearInterrupt(VL6180xDev_t dev, uint8_t IntClear )
+{
+ int status;
+ LOG_FUNCTION_START("%d" ,(int)IntClear);
+ if( IntClear <= 7 ){
+ status=VL6180x_WrByte( dev, SYSTEM_INTERRUPT_CLEAR, IntClear);
+ }
+ else{
+ status = INVALID_PARAMS;
+ }
+ 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);
+ VL6180x_WrByte( dev, 0x0096, 0x00);
+ VL6180x_WrByte( dev, 0x0097, 0xfd);
+ VL6180x_WrByte( dev, 0x00e3, 0x00);
+ VL6180x_WrByte( dev, 0x00e4, 0x04);
+ VL6180x_WrByte( dev, 0x00e5, 0x02);
+ VL6180x_WrByte( dev, 0x00e6, 0x01);
+ VL6180x_WrByte( dev, 0x00e7, 0x03);
+ VL6180x_WrByte( dev, 0x00f5, 0x02);
+ VL6180x_WrByte( dev, 0x00d9, 0x05);
+ VL6180x_WrByte( dev, 0x00db, 0xce);
+ VL6180x_WrByte( dev, 0x00dc, 0x03);
+ VL6180x_WrByte( dev, 0x00dd, 0xf8);
+ VL6180x_WrByte( dev, 0x009f, 0x00);
+ VL6180x_WrByte( dev, 0x00a3, 0x3c);
+ VL6180x_WrByte( dev, 0x00b7, 0x00);
+ VL6180x_WrByte( dev, 0x00bb, 0x3c);
+ VL6180x_WrByte( dev, 0x00b2, 0x09);
+ VL6180x_WrByte( dev, 0x00ca, 0x09);
+ VL6180x_WrByte( dev, 0x0198, 0x01);
+ VL6180x_WrByte( dev, 0x01b0, 0x17);
+ VL6180x_WrByte( dev, 0x01ad, 0x00);
+ VL6180x_WrByte( dev, 0x00ff, 0x05);
+ VL6180x_WrByte( dev, 0x0100, 0x05);
+ VL6180x_WrByte( dev, 0x0199, 0x05);
+ VL6180x_WrByte( dev, 0x01a6, 0x1b);
+ 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) */
+ VL6180x_WrByte( dev, 0x003f, 0x46); /* Sets the light and dark gain (upper nibble). Dark gain should not be changed.*/
+ 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;
+ CalValue= VL6180xDevDataGet(dev, Part2PartAmbNVM);
+ 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)
+{
+ /* apply REGISTER_TUNING_ER02_100614_CustomerView.txt */
+ VL6180x_WrByte( dev, 0x0207, 0x01);
+ VL6180x_WrByte( dev, 0x0208, 0x01);
+ VL6180x_WrByte( dev, 0x0096, 0x00);
+ VL6180x_WrByte( dev, 0x0097, 0x54);
+ VL6180x_WrByte( dev, 0x00e3, 0x00);
+ VL6180x_WrByte( dev, 0x00e4, 0x04);
+ VL6180x_WrByte( dev, 0x00e5, 0x02);
+ VL6180x_WrByte( dev, 0x00e6, 0x01);
+ 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);
+ VL6180x_WrByte( dev, 0x00bb, 0x28);
+ VL6180x_WrByte( dev, 0x00b2, 0x09);
+ VL6180x_WrByte( dev, 0x00ca, 0x09);
+ VL6180x_WrByte( dev, 0x0198, 0x01);
+ VL6180x_WrByte( dev, 0x01b0, 0x17);
+ VL6180x_WrByte( dev, 0x01ad, 0x00);
+ VL6180x_WrByte( dev, 0x00ff, 0x05);
+ VL6180x_WrByte( dev, 0x0100, 0x05);
+ VL6180x_WrByte( dev, 0x0199, 0x05);
+ VL6180x_WrByte( dev, 0x01a6, 0x1b);
+ VL6180x_WrByte( dev, 0x01ac, 0x3e);
+ VL6180x_WrByte( dev, 0x01a7, 0x1f);
+ VL6180x_WrByte( dev, 0x0030, 0x00);
+ VL6180x_WrByte( dev, 0x0011, 0x10);
+ VL6180x_WrByte( dev, 0x010a, 0x30);
+ VL6180x_WrByte( dev, 0x003f, 0x46);
+ VL6180x_WrByte( dev, 0x0031, 0xFF);
+ VL6180x_WrByte( dev, 0x0040, 0x63);
+ VL6180x_WrByte( dev, 0x002e, 0x01);
+ VL6180x_WrByte( dev, 0x002c, 0xff);
+ VL6180x_WrByte( dev, 0x001b, 0x09);
+ VL6180x_WrByte( dev, 0x003e, 0x31);
+ VL6180x_WrByte( dev, 0x0014, 0x24);
+#if VL6180x_EXTENDED_RANGE
+ VL6180x_RangeSetMaxConvergenceTime(dev, 63);
+#else
+ VL6180x_RangeSetMaxConvergenceTime(dev, 50);
+#endif
+ return 0;
+}
+#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])
+#else
+ /* we are in fixed config so only allow configured factor */
+ #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);
+#if ! VL6180x_EXTENDED_RANGE
+ if( status ==0 ){
+ status = VL6180x_RangeSetEceState(dev, scaling == 1); /* enable ece only at 1x scaling */
+ }
+ if( status == 0 && !VL6180x_EXTENDED_RANGE && scaling!=1 ){
+ status = NOT_GUARANTEED ;
+ }
+#endif
+ }
+ else{
+ status = INVALID_PARAMS;
+ }
+#undef min_scaling
+#undef max_scaling
+ 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);
+ if( status){
+ VL6180x_ErrLog("regInit fail");
+ break;
+ }
+#if VL6180x_EXTENDED_RANGE
+ status = VL6180x_RangeSetEceState(dev, 0);
+ if( status){
+ VL6180x_ErrLog("VL6180x_RangeSetEceState fail");
+ break;
+ }
+#endif
+ } while(0);
+ if( !status){
+ /* must write the scaler at least once to the device to ensure the scaler is in a known state. */
+ status=VL6180x_UpscaleSetScaling(dev, _GetUpscale(dev));
+ VL6180x_WrByte( dev, 0x016, 0x00); /* change fresh out of set status to 0 */
+ }
+ 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;
+ if( pin==0 )
+ 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);
+ }
+ }
+ else{
+ 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 ){
+ VL6180x_ErrLog("SYSTEM_MODE_GPIO%d wr fail", (int)pin-SYSTEM_MODE_GPIO0);
+ }
+ }
+ else{
+ 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;
+ LOG_FUNCTION_START("%d %d",(int)IntFunction, (int)ActiveHigh );
+ status=VL6180x_SetupGPIOx(dev, 1 , IntFunction, ActiveHigh);
+ 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);
+ }
+ else{
+ VL6180x_ErrLog("Invalid config mode param %d", (int)ConfigGpioInt);
