Yves Roy
/
X_NUCLEO_6180XA1
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Dependencies: ST_INTERFACES X_NUCLEO_COMMON
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X_NUCLEO_6180XA1
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Revision 57:fa4c622b04a7, committed 2017-03-13
- Comitter:
- Davidroid
- Date:
- Mon Mar 13 19:08:10 2017 +0000
- Parent:
- 56:37d1736bd896
- Child:
- 58:1e9a3a46f814
- Commit message:
- Aligned to ARM mbed coding style.
Changed in this revision
--- a/Components/Display/Display.h Mon Mar 13 17:57:03 2017 +0100
+++ b/Components/Display/Display.h Mon Mar 13 19:08:10 2017 +0000
@@ -43,7 +43,7 @@
/* Includes ------------------------------------------------------------------*/
#include "mbed.h"
-#include "Stmpe1600.h"
+#include "STMPE1600.h"
#include "DevI2C.h"
#ifdef __cplusplus
@@ -254,18 +254,18 @@
* @param[in] &stmpe_1600 device handler to be used for display control
*/
Display(STMPE1600 &stmpe_1600) : stmpe1600(stmpe_1600) {
- stmpe1600.setGPIOdir (GPIO_7, OUTPUT); // Digit1
- stmpe1600.setGPIOdir (GPIO_8, OUTPUT); // Digit2
- stmpe1600.setGPIOdir (GPIO_9, OUTPUT); // Digit3
- stmpe1600.setGPIOdir (GPIO_10, OUTPUT); // Digit4
+ stmpe1600.set_gpio_dir (GPIO_7, OUTPUT); // Digit1
+ stmpe1600.set_gpio_dir (GPIO_8, OUTPUT); // Digit2
+ stmpe1600.set_gpio_dir (GPIO_9, OUTPUT); // Digit3
+ stmpe1600.set_gpio_dir (GPIO_10, OUTPUT); // Digit4
- stmpe1600.setGPIOdir (GPIO_0, OUTPUT); // SegmentA
- stmpe1600.setGPIOdir (GPIO_1, OUTPUT); // SegmentB
- stmpe1600.setGPIOdir (GPIO_2, OUTPUT); // SegmentC
- stmpe1600.setGPIOdir (GPIO_3, OUTPUT); // SegmentD
- stmpe1600.setGPIOdir (GPIO_4, OUTPUT); // SegmentE
- stmpe1600.setGPIOdir (GPIO_5, OUTPUT); // SegmentF
- stmpe1600.setGPIOdir (GPIO_6, OUTPUT); // SegmentG
+ stmpe1600.set_gpio_dir (GPIO_0, OUTPUT); // SegmentA
+ stmpe1600.set_gpio_dir (GPIO_1, OUTPUT); // SegmentB
+ stmpe1600.set_gpio_dir (GPIO_2, OUTPUT); // SegmentC
+ stmpe1600.set_gpio_dir (GPIO_3, OUTPUT); // SegmentD
+ stmpe1600.set_gpio_dir (GPIO_4, OUTPUT); // SegmentE
+ stmpe1600.set_gpio_dir (GPIO_5, OUTPUT); // SegmentF
+ stmpe1600.set_gpio_dir (GPIO_6, OUTPUT); // SegmentG
}
/*** Interface Methods ***/
@@ -284,7 +284,7 @@
for (i=0, dgt=4-strlen, pc=str; i<strlen && *pc!=0; i++, pc++, dgt++) {
_V2_Set7Segment( ascii_to_display_lut[(uint8_t)*pc], dgt);
- if ( (pc+1)== '.') {
+ if ( *(pc+1)== '.') {
pc++;
}
wait_ms(DISPLAY_DELAY);
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/STMPE1600/STMPE1600.h Mon Mar 13 19:08:10 2017 +0000
@@ -0,0 +1,326 @@
+/**
+ ******************************************************************************
+ * @file STMPE1600.h
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 14-April-2015
+ * @brief Header file for component stmpe1600
+ ******************************************************************************
+ * @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 "DevI2C.h"
+
+#define STMPE1600_DEF_DEVICE_ADDRESS (uint8_t)0x42*2
+#define STMPE1600_DEF_DIGIOUT_LVL 1
+
+/** STMPE1600 registr map **/
+#define ChipID_0_7 (uint8_t)0x00
