Revision 11:c955adfbb19b, committed 2017-06-14

Comitter:

JerrySzczurak

Date:

Wed Jun 14 13:35:05 2017 +0000

Parent:

10:faf8d62ce6d1

Child:

12:820afb1af4ef

Commit message:

Changes to library related to interrupt mode.

Changed in this revision

--- a/Components/VL53L0X/vl53l0x_class.cpp	Wed Jun 07 14:58:36 2017 +0000
+++ b/Components/VL53L0X/vl53l0x_class.cpp	Wed Jun 14 13:35:05 2017 +0000
@@ -4112,7 +4112,6 @@
 			Status = VL53L0X_ClearInterruptMask(Dev, 0);
 
 	}
-
 	LOG_FUNCTION_END(Status);
 	return Status;
 }
@@ -5030,8 +5029,7 @@
    return 0;
 } 
 
-
-int VL53L0X::ReadID(uint8_t *id)
+int VL53L0X::read_id(uint8_t *id)
 {
     int status = 0;
     uint16_t rl_id=0;
@@ -5042,6 +5040,11 @@
 		
     return -1;
 }
+
+int VL53L0X::ReadID(uint8_t *id)
+{
+	return read_id(id);
+}
  
  
 VL53L0X_Error VL53L0X::WaitMeasurementDataReady(VL53L0X_DEV Dev)
@@ -5148,9 +5151,30 @@
    }
    return status; 
 }
- 
- 
-
+
+int VL53L0X::RangeMeasIntContinuousMode(void (*fptr)(void))
+{
+   int status, ClrStatus;
+
+   status = VL53L0X_SetGpioConfig(Device, 0, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,
+		VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY,
+		VL53L0X_INTERRUPTPOLARITY_HIGH);
+   
+   if (!status)
+   {   
+	   	AttachInterruptMeasureDetectionIRQ(fptr);
+	    EnableInterruptMeasureDetectionIRQ();
+   }
+   	
+   ClrStatus=ClearInterrupt(VL53L0X_REG_RESULT_INTERRUPT_STATUS|VL53L0X_REG_RESULT_RANGE_STATUS);
+   if(ClrStatus)
+	   VL53L0X_ErrLog("VL53L0X_ClearErrorInterrupt fail\r\n");
+   if(!status)
+   {
+      status=RangeStartContinuousMode();
+   }
+   return status;
+}
 
 
 int VL53L0X::StartMeasurement(OperatingMode operating_mode, void (*fptr)(void))
@@ -5167,7 +5191,23 @@
 	uint8_t preRangeVcselPeriod = 14;
 	uint8_t finalRangeVcselPeriod = 10;
 
-
+	if (operating_mode == range_continuous_interrupt)
+	{
+        if (gpio1Int==NULL) 
+        {
+        	printf ("GPIO1 Error\r\n");
+        	return 1;
+        }
+        printf ("Setting up GPIO Config\r\n");
+        Status = VL53L0X_SetDeviceMode(Device, VL53L0X_DEVICEMODE_GPIO_DRIVE);
+		if (Status == VL53L0X_ERROR_NONE) {
+			Status = RangeConfigInterrupt(VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY);
+		}
+		if (Status == VL53L0X_ERROR_NONE) {
+			Status = RangeMeasIntContinuousMode(fptr);
+		}
+		return Status;
+	}
     if (operating_mode == range_single_shot_polling)
     {
         // singelshot, polled ranging
@@ -5290,6 +5330,11 @@
         }
     }
 
+	if (operating_mode == range_continuous_interrupt)
+	{
+        Status = VL53L0X_GetRangingMeasurementData(Device, Data);
+        VL53L0X_ClearInterruptMask(Device, VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR | VL53L0X_REG_RESULT_INTERRUPT_STATUS);      
+	}
 
     return Status;
 }
@@ -5332,9 +5377,8 @@
 int VL53L0X::HandleIRQ(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *Data)
 {
    int status;
-    
+   status=GetMeasurement(operating_mode, Data);
    EnableInterruptMeasureDetectionIRQ();
-   status=GetMeasurement(operating_mode, Data);
    return status;
 }
      

--- a/Components/VL53L0X/vl53l0x_class.h	Wed Jun 07 14:58:36 2017 +0000
+++ b/Components/VL53L0X/vl53l0x_class.h	Wed Jun 14 13:35:05 2017 +0000
@@ -303,7 +303,7 @@
      * @param[in] &pin_gpio1 pin Mbed InterruptIn PinName to be used as component GPIO_1 INT
      * @param[in] DevAddr device address, 0x29 by default  
      */
-    VL53L0X(DevI2C &i2c, DigitalOut &pin, PinName pin_gpio1, uint8_t DevAddr=DEFAULT_DEVICE_ADDRESS) : RangeSensor(), dev_i2c(i2c), gpio0(&pin)
+    VL53L0X(DevI2C &i2c, DigitalOut &pin, PinName pin_gpio1, uint8_t DevAddr=DEFAULT_DEVICE_ADDRESS) : dev_i2c(i2c), gpio0(&pin)
     {
        MyDevice.I2cDevAddr=DevAddr;		 
        MyDevice.comms_type=1; // VL53L0X_COMMS_I2C
@@ -320,7 +320,7 @@
      * @param[in] pin_gpio1 pin Mbed InterruptIn PinName to be used as component GPIO_1 INT
      * @param[in] device address, 0x29 by default  
      */		
-    VL53L0X(DevI2C &i2c, STMPE1600DigiOut &pin, PinName pin_gpio1, uint8_t DevAddr=DEFAULT_DEVICE_ADDRESS) : RangeSensor(), dev_i2c(i2c), expgpio0(&pin)
+    VL53L0X(DevI2C &i2c, STMPE1600DigiOut &pin, PinName pin_gpio1, uint8_t DevAddr=DEFAULT_DEVICE_ADDRESS) : dev_i2c(i2c), expgpio0(&pin)
     {
        MyDevice.I2cDevAddr=DevAddr;		 
        MyDevice.comms_type=1; // VL53L0X_COMMS_I2C
@@ -479,6 +479,7 @@
 //			return 1;
     }
 