+ status = INVALID_PARAMS;
+ }
+ 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 */
+ if( FactorM <= FactorD && FactorD> 0){
+ VL6180xDevDataSet(dev, EceFactorM, FactorM);
+ VL6180xDevDataSet(dev, EceFactorD, FactorD);
+ /* read and re-apply max conv time to get new ece factor set */
+ status = VL6180x_RdByte(dev, SYSRANGE_MAX_CONVERGENCE_TIME, &u8);
+ if( status){
+ VL6180x_ErrLog("SYSRANGE_MAX_CONVERGENCE_TIME rd fail ");
+ break;
+ }
+ status = VL6180x_RangeSetMaxConvergenceTime(dev, u8);
+ if( status <0 ){
+ VL6180x_ErrLog("fail to apply time after ece m/d change");
+ break;
+ }
+ }
+ else{
+ VL6180x_ErrLog("invalid factor %d/%d", (int)FactorM, (int)FactorD );
+ status = INVALID_PARAMS;
+ }
+ }
+ while(0);
+ 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;
+ LOG_FUNCTION_START("%d",(int)MaxConTime_msec);
+ do{
+ status=VL6180x_WrByte(dev, SYSRANGE_MAX_CONVERGENCE_TIME, MaxConTime_msec);
+ if( status ){
+ break;
+ }
+ status=VL6180x_RangeSetEarlyConvergenceEestimateThreshold(dev);
+ if( status){
+ break;
+ }
+ status = _DMax_InitData(dev);
+ }
+ while(0);
+ 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 ){
+ status = INVALID_PARAMS;
+ break;
+ }
+ /* doc in not 100% clear and confusing about the limit practically all value are OK but 0
+ * that can hang device in continuous mode */
+ if( InterMeasTime_msec < 10 ) {
+ InterMeasTime_msec=10;
+ }
+ SetTime=(uint8_t)(InterMeasTime_msec/10);
+ status=VL6180x_WrByte(dev, SYSRANGE_INTERMEASUREMENT_PERIOD, SetTime);
+ if( status ){
+ VL6180x_ErrLog("SYSRANGE_INTERMEASUREMENT_PERIOD wr fail");
+ }
+ else
+ if( SetTime != InterMeasTime_msec /10 ) {
+ status = MIN_CLIPED; /* on success change status to clip if it did */
+ }
+ }while(0);
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+
+int VL6180X::VL6180x_RangeGetDeviceReady(VL6180xDev_t dev, int * Ready){
+ int status;
+ uint8_t u8;
+ LOG_FUNCTION_START("%p", (int)Ready);
+ status=VL6180x_RdByte(dev, RESULT_RANGE_STATUS, &u8);
+ if( !status)
+ *Ready = u8&RANGE_DEVICE_READY_MASK;
+ 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;
+ uint8_t u8;
+ LOG_FUNCTION_START("%d", (int)MaxLoop);
+ if( MaxLoop<1){
+ status=INVALID_PARAMS;
+ }
+ else{
+ for( n=0; n < MaxLoop ; n++){
+ status=VL6180x_RdByte(dev, RESULT_RANGE_STATUS, &u8);
+ if( status)
+ break;
+ u8 = u8 & RANGE_DEVICE_READY_MASK;
+ if( u8 )
+ break;
+
+ }
+ if( !status && !u8 ){
+ status = TIME_OUT;
+ }
+ }
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+int VL6180X::VL6180x_RangeSetSystemMode(VL6180xDev_t dev, uint8_t mode)
+{
+ int status;
+ LOG_FUNCTION_START("%d", (int)mode);
+ /* FIXME we are not checking device is ready via @a VL6180x_RangeWaitDeviceReady
+ * so if called back to back real fast we are not checking
+ * if previous mode "set" got absorbed => bit 0 must be 0 so that it work
+ */
+ if( mode <= 3){
+ status=VL6180x_WrByte(dev, SYSRANGE_START, mode);
+ if( status ){
+ VL6180x_ErrLog("SYSRANGE_START wr fail");
+ }
+ }
+ else{
+ status = INVALID_PARAMS;
+ }
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+
+int VL6180X::VL6180x_RangeStartContinuousMode(VL6180xDev_t dev)
+{
+ int status;
+ LOG_FUNCTION_START("");
+ status= VL6180x_RangeSetSystemMode(dev, MODE_START_STOP | MODE_CONTINUOUS);
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+int VL6180X::VL6180x_RangeStartSingleShot(VL6180xDev_t dev) {
+ int status;
+ LOG_FUNCTION_START("");
+ status = VL6180x_RangeSetSystemMode(dev, MODE_START_STOP|MODE_SINGLESHOT);
+ 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);
+ uint32_t ece_factor_d = VL6180xDevDataGet(dev, EceFactorD);
+ uint32_t convergTime_us;
+ uint32_t fineThresh;
+ uint32_t eceThresh;
+ 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 ){
+ VL6180x_ErrLog("SYSRANGE_MAX_CONVERGENCE_TIME rd fail");
+ break;
+ }
+ maxConv_ms = u8;
+ AveTime = _GetAveTotalTime(dev);
+ if( AveTime <0 ){
+ status=-1;
+ break;
+ }
+
+ convergTime_us = maxConv_ms * cMicroSecPerMilliSec - AveTime;
+ status = VL6180x_RdDWord(dev, 0xB8, &fineThresh);
+ if( status ) {
+ VL6180x_ErrLog("reg 0xB8 rd fail");
+ break;
+ }
+ 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
+ */
+int32_t VL6180X::_GetAveTotalTime(VL6180xDev_t dev) {
+ uint32_t cFwOverhead_us = 24;
+ uint32_t cVcpSetupTime_us = 70;
+ uint32_t cPLL2_StartupDelay_us = 200;
+ uint8_t cMeasMask = 0x07;
+ uint32_t Samples;
+ uint32_t SamplePeriod;
+ uint32_t SingleTime_us;
+ 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");
+ return -1;
+ }
+ Samples = u8 & cMeasMask;
+ status = VL6180x_RdByte(dev, READOUT_AVERAGING_SAMPLE_PERIOD, &u8);
+ if (status) {
+ VL6180x_ErrLog("i2c READOUT_AVERAGING_SAMPLE_PERIOD fail");
+ return -1;
+ }
+ 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
+ */