+#define ChipID_8_15 (uint8_t)0x01
+#define VersionId (uint8_t)0x02
+#define SYS_CTRL (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
+
+#define SOFT_RESET (uint8_t)0x80
+
+typedef enum {
+ // GPIO Expander pin names
+ GPIO_0=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,
+ NOT_CON
+} exp_gpio_pin_name;
+
+typedef enum {
+ INPUT = 0,
+ OUTPUT,
+ NOT_CONNECTED
+} exp_gpio_pin_direction;
+
+
+/* Classes -------------------------------------------------------------------*/
+
+/**
+ * Class representing a single stmpe1600 GPIO expander output pin
+ */
+class STMPE1600DigiOut {
+public:
+ /** Constructor
+ * @param[in] &i2c device I2C to be used for communication
+ * @param[in] outpinname the desired out pin name to be created
+ * @param[in] DevAddr the stmpe1600 I2C device addres (deft STMPE1600_DEF_DEVICE_ADDRESS)
+ * @param[in] lvl the default ot pin level
+ */
+ STMPE1600DigiOut (DevI2C &i2c, exp_gpio_pin_name 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];
+ if (_exppinname == NOT_CON) {
+ return;
+ }
+ /* 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 gpio 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);
+ }
+
+ /**
+ * @brief Write on the out pin
+ * @param[in] lvl level to write
+ * @return 0 on Success
+ */
+ void write (int lvl)
+ {
+ uint8_t data[2];
+ if (_exppinname == NOT_CON) return;
+ /* set the _exppinname state to lvl */
+ _dev_i2c.i2c_read(data, _expdevaddr, GPSR_0_7, 2);
+ *(uint16_t*)data = *(uint16_t*)data & (uint16_t)(~(1<<(uint16_t)_exppinname)); // set pin mask
+ if (lvl) *(uint16_t*)data = *(uint16_t*)data | (uint16_t)(1<<(uint16_t)_exppinname);
+ _dev_i2c.i2c_write(data, _expdevaddr, GPSR_0_7, 2);
+ }
+
+ /**
+ * @brief Overload assignement operator
+ */
+ STMPE1600DigiOut& operator=(int lvl)
+ {
+ write (lvl);
+ return *this;
+ }
+
+private:
+ DevI2C &_dev_i2c;
+ uint8_t _expdevaddr;
+ exp_gpio_pin_name _exppinname;
+};
+
+/* Classes -------------------------------------------------------------------*/
+/** Class representing a single stmpe1600 GPIO expander input pin
+ */
+class STMPE1600DigiIn
+{
+public:
+ /** Constructor
+ * @param[in] &i2c device I2C to be used for communication
+ * @param[in] inpinname the desired input pin name to be created
+ * @param[in] DevAddr the stmpe1600 I2C device addres (deft STMPE1600_DEF_DEVICE_ADDRESS)
+ */
+ STMPE1600DigiIn (DevI2C &i2c, exp_gpio_pin_name inpinname, uint8_t DevAddr=STMPE1600_DEF_DEVICE_ADDRESS): _dev_i2c(i2c), _expdevaddr(DevAddr), _exppinname(inpinname)
+ {
+ uint8_t data[2];
+ if (_exppinname == NOT_CON) return;
+ /* set the _exppinname as input pin direction */
+ _dev_i2c.i2c_read(data, _expdevaddr, GPDR_0_7, 2);
+ *(uint16_t*)data = *(uint16_t*)data & (uint16_t)(~(1<<(uint16_t) _exppinname)); // set gpio as in
+ _dev_i2c.i2c_write(data, _expdevaddr, GPDR_0_7, 2);
+ }
+
+ /**
+ * @brief Read the input pin
+ * @return The pin logical state 0 or 1
+ */
+ bool read () {
+ uint8_t data[2];
+ if (_exppinname == NOT_CON) {
+ return 0;
+ }
+
+ /* read the _exppinname */
+ _dev_i2c.i2c_read(data, _expdevaddr, GPMR_0_7, 2);