+
 /**
  *
  * @brief One time device initialization
@@ -495,9 +496,16 @@
  * @param void
  * @return     0 on success,  @a #CALIBRATION_WARNING if failed
  */		
+ 	virtual int init(void *init)
+	{
+		return VL53L0X_DataInit(Device);
+	}
+	
+/** deprecated Init funtion from ComponentObject. for backward compatibility
+*/	
     virtual int Init(void * NewAddr)
     {
-       return VL53L0X_DataInit(Device);
+    	return init(NewAddr);
     }
 
 /**
@@ -576,8 +584,9 @@
  */		
     int RangeStartContinuousMode()
     {
-//       return VL6180x_RangeStartContinuousMode(Device);
-			return 1;
+		int status;
+		status = RangeSetSystemMode(VL53L0X_REG_SYSRANGE_MODE_START_STOP|VL53L0X_REG_SYSRANGE_MODE_BACKTOBACK);
+    	return status;
     }
 
 /**
@@ -687,7 +696,7 @@
  * @param pRange_mm  Pointer to range distance
  * @return           0 on success
  */		
-    virtual int GetDistance(uint32_t *piData)
+    virtual int get_distance(uint32_t *piData)
     {
         int status=0;
         VL53L0X_RangingMeasurementData_t pRangingMeasurementData;
@@ -707,7 +716,11 @@
         StopMeasurement(range_single_shot_polling);
         return status;
     }
-		
+/* Deprecated funtion from RangeSensor class. For backward compatibility*/	
+	virtual int GetDistance(uint32_t *piData)
+	{
+		return get_distance(piData);
+	}	
 /**
  * @brief Configure ranging interrupt reported to application
  *
@@ -721,8 +734,18 @@
  */
     int RangeConfigInterrupt(uint8_t ConfigGpioInt)
     {
-//       return VL6180x_RangeConfigInterrupt(Device, ConfigGpioInt);
-			return 1;
+    	int status;
+		 if( ConfigGpioInt<= VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY)
+		 {
+		 	status = VL53L0X_UpdateByte(Device, VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO, (uint8_t)(~(0x7<<0)), ConfigGpioInt);
+		 }
+		 else
+		 {
+		 	status = 1;
+		 }	
+		//       return VL6180x_RangeConfigInterrupt(Device, ConfigGpioInt);
+			
+		return status;
     }
 
 /**
@@ -974,9 +997,24 @@
  * @return      0 on success
  */		
     int RangeSetSystemMode(uint8_t mode)
-    {
+    {    	
+	    int status;
+	    /* 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=VL53L0X_WrByte(Device, VL53L0X_REG_SYSRANGE_START, mode);
+	        if( status ){
+	            VL53L0X_ErrLog("SYSRANGE_START wr fail");
+	        }
+	    }
+	    else{
+	        status = 1;
+	    }
+	    return status;    	
 //       return VL6180x_RangeSetSystemMode(Device, mode);
-			return 1;
+//			return 1;
     }
 
 /** @}  */ 
@@ -1044,8 +1082,7 @@
        if(!status)
           Device->I2cDevAddr=NewAddr;
        return status;
-			
-//			return 1;
+
     }
 
 /**
@@ -1134,8 +1171,9 @@
  */		
     int ClearInterrupt(uint8_t IntClear)
     {
+         int status = VL53L0X_WrByte(Device, VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR, IntClear);
 //       return VL6180x_ClearInterrupt(Device, IntClear );
-			return 1;
+	     return status;
     }
 
 /**
@@ -1339,9 +1377,13 @@
     		uint8_t *Revision,
     		VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo);
 
-    /* Read function of the ID device */
-//    virtual int ReadID();
+	/* deprecated Read function from Component class for backward compatibility*/
+	//   virtual int ReadID();
     virtual int ReadID(uint8_t *id);
+
+	/* Read function of the ID device */
+	//   virtual int read_id();    
+    virtual int read_id(uint8_t *id);
     
     VL53L0X_Error WaitMeasurementDataReady(VL53L0X_DEV Dev);
     VL53L0X_Error WaitStopCompleted(VL53L0X_DEV Dev);

--- a/ST_INTERFACES.lib	Wed Jun 07 14:58:36 2017 +0000
+++ b/ST_INTERFACES.lib	Wed Jun 14 13:35:05 2017 +0000
@@ -1,1 +1,1 @@
-https://developer.mbed.org/teams/ST/code/ST_INTERFACES/#e2bf4d06a8fc
+https://developer.mbed.org/teams/ST/code/ST_INTERFACES/#d3c9b33b992c

--- a/X_NUCLEO_COMMON.lib	Wed Jun 07 14:58:36 2017 +0000
+++ b/X_NUCLEO_COMMON.lib	Wed Jun 14 13:35:05 2017 +0000
@@ -1,1 +1,1 @@
-https://developer.mbed.org/teams/ST/code/X_NUCLEO_COMMON/#12be3dfc15fd
+https://developer.mbed.org/teams/ST/code/X_NUCLEO_COMMON/#0dbcdb8dab03

--- a/x_nucleo_53l0a1.cpp	Wed Jun 07 14:58:36 2017 +0000
+++ b/x_nucleo_53l0a1.cpp	Wed Jun 14 13:35:05 2017 +0000
@@ -119,4 +119,3 @@
    else
       return 0;
 }
-