+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 {
+ if (SNR <= StdDevLimitHighLightSNR)
+ newStdDev = StdDevLimitHighLight;
+ else {
+ 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;
+ uint32_t StdDevDistance = 0;
+ uint32_t StdDevRateSum = 0;
+ 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;
+ static const uint16_t ROMABLE_DATA StdMaxFilteredReads = 4;
+
+ uint32_t SignalRateDMax;
+ uint32_t WrapAroundLowReturnRateLimit;
+ 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:
+ m_trueRange_mm = MaxOrInvalidDistance;
+ ValidDistance = 0;
+ break;
+ case 0x0D:
+ m_trueRange_mm = MaxOrInvalidDistance;
+ ValidDistance = 1;
+ break;
+ case 0x0F:
+ m_trueRange_mm = MaxOrInvalidDistance;
+ ValidDistance = 1;
+ break;
+ default:
+ if (m_rawRange_mm >= MaxOrInvalidDistance) {
+ ValidDistance = 0;
+ } else {
+ ValidDistance = 1;
+ }
+ break;
+ }
+ 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;
+ WrapAroundLowReturnRateLimit = WrapAroundLowReturnRateLimit_ROM + XTalkCompRate_KCps;
+ 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;
+ bypassFilter = 1;
+ }
+ if ((m_rawRange_mm < WrapAroundLowRawRangeLimit2) && (m_rtnSignalRate < WrapAroundLowReturnRateLimit2)) {
+ m_newTrueRange_mm = MaxOrInvalidDistance;
+ bypassFilter = 1;
+ }
+
+ /* Checks on Ambient rate level */
+ if (m_rtnAmbientRate > WrapAroundMaximumAmbientRateFilterLimit) {
+ /* Too high ambient rate */
+ FlushFilter = 1;
+ bypassFilter = 1;
+ }
+ /* Checks on Filter flush */
+ if (m_rtnSignalRate < MinReturnRateFilterFlush) {
+ /* Completely lost target, so flush the filter */
+ FlushFilter = 1;
+ bypassFilter = 1;
+ }
+ if (_FilterData(LastReturnRates)[0] != 0) {
+ if (m_rtnSignalRate > _FilterData(LastReturnRates)[0])
+ RateChange = (100 * (m_rtnSignalRate - _FilterData(LastReturnRates)[0])) / _FilterData(LastReturnRates)[0];
+ else
+ RateChange = (100 * (_FilterData(LastReturnRates)[0] - m_rtnSignalRate)) / _FilterData(LastReturnRates)[0];
+ } else
+ RateChange = 0;
+ if (RateChange > MaxReturnRateChangeFilterFlush) {
+ FlushFilter = 1;
+ }
+/* TODO optimize filter using circular buffer */
+ if (FlushFilter == 1) {
+ _FilterData(MeasurementIndex) = 0;
+ for (i = 0; i < FILTER_NBOF_SAMPLES; i++) {
+ _FilterData(LastTrueRange)[i] = FILTER_INVALID_DISTANCE;
+ _FilterData(LastReturnRates)[i] = 0;
+ }
+ } else {
+ for (i = (uint16_t) (FILTER_NBOF_SAMPLES - 1); i > 0; i--) {
+ _FilterData(LastTrueRange)[i] = _FilterData(LastTrueRange)[i - 1];
+ _FilterData(LastReturnRates)[i] = _FilterData(LastReturnRates)[i - 1];
+ }
+ }
+ if (ValidDistance == 1)
+ _FilterData(LastTrueRange)[0] = m_trueRange_mm;
+ 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 ){
+ VL6180x_ErrLog("0x01AC rd fail");
+ goto done_err;
+ }
+ registerValue =u8;
+
+ /* Read data for filtering */
+ status = VL6180x_RdByte(dev, 0x10C, &u8 ); /* read only 8 lsb bits */
+ if( status ){
+ VL6180x_ErrLog("0x010C rd fail");
+ goto done_err;
+ }
+ register32BitsValue1=u8;
+ status = VL6180x_RdByte(dev, 0x0110, &u8); /* read only 8 lsb bits */
+ if( status ){
+ VL6180x_ErrLog("0x0110 rd fail");
+ goto done_err;
+ }
+ register32BitsValue2 = u8;
+
+ if (registerValue == 0x3E) {
+ _FilterData(Default_ZeroVal) = register32BitsValue1;
+ _FilterData(Default_VAVGVal) = register32BitsValue2;
+ } else {
+ _FilterData(NoDelay_ZeroVal) = register32BitsValue1;
+ _FilterData(NoDelay_VAVGVal) = register32BitsValue2;
+ }
+
+ if (bypassFilter == 1) {
+ /* Do not go through the filter */
+ if (registerValue != 0x3E) {
+ status = VL6180x_WrByte(dev, 0x1AC, 0x3E);
+ if( status ){
+ VL6180x_ErrLog("0x01AC bypass wr fail");
+ goto done_err;
+ }
+ status = VL6180x_WrByte(dev, 0x0F2, 0x01);
+ if( status ){
+ VL6180x_ErrLog("0x0F2 bypass wr fail");
+ goto done_err;
+ }
+ }
+ /* Set both Default and NoDelay To same value */
+ _FilterData(Default_ZeroVal) = register32BitsValue1;
+ _FilterData(Default_VAVGVal) = register32BitsValue2;
+ _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;
+ } else {
+ u8=0x3E;
+ u8_2 = 0x01;
+ }
+ status = VL6180x_WrByte(dev, 0x01AC, u8);
+ if( status ){
+ VL6180x_ErrLog("0x01AC wr fail");
+ goto done_err;
+ }
+ status = VL6180x_WrByte(dev, 0x0F2, u8_2);
+ if( status ){
+ 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);
+ else
+ IdealVAVGDiff = _FilterData(NoDelay_ZeroVal) - _FilterData(Default_ZeroVal);
+ if (IdealVAVGDiff > MAX_VAVGDiff)
+ MinVAVGDiff = IdealVAVGDiff - MAX_VAVGDiff;
+ else
+ MinVAVGDiff = 0;
+ MaxVAVGDiff = IdealVAVGDiff + MAX_VAVGDiff;
+ if (VAVGDiff < MinVAVGDiff || VAVGDiff > MaxVAVGDiff) {
+ 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;
+ StdDevDistanceMean = 0;
+ StdDevDistance = 0;
+ StdDevRateSum = 0;
+ StdDevRateMean = 0;
+ StdDevRate = 0;