+ *(uint16_t*)data = *(uint16_t*)data & (uint16_t)(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;
+ exp_gpio_pin_name _exppinname;
+};
+
+
+/* Classes -------------------------------------------------------------------*/
+
+/**
+ * Class representing a whole stmpe1600 component (16 gpio)
+ */
+class STMPE1600 {
+public:
+ /** Constructor
+ * @param[in] &i2c device I2C to be used for communication
+ * @param[in] DevAddr the stmpe1600 I2C device addres (deft STMPE1600_DEF_DEVICE_ADDRESS)
+ */
+ STMPE1600 (DevI2C &i2c, uint8_t DevAddr=STMPE1600_DEF_DEVICE_ADDRESS ) : _dev_i2c(i2c)
+ {
+ _dev_i2c = i2c;
+ _expdevaddr = DevAddr;
+ write_sys_ctrl (SOFT_RESET);
+
+ _gpdro_15 = (uint16_t)0; // gpio dir all IN
+ write_16_bit_reg (GPDR_0_7, &_gpdro_15);
+ _gpsro_15 = (uint16_t)0x0ffff; // gpio status all 1
+ write_16_bit_reg (GPSR_0_7, &_gpsro_15);
+ }
+
+ /**
+ * @brief Write the SYS_CTRL register
+ * @param[in] Data to be written (bit fields)
+ */
+ void write_sys_ctrl (uint8_t data) // data = SOFT_RESET reset the device
+ {
+ _dev_i2c.i2c_write((uint8_t*)SYS_CTRL, _expdevaddr, data, 1);
+ }
+
+ /**
+ * @brief Set the out pin
+ * @param[in] The pin name
+ * @return 0 on Success
+ */
+ bool set_gpio (exp_gpio_pin_name pin_name)
+ {
+ if (pin_name == NOT_CON) return true;
+ _gpsro_15 = _gpsro_15 | ((uint16_t)0x0001<<pin_name);
+ write_16_bit_reg (GPSR_0_7 , &_gpsro_15);
+ return false;
+ }
+
+ /**
+ * @brief Clear the out pin
+ * @param[in] The pin name
+ * @return 0 on Success
+ */
+ bool clr_gpio (exp_gpio_pin_name pin_name)
+ {
+ if (pin_name == NOT_CON) return true;
+ _gpsro_15 = _gpsro_15 & (~((uint16_t)0x0001<<pin_name));
+ write_16_bit_reg (GPSR_0_7 , &_gpsro_15);
+ return false;
+ }
+
+ /**
+ * @brief Read the input pin
+ * @param[in] The pin name
+ * @return The logical pin level
+ */
+ bool rd_gpio (exp_gpio_pin_name pin_name)
+ {
+ uint16_t gpmr0_15;
+ if (pin_name == NOT_CON) return true;
+ read_16_bit_reg (GPMR_0_7, &gpmr0_15);
+ gpmr0_15 = gpmr0_15 & ((uint16_t)0x0001<<pin_name);
+ if (gpmr0_15) {
+ return true;
+ }
+ return false;
+ }
+
+ /**
+ * @brief Set the pin direction
+ * @param[in] The pin name
+ * @param[in] The pin direction
+ * @return 0 on success
+ */
+ bool set_gpio_dir (exp_gpio_pin_name pin_name, exp_gpio_pin_direction pin_dir)
+ {
+ if (pin_name == NOT_CON || pin_dir == NOT_CONNECTED) {
+ return true;
+ }
+ _gpdro_15 = _gpdro_15 & (~((uint16_t)0x0001<<pin_name)); // clear the Pin
+ _gpdro_15 = _gpdro_15 | ((uint16_t)pin_dir<<pin_name);
+ write_16_bit_reg (GPDR_0_7 , &_gpdro_15);
+ return false;
+ }
+
+ /**
+ * @brief Read a 16 bits register
+ * @param[in] The register address
+ * @param[in] The pointer to the read data
+ */
+ void read_16_bit_reg (uint8_t reg_16_addr, uint16_t *reg_16_data)
+ {
+ _dev_i2c.i2c_read((uint8_t*)reg_16_data, _expdevaddr, reg_16_addr, 2);
+ }
+
+ /**
+ * @brief Write a 16 bits register
+ * @param[in] The register address
+ * @param[in] The pointer to the data to be written
+ */
+ void write_16_bit_reg (uint8_t reg_16_addr, uint16_t *reg_16_data)
+ {