+ for (i = 0; (i < FILTER_NBOF_SAMPLES) && (StdDevSamples < FILTER_STDDEV_SAMPLES); i++) {
+ if (_FilterData(LastTrueRange)[i] != FILTER_INVALID_DISTANCE) {
+ StdDevSamples = (uint16_t) (StdDevSamples + 1);
+ StdDevDistanceSum = (uint32_t) (StdDevDistanceSum + _FilterData(LastTrueRange)[i]);
+ StdDevRateSum = (uint32_t) (StdDevRateSum + _FilterData(LastReturnRates)[i]);
+ }
+ }
+ if (StdDevSamples > 0) {
+ StdDevDistanceMean = (uint32_t) (StdDevDistanceSum / StdDevSamples);
+ StdDevRateMean = (uint32_t) (StdDevRateSum / StdDevSamples);
+ }
+ /* TODO optimize shorten Std dev in aisngle loop computation using sum of x2 - (sum of x)2 */
+ StdDevSamples = 0;
+ StdDevDistanceSum = 0;
+ StdDevRateSum = 0;
+ for (i = 0; (i < FILTER_NBOF_SAMPLES) && (StdDevSamples < FILTER_STDDEV_SAMPLES); i++) {
+ if (_FilterData(LastTrueRange)[i] != FILTER_INVALID_DISTANCE) {
+ StdDevSamples = (uint16_t) (StdDevSamples + 1);
+ StdDevDistanceSum = (uint32_t) (StdDevDistanceSum + (int) (_FilterData(LastTrueRange)[i] - StdDevDistanceMean) * (int) (_FilterData(LastTrueRange)[i] - StdDevDistanceMean));
+ StdDevRateSum = (uint32_t) (StdDevRateSum + (int) (_FilterData(LastReturnRates)[i] - StdDevRateMean) * (int) (_FilterData(LastReturnRates)[i] - StdDevRateMean));
+ }
+ }
+ if (StdDevSamples >= MIN_FILTER_STDDEV_SAMPLES) {
+ StdDevDistance = (uint16_t) (StdDevDistanceSum / StdDevSamples);
+ StdDevRate = (uint16_t) (StdDevRateSum / StdDevSamples);
+ } else {
+ StdDevDistance = 0;
+ StdDevRate = 0;
+ }
+
+ /* Check Return rate standard deviation */
+ if (StdDevRate < StdDevMovingTargetStdDevLimit) {
+ if (StdDevSamples < MIN_FILTER_VALID_STDDEV_SAMPLES) {
+ m_newTrueRange_mm = MaxOrInvalidDistance;
+ } else {
+ /* Check distance standard deviation */
+ if (StdDevRate < StdDevMovingTargetReturnRateLimit)
+ StdDevLimitWithTargetMove = StdDevLimit + (((StdDevMovingTargetStdDevForReturnRateLimit - StdDevLimit) * StdDevRate) / StdDevMovingTargetReturnRateLimit);
+ else
+ StdDevLimitWithTargetMove = StdDevMovingTargetStdDevForReturnRateLimit;
+
+ if ((StdDevDistance * StdDevHighConfidenceSNRLimit) < StdDevLimitWithTargetMove) {
+ NoWrapAroundHighConfidenceFlag = 1;
+ } else {
+ if (StdDevDistance < StdDevLimitWithTargetMove) {
+ if (StdDevSamples >= MIN_FILTER_VALID_STDDEV_SAMPLES) {
+ NoWrapAroundFlag = 1;
+ } else {
+ m_newTrueRange_mm = MaxOrInvalidDistance;
+ }
+ } else {
+ WrapAroundFlag = 1;
+ }
+ }
+ }
+ } else {
+ WrapAroundFlag = 1;
+ }
+ }
+
+ if (m_newTrueRange_mm == MaxOrInvalidDistance) {
+ if (_FilterData(StdFilteredReads) > 0)
+ _FilterData(StdFilteredReads) = (uint16_t) (_FilterData(StdFilteredReads) - 1);
+ } else {
+ if (WrapAroundFlag == 1) {
+ m_newTrueRange_mm = MaxOrInvalidDistance;
+ _FilterData(StdFilteredReads) = (uint16_t) (_FilterData(StdFilteredReads) + StdFilteredReadsIncrement);
+ if (_FilterData(StdFilteredReads) > StdMaxFilteredReads)
+ _FilterData(StdFilteredReads) = StdMaxFilteredReads;
+ } else {
+ if (NoWrapAroundFlag == 1) {
+ if (_FilterData(StdFilteredReads) > 0) {
+ m_newTrueRange_mm = MaxOrInvalidDistance;
+ if (_FilterData(StdFilteredReads) > StdFilteredReadsIncrement)
+ _FilterData(StdFilteredReads) = (uint16_t) (_FilterData(StdFilteredReads) - StdFilteredReadsIncrement);
+ else
+ _FilterData(StdFilteredReads) = 0;
+ }
+ } else {
+ if (NoWrapAroundHighConfidenceFlag == 1) {
+ _FilterData(StdFilteredReads) = 0;
+ }
+ }
+ }
+ }
+
+ 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) {
+ VL6180x_ErrLog("RESULT_RANGE_RAW rd fail");
+ 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;
+ break;
+ }
+ pRangeData->FilteredData.range_mm= FilteredRange;
+ pRangeData->FilteredData.rawRange_mm = m_rawRange_mm * scaler;
+ } 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;
+ uint32_t m_rtnAmbientRate = 0;
+ uint32_t m_rtnSignalCount = 0;
+ uint32_t m_rtnAmbientCount = 0;
+ uint32_t m_refConvTime = 0;
+ 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");
+ break;
+ }
+ 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);
+#if VL6180x_HAVE_DMAX_RANGING
+ VL6180xDevDataSet(dev,DMaxEnable, state);
+ if( state ){
+ status = _DMax_InitData(dev);
+ }
+ else {
+ status = 0;
+ }
+#else
+ status = NOT_SUPPORTED;
+#endif
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+int VL6180X::VL6180x_DMaxGetState(VL6180xDev_t dev){
+ int status;
+ LOG_FUNCTION_START("");
+#if VL6180x_HAVE_DMAX_RANGING
+ status = VL6180xDevDataGet(dev,DMaxEnable);
+#else
+ status = 0;
+#endif
+ 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
-uint32_t VL6180X::VL6180x_SqrtUint32(uint32_t num) {
+/*
+ * 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
+ */
+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 */
@@ -244,12 +2284,13 @@
#endif
-void VL6180X::_DMax_OneTimeInit(VL6180xDev_t dev){
+/* DMax one time init */