+ _dev_i2c.i2c_write((uint8_t*)reg_16_data, _expdevaddr, reg_16_addr, 2);
+ }
+
+private:
+ DevI2C &_dev_i2c;
+ uint16_t _gpdro_15; // local copy of bit direction reg
+ uint16_t _gpsro_15; // local copy of bit status reg
+ uint8_t _expdevaddr; // expander device i2c addr
+};
+
+#endif // __STMPE1600_CLASS
--- a/Components/STMPE1600/Stmpe1600.h Mon Mar 13 17:57:03 2017 +0100
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,326 +0,0 @@
-/**
- ******************************************************************************
- * @file Stmpe1600.h
- * @author AST / EST
- * @version V0.0.1
- * @date 14-April-2015
- * @brief Header file for component stmpe1600
- ******************************************************************************
- * @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 "DevI2C.h"
-
-#define STMPE1600_DEF_DEVICE_ADDRESS (uint8_t)0x42*2
-#define STMPE1600_DEF_DIGIOUT_LVL 1
-
-/** Stmpe1600 registr map **/
-#define ChipID_0_7 (uint8_t)0x00
-#define ChipID_8_15 (uint8_t)0x01
-#define VersionId (uint8_t)0x02
-#define SYS_CTRL (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
-
-#define SOFT_RESET (uint8_t)0x80
-
-typedef enum {
- // GPIO Expander pin names
- GPIO_0=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,
- NOT_CON
-} exp_gpio_pin_name;
-
-typedef enum {
- INPUT = 0,
- OUTPUT,
- NOT_CONNECTED
-} exp_gpio_pin_direction;
-
-
-/* Classes -------------------------------------------------------------------*/
-
-/**
- * Class representing a single stmpe1600 GPIO expander output pin
- */
-class Stmpe1600DigiOut {
-public:
- /** Constructor
- * @param[in] &i2c device I2C to be used for communication
- * @param[in] outpinname the desired out pin name to be created
- * @param[in] DevAddr the stmpe1600 I2C device addres (deft STMPE1600_DEF_DEVICE_ADDRESS)
- * @param[in] lvl the default ot pin level
- */
- 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];
- if (_exppinname == NOT_CON) {
- return;
- }
- /* 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 gpio 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);
- }
-
- /**
- * @brief Write on the out pin
- * @param[in] lvl level to write
- * @return 0 on Success
- */
- void write (int lvl)
- {
- uint8_t data[2];
- if (_exppinname == NOT_CON) return;
- /* set the _exppinname state to lvl */
- _dev_i2c.i2c_read(data, _expdevaddr, GPSR_0_7, 2);
- *(uint16_t*)data = *(uint16_t*)data & (uint16_t)(~(1<<(uint16_t)_exppinname)); // set pin mask
- if (lvl) *(uint16_t*)data = *(uint16_t*)data | (uint16_t)(1<<(uint16_t)_exppinname);
- _dev_i2c.i2c_write(data, _expdevaddr, GPSR_0_7, 2);
- }
-
- /**
- * @brief Overload assignement operator
- */
- Stmpe1600DigiOut& operator=(int lvl)
- {
- write (lvl);
- return *this;
- }
-
-private:
- DevI2C &_dev_i2c;
- uint8_t _expdevaddr;
- ExpGpioPinName _exppinname;
-};
-
-/* Classes -------------------------------------------------------------------*/
-/** Class representing a single stmpe1600 GPIO expander input pin
- */
-class Stmpe1600DigiIn
-{
-public:
- /** Constructor
- * @param[in] &i2c device I2C to be used for communication
- * @param[in] inpinname the desired input pin name to be created
- * @param[in] DevAddr the stmpe1600 I2C device addres (deft STMPE1600_DEF_DEVICE_ADDRESS)
- */
- Stmpe1600DigiIn (DevI2C &i2c, ExpGpioPinName inpinname, uint8_t DevAddr=STMPE1600_DEF_DEVICE_ADDRESS): _dev_i2c(i2c), _expdevaddr(DevAddr), _exppinname(inpinname)
- {
- uint8_t data[2];
- if (_exppinname == NOT_CON) return;
- /* set the _exppinname as input pin direction */
- _dev_i2c.i2c_read(data, _expdevaddr, GPDR_0_7, 2);
- *(uint16_t*)data = *(uint16_t*)data & (uint16_t)(~(1<<(uint16_t) _exppinname)); // set gpio as in
- _dev_i2c.i2c_write(data, _expdevaddr, GPDR_0_7, 2);
- }
-
- /**
- * @brief Read the input pin
- * @return The pin logical state 0 or 1
- */
- bool read () {
- uint8_t data[2];
- if (_exppinname == NOT_CON) {
- return 0;
- }
-
- /* read the _exppinname */
- _dev_i2c.i2c_read(data, _expdevaddr, GPMR_0_7, 2);
- *(uint16_t*)data = *(uint16_t*)data & (uint16_t)(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;
-};
-
-
-/* Classes -------------------------------------------------------------------*/
-
-/**
- * Class representing a whole stmpe1600 component (16 gpio)
- */
-class Stmpe1600 {
-public:
- /** Constructor
- * @param[in] &i2c device I2C to be used for communication
- * @param[in] DevAddr the stmpe1600 I2C device addres (deft STMPE1600_DEF_DEVICE_ADDRESS)
- */
- Stmpe1600 (DevI2C &i2c, uint8_t DevAddr=STMPE1600_DEF_DEVICE_ADDRESS ) : _dev_i2c(i2c)
- {
- _dev_i2c = i2c;
- _expdevaddr = DevAddr;
- write_sys_ctrl (SOFT_RESET);
-
- _gpdro_15 = (uint16_t)0; // gpio dir all IN
- _write_16_bit_reg (GPDR_0_7, &_gpdro_15);
- _gpsro_15 = (uint16_t)0x0ffff; // gpio status all 1
- _write_16_bit_reg (GPSR_0_7, &_gpsro_15);
- }
-
- /**
- * @brief Write the SYS_CTRL register
- * @param[in] Data to be written (bit fields)
- */
- void write_sys_ctrl (uint8_t data) // data = SOFT_RESET reset the device
- {
- _dev_i2c.i2c_write((uint8_t*)SYS_CTRL, _expdevaddr, data, 1);
- }
-
- /**
- * @brief Set the out pin
- * @param[in] The pin name
- * @return 0 on Success
- */
- bool set_gpio (ExpGpioPinName pin_name)
- {
- if (pin_name == NOT_CON) return true;
- _gpsro_15 = _gpsro_15 | ((uint16_t)0x0001<<pin_name);
- _write_16_bit_reg (GPSR_0_7 , &_gpsro_15);
- return false;
- }
-
- /**
- * @brief Clear the out pin
- * @param[in] The pin name
- * @return 0 on Success
- */
- bool clr_gpio (ExpGpioPinName pin_name)
- {
- if (pin_name == NOT_CON) return true;
- _gpsro_15 = _gpsro_15 & (~((uint16_t)0x0001<<pin_name));
- (GPSR_0_7 , &_gpsro_15);
- return false;
- }
-
- /**
- * @brief Read the input pin
- * @param[in] The pin name
- * @return The logical pin level
- */
- bool rd_gpio (ExpGpioPinName pin_name)
- {
- uint16_t gpmr0_15;
- if (pin_name == NOT_CON) return true;
- _read_16_bit_reg (GPMR_0_7, &gpmr0_15);
- gpmr0_15 = gpmr0_15 & ((uint16_t)0x0001<<pin_name);
- if (gpmr0_15) {
- return true;
- }
- return false;
- }
-
- /**
- * @brief Set the pin direction
- * @param[in] The pin name
- * @param[in] The pin direction