+void _DMax_OneTimeInit(VL6180xDev_t dev){
_DMaxData(ambTuningWindowFactor_K)=DEF_AMBIENT_TUNING;
}
-uint32_t VL6180X::_DMax_RawValueAtRateKCps(VL6180xDev_t dev, int32_t rate){
+static uint32_t _DMax_RawValueAtRateKCps(VL6180xDev_t dev, int32_t rate){
uint32_t snrLimit_K;
int32_t DMaxSq;
uint32_t RawDMax;
@@ -281,9 +2322,19 @@
return RawDMax;
}
-
-int VL6180X::_DMax_InitData(VL6180xDev_t dev)
-{
+/*
+ * fetch static data from register to avoid re-read
+ * precompute all intermediate constant and cliipings
+ *
+ * to be re-used/call on changes of :
+ * 0x2A
+ * SYSRANGE_MAX_AMBIENT_LEVEL_MULT
+ * Dev Data XtalkComRate_KCPs
+ * SYSRANGE_MAX_CONVERGENCE_TIME
+ * SYSRANGE_RANGE_CHECK_ENABLES mask RANGE_CHECK_RANGE_ENABLE_MASK
+ * range 0xb8-0xbb (0xbb)
+ */
+int VL6180X::_DMax_InitData(VL6180xDev_t dev){
int status, warning;
uint8_t u8;
uint16_t u16;
@@ -302,7 +2353,7 @@
LOG_FUNCTION_START("");
do{
- status = VL6180x_RdByte(MyDevice, 0x02A ,&u8);
+ status = VL6180x_RdByte(dev, 0x02A ,&u8);
if( status ){
VL6180x_ErrLog("Reg 0x02A rd fail");
break;
@@ -314,25 +2365,25 @@
}
Reg2A_KCps = Fix7_2_KCPs(u8); /* convert to KCPs */
- status = VL6180x_RdByte(MyDevice, SYSRANGE_RANGE_CHECK_ENABLES, &SysRangeCheckEn);
+ status = VL6180x_RdByte(dev, SYSRANGE_RANGE_CHECK_ENABLES, &SysRangeCheckEn);
if (status) {
VL6180x_ErrLog("SYSRANGE_RANGE_CHECK_ENABLES rd fail ");
break;
}
- status = VL6180x_RdByte(MyDevice, SYSRANGE_MAX_CONVERGENCE_TIME, &MaxConvTime);
+ status = VL6180x_RdByte(dev, SYSRANGE_MAX_CONVERGENCE_TIME, &MaxConvTime);
if( status){
VL6180x_ErrLog("SYSRANGE_MAX_CONVERGENCE_TIME rd fail ");
break;
}
- status = VL6180x_RdDWord(MyDevice, 0x0B8, &RegB8);
+ status = VL6180x_RdDWord(dev, 0x0B8, &RegB8);
if( status ){
VL6180x_ErrLog("reg 0x0B8 rd fail ");
break;
}
- status = VL6180x_RdByte(MyDevice, SYSRANGE_MAX_AMBIENT_LEVEL_MULT, &snrLimit);
+ status = VL6180x_RdByte(dev, SYSRANGE_MAX_AMBIENT_LEVEL_MULT, &snrLimit);
if( status){
VL6180x_ErrLog("SYSRANGE_MAX_AMBIENT_LEVEL_MULT rd fail ");
break;
@@ -349,7 +2400,7 @@
/* if xtalk range check is off omit it in snr clipping */
if( SysRangeCheckEn&RANGE_CHECK_RANGE_ENABLE_MASK ){
- status = VL6180x_RdWord(MyDevice, SYSRANGE_RANGE_IGNORE_THRESHOLD, &u16);
+ status = VL6180x_RdWord(dev, SYSRANGE_RANGE_IGNORE_THRESHOLD, &u16);
if( status){
VL6180x_ErrLog("SYSRANGE_RANGE_IGNORE_THRESHOLD rd fail ");
break;
@@ -375,10 +2426,45 @@
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);
+ }
+ if( DMax > HwLimitAtScale ){
+ DMax=HwLimitAtScale;
+ }
+ pRange->DMax=DMax;
+ }
+ else{
+ pRange->DMax = 0;
+ }
+ return 0;
+}
+
+#undef _DMaxData
#undef Fix7_2_KCPs
-/* Write and read functions from I2C -----------------------------------------*/
+#endif /* VL6180x_HAVE_DMAX_RANGING */
+
+
+/******************************************************************************/
+/******************************************************************************/
+
+
+
+/****************** Write and read functions from I2C *************************/
int VL6180X::VL6180x_WrByte(VL6180xDev_t dev, uint16_t index, uint8_t data)
{
@@ -396,7 +2482,7 @@
DECL_I2C_BUFFER
VL6180x_I2C_USER_VAR
- status=VL6180x_I2CWrite(dev, index, (uint8_t *)&data,(uint8_t)4);
+ status=VL6180x_I2CWrite(MyDeviceAddress, index, (uint8_t *)&data,(uint8_t)4);
return status;
}
@@ -406,7 +2492,7 @@
DECL_I2C_BUFFER
int status;
- status=VL6180x_I2CWrite(dev, index, (uint8_t *)&data,(uint8_t)6);
+ status=VL6180x_I2CWrite(MyDeviceAddress, index, (uint8_t *)&data,(uint8_t)6);
return status;
}
@@ -431,7 +2517,7 @@
uint8_t *buffer;
DECL_I2C_BUFFER
- status=VL6180x_I2CRead(dev, index, buffer,2);
+ status=VL6180x_I2CRead(MyDeviceAddress, index, buffer,2);
if( !status ){
/* VL6180x register are Big endian if cpu is be direct read direct into *data is possible */
*data=((uint16_t)buffer[0]<<8)|(uint16_t)buffer[1];
@@ -447,7 +2533,7 @@
DECL_I2C_BUFFER
- status=VL6180x_I2CRead(dev, index, buffer,4);
+ status=VL6180x_I2CRead(MyDeviceAddress, index, buffer,4);
if( !status ){
/* VL6180x register are Big endian if cpu is be direct read direct into data is possible */
*data=((uint32_t)buffer[0]<<24)|((uint32_t)buffer[1]<<16)|((uint32_t)buffer[2]<<8)|((uint32_t)buffer[3]);
@@ -455,14 +2541,34 @@
return status;
}
+int VL6180X::VL6180x_UpdateByte(VL6180xDev_t dev, uint16_t index, uint8_t AndData, uint8_t OrData){
+ VL6180x_I2C_USER_VAR
+ int status;
+ uint8_t *buffer;
+ DECL_I2C_BUFFER
+
+ status=VL6180x_I2CWrite(MyDeviceAddress, index, (uint8_t *)buffer,(uint8_t)2);
+ if( !status ){
+ /* read data direct onto buffer */
+ status=VL6180x_I2CRead(dev, index, &buffer[2],1);
+ if( !status ){
+ buffer[2]=(buffer[2]&AndData)|OrData;
+ status=VL6180x_I2CWrite(dev, index, buffer, (uint8_t)3);
+ }
+ }
+