- * @return 0 on success
- */
- bool _set_gpio_dir (ExpGpioPinName pin_name, exp_gpio_pin_direction pin_dir)
- {
- if (pin_name == NOT_CON || pin_dir == NOT_CONNECTED) {
- return true;
- }
- _gpdro_15 = _gpdro_15 & (~((uint16_t)0x0001<<pin_name)); // clear the Pin
- _gpdro_15 = _gpdro_15 | ((uint16_t)pin_dir<<pin_name);
- _write_16_bit_reg (GPDR_0_7 , &_gpdro_15);
- return false;
- }
-
- /**
- * @brief Read a 16 bits register
- * @param[in] The register address
- * @param[in] The pointer to the read data
- */
- void _read_16_bit_reg (uint8_t reg_16_addr, uint16_t *reg_16_data)
- {
- _dev_i2c.i2c_read((uint8_t*)reg_16_data, _expdevaddr, reg_16_addr, 2);
- }
-
- /**
- * @brief Write a 16 bits register
- * @param[in] The register address
- * @param[in] The pointer to the data to be written
- */
- void _write_16_bit_reg (uint8_t reg_16_addr, uint16_t *reg_16_data)
- {
- _dev_i2c.i2c_write((uint8_t*)reg_16_data, _expdevaddr, reg_16_addr, 2);
- }
-
-private:
- DevI2C &_dev_i2c;
- uint16_t _gpdro_15; // local copy of bit direction reg
- uint16_t _gpsro_15; // local copy of bit status reg
- uint8_t _expdevaddr; // expander device i2c addr
-};
-
-#endif // __Stmpe1600_CLASS
--- a/Components/Switch/Switch.h Mon Mar 13 17:57:03 2017 +0100
+++ b/Components/Switch/Switch.h Mon Mar 13 19:08:10 2017 +0000
@@ -43,7 +43,7 @@
/* Includes ------------------------------------------------------------------*/
#include "mbed.h"
-#include "Stmpe1600.h"
+#include "STMPE1600.h"
#ifdef __cplusplus
extern "C" {
@@ -64,7 +64,7 @@
class Switch
{
public:
- Switch(STMPE1600 &stmpe_1600, ExpGpioPinName Pin_Name=GPIO_11) : stmpe1600(stmpe_1600), PinName(Pin_Name) {
+ Switch(STMPE1600 &stmpe_1600, exp_gpio_pin_name Pin_Name=GPIO_11) : stmpe1600(stmpe_1600), PinName(Pin_Name) {
stmpe1600.set_gpio_dir(PinName, INPUT);
}
@@ -78,7 +78,7 @@
private:
STMPE1600 &stmpe1600;
- ExpGpioPinName PinName;
+ exp_gpio_pin_name PinName;
};
#ifdef __cplusplus
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/VL6180X/VL6180X.cpp Mon Mar 13 19:08:10 2017 +0000
@@ -0,0 +1,3597 @@
+/**
+ ******************************************************************************
+ * @file VL6180X.cpp
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 14-April-2015
+ * @brief Implementation file for the HTS221 driver class
+ ******************************************************************************
+ * @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.
+ *
+ ******************************************************************************
+*/
+
+/* Includes */
+#include "VL6180X.h"
+
+
+#ifndef VL6180X_RANGE_STATUS_ERRSTRING
+#warning "VL6180X_RANGE_STATUS_ERRSTRING not defined ?"
+/* TODO you may remove or comment these #warning and keep the default below to keep compatibility
+ or update your vl6180x_platform.h file */
+/**
+ * force VL6180X_RANGE_STATUS_ERRSTRING to not supported when not part of any cfg file
+ */
+#define VL6180X_RANGE_STATUS_ERRSTRING 0
+#endif
+
+#ifndef VL6180X_SAFE_POLLING_ENTER
+#warning "VL6180X_SAFE_POLLING_ENTER not defined, likely old vl6180x_cfg.h file ?"
+/* TODO you may remove or comment these #warning and keep the default below to keep compatibility
+ or update your vl6180x_platform.h file */
+/**
+ * force VL6180X_SAFE_POLLING_ENTER to off when not in cfg file
+ */
+#define VL6180X_SAFE_POLLING_ENTER 0 /* off by default as in api 2.0 */
+#endif
+
+#ifndef VL6180X_LOG_ENABLE
+/**
+ * Force VL6180X_LOG_ENABLE to none as default
+ */
+#define VL6180X_LOG_ENABLE 0
+#endif
+
+#ifdef MY_LOG
+Serial pc(USBTX, USBRX);
+#endif
+
+#if VL6180X_RANGE_STATUS_ERRSTRING
+/**@def VL6180X_HAVE_RANGE_STATUS_ERRSTRING
+ * @brief is defined when @a #VL6180X_RANGE_STATUS_ERRSTRING is enable
+ */
+#define VL6180X_HAVE_RANGE_STATUS_ERRSTRING
+#endif
+
+
+/** @brief Get API version as "hex integer" 0xMMnnss
+ */
+#define VL6180X_ApiRevInt ((VL6180X_API_REV_MAJOR<<24)+(VL6180X_API_REV_MINOR<<16)+VL6180X_API_REV_SUB)
+
+/** Get API version as string for exe "2.1.12" "
+ */
+#define VL6180X_ApiRevStr VL6180X_STR(VL6180X_API_REV_MAJOR) "." VL6180X_STR(VL6180X_API_REV_MINOR) "." VL6180X_STR(VL6180X_API_REV_SUB)
+
+/** @defgroup api_init Init functions
+ * @brief API init functions
+ * @ingroup api_hl
+ * @{
+ */
+
+
+/****************** define for i2c configuration *******************************/
+
+#define TEMP_BUF_SIZE 32
+
+#define IsValidGPIOFunction(x) ((x)==GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT || (x)==GPIOx_SELECT_OFF)
+/**
+ * @brief Clear All interrupt causes (als+range+error)
+ *
+ * @param dev The device
+ * @return 0 On success
+ */
+#define VL6180X_ClearAllInterrupt(dev) VL6180X_ClearInterrupt(dev, INTERRUPT_CLEAR_ERROR|INTERRUPT_CLEAR_RANGING|INTERRUPT_CLEAR_ALS)
+/**
+ * @brief Clear ALS interrupt
+ *
+ * @param dev The device
+ * @return 0 On success
+ */
+ #define VL6180X_AlsClearInterrupt(dev) VL6180X_ClearInterrupt(dev, INTERRUPT_CLEAR_ALS)
+/**
+ * @brief Clear range interrupt
+ *
+ * @param dev The device
+ * @return 0 On success
+ */
+#define VL6180X_RangeClearInterrupt(dev) VL6180X_ClearInterrupt(dev, INTERRUPT_CLEAR_RANGING)
+
+/******************************************************************************/
+/******************************* file api.c ***********************************/
+
+#define VL6180X_9to7Conv(x) (x)
+
+/* TODO when set all "cached" value with "default init" are updated after init from register read back */
+#define REFRESH_CACHED_DATA_AFTER_INIT 1
+
+
+#define IsValidGPIOFunction(x) ((x)==GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT || (x)==GPIOx_SELECT_OFF)
+
+
+/** default value ECE factor Molecular */
+#define DEF_ECE_FACTOR_M 85
+/** default value ECE factor Denominator */
+#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)
+
+
+//int32_t _GetAveTotalTime(VL6180XDev_t dev);
+//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
+static int _filter_Init(VL6180XDev_t dev);
+ #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=0;
+ 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;
+ uint32_t CalValue;
+ uint16_t u16;
+ uint32_t XTalkCompRate_KCps;
+
+ LOG_FUNCTION_START("");
+
+ VL6180XDevDataSet(dev, EceFactorM , DEF_ECE_FACTOR_M);
+ VL6180XDevDataSet(dev, EceFactorD , DEF_ECE_FACTOR_D);
+
+#ifdef VL6180X_HAVE_UPSCALE_DATA
+ VL6180XDevDataSet(dev, UpscaleFactor , DEF_UPSCALE);