+ 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;
- uint8_t *array;
+ uint16_t WriteDeviceAddr=0;
+ WriteDeviceAddr=DeviceAddr*2;
if(NumByteToWrite >= TEMP_BUF_SIZE) return -2;
/* First, send 8 bits device address and 16 bits register address in BE format. Then, send data and STOP condition */
@@ -471,16 +2577,16 @@
if(NumByteToWrite>1)
{
- array=new uint8_t[NumByteToWrite];
for(i=0;i<NumByteToWrite;i++)
{
- array[NumByteToWrite-1-i]=pBuffer[i];
+ tmp[NumByteToWrite+1-i]=pBuffer[i];
}
}
-
- memcpy(tmp+2, array, NumByteToWrite);
-
- ret = dev_i2c.write(DeviceAddr, (const char*)tmp, NumByteToWrite+sizeof(RegisterAddr), false);
+ else
+ {
+ memcpy(tmp+2, pBuffer, NumByteToWrite);
+ }
+ ret = dev_i2c.write(WriteDeviceAddr, (const char*)tmp, NumByteToWrite+sizeof(RegisterAddr), false);
if(ret) return -1;
return 0;
@@ -491,39 +2597,40 @@
int ret;
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;
/* Send 8 bits device address and 16 bits register address in BE format, with no STOP condition */
- ret = dev_i2c.write(DeviceAddr, (const char*)&myRegisterAddrBE, sizeof(RegisterAddr), true);
+ ret = dev_i2c.write(ReadDeviceAddr, (const char*)&myRegisterAddrBE, sizeof(RegisterAddr), true);
if(!ret) {
+ ReadDeviceAddr|=0x001;
/* Read data, with STOP condition */
- ret = dev_i2c.read(DeviceAddr, (char*)pBuffer, NumByteToRead, false);
+ ret = dev_i2c.read(ReadDeviceAddr, (char*)pBuffer, NumByteToRead, false);
}
if(ret) return -1;
return 0;
}
-/* IO read funcitons ---------------------------------------------------------*/
-
-int VL6180X::VL6180X_ReadID(uint8_t *rl_id)
+/****************** IO read funcitons *****************************************/
+
+int VL6180X::VL6180X_ReadID()
{
- if(!rl_id)
- {
- return API_ERROR; // DA DEFINIRE IL TIPO DI ERRORE!!
- }
- return VL6180X_IO_Read(rl_id, IDENTIFICATION_MODEL_ID, 1);
+ uint8_t rl_id;
+
+ return VL6180X_IO_Read(&rl_id, IDENTIFICATION_MODEL_ID, 1);
}
int VL6180X::VL6180X_IO_Read(uint8_t *pBuffer, uint8_t RegisterAddress, uint16_t NumByteToRead)
{
- int lecture;
+ int status;
- lecture=dev_i2c.i2c_read(pBuffer, MyDeviceAddress, RegisterAddress, NumByteToRead);
- if(lecture!=0)
+ status=VL6180x_I2CRead(MyDeviceAddress, RegisterAddress, pBuffer, NumByteToRead);
+ if(status!=0)
{
return INVALID_PARAMS; // DA DEFINIRE IL TIPO DI ERRORE!!
}
@@ -531,4 +2638,6 @@
}
+
+
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- a/Components/VL6180X/vl6180x_class.h Fri Sep 18 13:19:50 2015 +0000
+++ b/Components/VL6180X/vl6180x_class.h Fri Sep 25 12:12:51 2015 +0200
@@ -48,84 +48,84 @@
#include "vl6180x_types.h"
#include "vl6180x_platform.h"
#include "vl6180x_appcfg.h"
+#include "STMPE1600_class.h"
/** default device address */
#define DEFAULT_DEVICE_ADDRESS 0x29
-/** default value ECE factor Molecular */
-#define DEF_ECE_FACTOR_M 85
-/** default value ECE factor Denominator */
-#define DEF_ECE_FACTOR_D 100
-/** default value ALS integration time */
-#define DEF_INT_PEFRIOD 100
-/** default value ALS gain */
-#define DEF_ALS_GAIN 1
-/** default value ALS scaler */
-#define DEF_ALS_SCALER 1
-/** default value for DMAX Enbale */
-#define DEF_DMAX_ENABLE 1
-/** default ambient tuning factor %x1000 */
-#define DEF_AMBIENT_TUNING 80
-
-/*
-typedef struct
-{
- struct VL6180xDevData_t Data;
- uint8_t I2cAddr;
- uint8_t DevID;
-
- unsigned Present;
- unsigned Ready;
-}MyVL6180xDev_t;
-*/
/* Classes -------------------------------------------------------------------*/
/** Class representing a VL6180X sensor component
*/
-class VL6180X : public RangeSensor, public LightSensor {
+class VL6180X : public RangeSensor, public LightSensor
+{
public:
/** Constructor
* @param[in] i2c device I2C to be used for communication
+ * @param[in] digital out pin/STMPE1600DigiOut pin to be used for GPIO expander communication
* @param[in] device address, 0x29 by default
- */
- VL6180X(DevI2C &i2c, uint8_t DevAddr=DEFAULT_DEVICE_ADDRESS) : RangeSensor(), LightSensor(), dev_i2c(i2c)
- {
- MyDeviceAddress=DevAddr;
- RangeLight_id=0;
- //MyDevice.I2cAddr=DevAddr;
- //MyDevice.DeviID=0;
- //MyDevice.Present=0;
- //MyDevice.Ready=0;
- //oppure MyVL6180xDev_t MyDevice={DevAddr, 0, 0, 0};
- }
-
- /** Destructor
+ * @param[in] device id, 0 by default
*/
- /*virtual ~VL6180X()
- {
- // delete[] memory allocated
- VL6180x_SetupGPIOx(MyDevice, 0, 0, 0);
- } */
+
+
+ VL6180X(DevI2C &i2c, DigitalOut &pin, uint8_t DevAddr=DEFAULT_DEVICE_ADDRESS) : RangeSensor(), LightSensor(), dev_i2c(i2c), gpio0(&pin)
+ {
+ MyDeviceAddress=DevAddr;
+ Present=0;
+ Ready=0;
+ }
+
+ VL6180X(DevI2C &i2c, STMPE1600DigiOut &pin, uint8_t DevAddr=DEFAULT_DEVICE_ADDRESS) : RangeSensor(), LightSensor(), dev_i2c(i2c), expgpio0(&pin)
+ {
+ MyDeviceAddress=DevAddr;
+ Present=0;
+ Ready=0;
+ }
+
- // funzione che setta il paremetro DevID: SetDevID(int n)
- // funzione che setta il parametro Present: SetPresent(int n)
- // funzione che setta il parametro Ready: SetReady(int n)
- // funzione che modifica lo slave address: SetI2CAddress(VL6180xDev_t MyDevice, uint8_t NewAddress))
-
+ /** Destructor
+ */
+ //~VL6180X(){}
+
+
+ void VL6180x_On(void) {
+ if (gpio0) *gpio0=1;
+ else if (expgpio0) *expgpio0=1;
+ }
+
+ void VL6180x_Off(void) {
+ if (gpio0) *gpio0=0;
+ else if (expgpio0) *expgpio0=0;
+ }
+ //Init sensor accende, legge id, inizializza il dispositivo e prepara per le misure (range, als)
+ //altrimenti errore e cancello dalla board
+
/*** Interface Methods ***/
- // nel momento in cui creo la classe x_nucleo_6180xa1, all'interno definisco un oggetto VL6180xDev_t MyDevice
- // definisco una funzione Init() che chiama a sua volta la seguente funzione Init() e gli passo MyDevice
- /*virtual*/ int Init() //par:void *init_struct
+ /*virtual*/ int Init()
{
- return VL6180x_InitData(MyDevice); // a questa funzione devo passare il parametro di Init()
+ return VL6180x_InitData(MyDeviceAddress); // ritorna 0 se corretto
}
- // nel momento in cui creo la classe x_nucleo_6180xa1, all'interno definisco un oggetto uint_t *RangeLight_id
- // definisco una funzione ReadID() che chiama a sua volta la seguente funzione ReadID() e gli passo RangeLight_id
- /*virtual*/ int ReadID() //par:uint8_t *rl_id
+ /*virtual*/ int ReadID()
{
- return VL6180X_ReadID(&RangeLight_id); // a questa funzione devo passare il parametro di ReadID()
+ return VL6180X_ReadID(); // ritorna 0 se corretto e -2 se errore
}
-
+ /*
+
+ void SetPresent()
+ {
+ MyDevice.Present=1;
+ }
+
+ void SetDeviceID(int n)
+ {
+ MyDevice.DevID=n;
+ }
+
+ void SetReady()
+ {
+ MyDevice.Ready=1;
+ }
+
/*
virtual int GetRange(int *piData) {
return VL6180X_GetRange(piData);
@@ -134,17 +134,73 @@
virtual int GetLight(int *piData) {
return VL6180X_GetLight(piData);
}
- */
-
- /* Initialization functions */
- int VL6180x_InitData(VL6180xDev_t dev);
- /*static*/ int _DMax_InitData(VL6180xDev_t dev);
- void _DMax_OneTimeInit(VL6180xDev_t dev);
- /*static*/ uint32_t _DMax_RawValueAtRateKCps(VL6180xDev_t dev, int32_t rate);
- uint32_t VL6180x_SqrtUint32(uint32_t num);
- /* IO read funcitons */
- int VL6180X_ReadID(uint8_t *rl_id);
+ /* api.c functions */
+ int VL6180x_WaitDeviceBooted(VL6180xDev_t dev);
+ int VL6180x_InitData(VL6180xDev_t dev );
+ int VL6180x_SetupGPIO1(VL6180xDev_t dev, uint8_t IntFunction, int ActiveHigh);
+ int VL6180x_Prepare(VL6180xDev_t dev);
+ int VL6180x_RangeStartContinuousMode(VL6180xDev_t dev);
+ int VL6180x_RangeStartSingleShot(VL6180xDev_t dev);
+ int VL6180x_RangeSetMaxConvergenceTime(VL6180xDev_t dev, uint8_t MaxConTime_msec);
+ int VL6180x_RangePollMeasurement(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData);
+ int VL6180x_RangeGetMeasurementIfReady(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData);
+ int VL6180x_RangeGetMeasurement(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData);
+ int VL6180x_RangeGetResult(VL6180xDev_t dev, int32_t *pRange_mm);
+ int VL6180x_RangeConfigInterrupt(VL6180xDev_t dev, uint8_t ConfigGpioInt);
+ int VL6180x_RangeGetInterruptStatus(VL6180xDev_t dev, uint8_t *pIntStatus);
+ int VL6180x_AlsPollMeasurement(VL6180xDev_t dev, VL6180x_AlsData_t *pAlsData);
+ int VL6180x_AlsGetMeasurement(VL6180xDev_t dev, VL6180x_AlsData_t *pAlsData);
+ int VL6180x_AlsConfigInterrupt(VL6180xDev_t dev, uint8_t ConfigGpioInt);
+ int VL6180x_AlsSetIntegrationPeriod(VL6180xDev_t dev, uint16_t period_ms);
+ int VL6180x_AlsSetInterMeasurementPeriod(VL6180xDev_t dev, uint16_t intermeasurement_period_ms);
+ int VL6180x_AlsSetAnalogueGain(VL6180xDev_t dev, uint8_t gain);
+ int VL6180x_AlsSetThresholds(VL6180xDev_t dev, uint8_t low, uint8_t high);
+ int VL6180x_AlsGetInterruptStatus(VL6180xDev_t dev, uint8_t *pIntStatus);
+ int VL6180x_StaticInit(VL6180xDev_t dev);
+ int VL6180x_RangeWaitDeviceReady(VL6180xDev_t dev, int MaxLoop );
+ int VL6180x_RangeSetInterMeasPeriod(VL6180xDev_t dev, uint32_t InterMeasTime_msec);
+ int VL6180x_UpscaleSetScaling(VL6180xDev_t dev, uint8_t scaling);
+ int VL6180x_UpscaleGetScaling(VL6180xDev_t dev);
+ uint16_t VL6180x_GetUpperLimit(VL6180xDev_t dev);
+ int VL6180x_RangeSetThresholds(VL6180xDev_t dev, uint16_t low, uint16_t high, int SafeHold);
+ int VL6180x_RangeGetThresholds(VL6180xDev_t dev, uint16_t *low, uint16_t *high);
+ int VL6180x_RangeSetRawThresholds(VL6180xDev_t dev, uint8_t low, uint8_t high);
+ int VL6180x_RangeSetEceFactor(VL6180xDev_t dev, uint16_t FactorM, uint16_t FactorD);
+ int VL6180x_RangeSetEceState(VL6180xDev_t dev, int enable );
+ int VL6180x_FilterSetState(VL6180xDev_t dev, int state);
+ int VL6180x_FilterGetState(VL6180xDev_t dev);
+ int VL6180x_DMaxSetState(VL6180xDev_t dev, int state);
+ int VL6180x_DMaxGetState(VL6180xDev_t dev);
+ int VL6180x_RangeSetSystemMode(VL6180xDev_t dev, uint8_t mode);
+ int8_t VL6180x_GetOffsetCalibrationData(VL6180xDev_t dev);
+ void VL6180x_SetOffsetCalibrationData(VL6180xDev_t dev, int8_t offset);
+ int VL6180x_SetXTalkCompensationRate(VL6180xDev_t dev, FixPoint97_t Rate);
+ int VL6180x_AlsWaitDeviceReady(VL6180xDev_t dev, int MaxLoop );
+ int VL6180x_AlsSetSystemMode(VL6180xDev_t dev, uint8_t mode);
+ int VL6180x_SetGroupParamHold(VL6180xDev_t dev, int Hold);
+ int VL6180x_SetI2CAddress(VL6180xDev_t dev, uint8_t NewAddr);
+ int VL6180x_SetupGPIOx(VL6180xDev_t dev, int pin, uint8_t IntFunction, int ActiveHigh);
+ int VL6180x_SetGPIOxPolarity(VL6180xDev_t dev, int pin, int active_high);
+ int VL6180x_SetGPIOxFunctionality(VL6180xDev_t dev, int pin, uint8_t functionality);
+ int VL6180x_DisableGPIOxOut(VL6180xDev_t dev, int pin);
+ int VL6180x_GetInterruptStatus(VL6180xDev_t dev, uint8_t *status);
+ int VL6180x_ClearInterrupt(VL6180xDev_t dev, uint8_t IntClear );
+ int VL6180x_RangeStaticInit(VL6180xDev_t dev);
+ int VL6180x_UpscaleRegInit(VL6180xDev_t dev);
+ int VL6180x_UpscaleStaticInit(VL6180xDev_t dev);
+ int VL6180x_AlsGetLux(VL6180xDev_t dev, lux_t *pLux);
+ int _UpscaleInitPatch0(VL6180xDev_t dev);
+ int VL6180x_RangeGetDeviceReady(VL6180xDev_t dev, int * Ready);
+ int VL6180x_RangeSetEarlyConvergenceEestimateThreshold(VL6180xDev_t dev);
+ int32_t _GetAveTotalTime(VL6180xDev_t dev);
+ int32_t _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 _filter_GetResult(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData);
+ int _GetRateResult(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData);
+ int _DMax_InitData(VL6180xDev_t dev);
+
+ /* Read functions from registers and write functions into registers */
+ int VL6180X_ReadID();
int VL6180X_IO_Read(uint8_t *pBuffer, uint8_t RegisterAddress, uint16_t NumByteToRead);
/* Write and read functions from I2C */
@@ -154,28 +210,21 @@
int VL6180x_RdByte(VL6180xDev_t dev, uint16_t index, uint8_t *data);
int VL6180x_RdWord(VL6180xDev_t dev, uint16_t index, uint16_t *data);
int VL6180x_RdDWord(VL6180xDev_t dev, uint16_t index, uint32_t *data);
+ int VL6180x_UpdateByte(VL6180xDev_t dev, uint16_t index, uint8_t AndData, uint8_t OrData);
int VL6180x_I2CWrite(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t *pBuffer, uint16_t NumByteToWrite);
int VL6180x_I2CRead(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t *pBuffer, uint16_t NumByteToRead);
-
-
+
private:
- /*** Methods ***/
-
-
-
-
/*** Instance Variables ***/
/* IO Device */
- //temporaneo
- DevI2C &dev_i2c; // creo questa variabile in x_nucleo_6180xa1.h allo stesso modo e poi passo al costruttore del MyDevice il suo indirizzo
- //MyVL6180xDev_t MyDevice; in sostituzione di VL6180xDev_t sotto
+ DevI2C &dev_i2c;
+ DigitalOut *gpio0;
+ STMPE1600DigiOut *expgpio0;
- /* VL6180X Device */
- uint8_t MyDeviceAddress;
- //temporanei
- VL6180xDev_t MyDevice; // creo questa variabile in x_nucleo_6180xa1.h allo stesso modo e poi passo alla funzione Init()
- uint8_t RangeLight_id; // creo questa variabile in x_nucleo_6180xa1.h allo stesso modo e poi passo alla funzione ReadID() il suo indirizzo
+ VL6180xDev_t MyDeviceAddress;
+ unsigned Present;
+ unsigned Ready;
};
--- a/x_nucleo_6180xa1.h Fri Sep 18 13:19:50 2015 +0000
+++ b/x_nucleo_6180xa1.h Fri Sep 25 12:12:51 2015 +0200
@@ -54,26 +54,37 @@
protected:
public:
- X_NUCLEO_VL6180XA1(); // verificare se necessario passare come argomento un dev_i2c
- bool VL6180X_Init(); // controlla la presenza del sensore , chiamo Prepare() e setto ready
- // modificare l'indirizzo i2c dei sensori (slave address)
+ X_NUCLEO_VL6180XA1(DevI2C *i2c)): dev_i2c(i2c),
+ vl6180x_top(new VL6180X()),
+ vl6180x_left(new VL6180X()),
+ vl6180x_bottom(new VL6180X()),
+ vl6180x_right(new VL6180X()),
+ display(new Display(i2c)),
+ gpio_expander(i2c));
- VL6180X *vl6180x_sensor;
+ VL6180X *vl6180x_top;
+ VL6180X *vl6180x_left;
+ VL6180X *vl6180x_bottom;
+ VL6180X *vl6180x_right;
Display *display;
GPIO_expander *gpio_expander;
DevI2C *dev_i2c;
- //posso creare 4 puntatori a istanze di tipo VL6180X, con i nomi della board(S1, left, bottom, right)
- //oppure posso creare un vettore di VL6180X di dimensione 4 per contenere tutti i sensori
- //dopo tengo traccia di quali sensori sono presenti e funzionanti
+ X_NUCLEO_VL6180XA1 *Instance(DevI2C *i2c)
+ {
+ if(_instance==NULL)
+ _instance=new X_NUCLEO_6180XA1(i2c);
+ else
+ errore
+ }
private:
- static X_NUCLEO_IKS01A1 *instance;
+ static X_NUCLEO_6180XA1 *_instance;
}
*/
-#endif /* __X_NUCLEO_6180XA1_H */
\ No newline at end of file
+#endif /* __X_NUCLEO_6180XA1_H */