+#endif
+
+#ifdef VL6180X_HAVE_ALS_DATA
+ VL6180XDevDataSet(dev, IntegrationPeriod, DEF_INT_PEFRIOD);
+ VL6180XDevDataSet(dev, AlsGainCode, DEF_ALS_GAIN);
+ VL6180XDevDataSet(dev, AlsScaler, DEF_ALS_SCALER);
+#endif
+
+#ifdef VL6180X_HAVE_WRAP_AROUND_DATA
+ VL6180XDevDataSet(dev, WrapAroundFilterActive, (VL6180X_WRAP_AROUND_FILTER_SUPPORT >0));
+ VL6180XDevDataSet(dev, DMaxEnable, DEF_DMAX_ENABLE);
+#endif
+
+ _DMax_OneTimeInit(dev);
+ do{
+
+ /* backup offset initial value from nvm these must be done prior any over call that use offset */
+ status = VL6180X::VL6180X_RdByte(dev,SYSRANGE_PART_TO_PART_RANGE_OFFSET, (uint8_t*)&offset);
+ if( status ){
+ VL6180X_ErrLog("SYSRANGE_PART_TO_PART_RANGE_OFFSET rd fail");
+ break;
+ }
+ VL6180XDevDataSet(dev, Part2PartOffsetNVM, offset);
+
+ status=VL6180X_RdDWord( dev, SYSRANGE_RANGE_IGNORE_THRESHOLD, &CalValue);
+ if( status ){
+ VL6180X_ErrLog("Part2PartAmbNVM rd fail");
+ break;
+ }
+ if( (CalValue&0xFFFF0000) == 0 ){
+ CalValue=0x00CE03F8;
+ }
+ VL6180XDevDataSet(dev, Part2PartAmbNVM, CalValue);
+
+ status = VL6180X_RdWord(dev, SYSRANGE_CROSSTALK_COMPENSATION_RATE ,&u16);
+ if( status){
+ VL6180X_ErrLog("SYSRANGE_CROSSTALK_COMPENSATION_RATE rd fail ");
+ break;
+ }
+ XTalkCompRate_KCps = Fix7_2_KCPs(u16);
+ VL6180XDevDataSet(dev, XTalkCompRate_KCps , XTalkCompRate_KCps );
+
+ dmax_status = _DMax_InitData(dev);
+ if( dmax_status < 0 ){
+ VL6180X_ErrLog("DMax init failure");
+ break;
+ }
+
+ /* Read or wait for fresh out of reset */
+ status = VL6180X_RdByte(dev,SYSTEM_FRESH_OUT_OF_RESET, &FreshOutReset);
+ if( status ) {
+ VL6180X_ErrLog("SYSTEM_FRESH_OUT_OF_RESET rd fail");
+ break;
+ }
+ if( FreshOutReset!= 1 || dmax_status )
+ status = CALIBRATION_WARNING;
+
+ }
+ while(0);
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+int8_t VL6180X::VL6180X_GetOffsetCalibrationData(VL6180XDev_t dev)
+{
+ int8_t offset;
+ 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);
+ 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_DISABLED );
+ 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, 0xFFFF);
+ if( status ) break;
+ /* set Als InterruptMode to new sample */
+ status=VL6180X_AlsConfigInterrupt(dev, CONFIG_GPIO_INTERRUPT_DISABLED);
+ 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) */
+ }
+ wait_ms(10);
+ };
+
+ 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, uint16_t low, uint16_t high) {
+ int status;
+
+ LOG_FUNCTION_START("%d %d", (int )low, (int)high);
+
+ status = VL6180X_WrWord(dev, SYSALS_THRESH_LOW, low);
+ if(!status ){
+ status = VL6180X_WrWord(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;
+ }
+ wait_ms(10);
+ }
+ /* //![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, uint32_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, SYSTEM_MODE_GPIO1, 0x10); /* Enables polling for New Sample ready when measurement completes */
+ VL6180X_WrByte( dev, READOUT_AVERAGING_SAMPLE_PERIOD, 0x30); /* Set the averaging sample period (compromise between lower noise and increased execution time) */
+ VL6180X_WrByte( dev, SYSALS_ANALOGUE_GAIN, 0x46); /* Sets the light and dark gain (upper nibble). Dark gain should not be changed.*/
+ VL6180X_WrByte( dev, SYSRANGE_VHV_REPEAT_RATE, 0xFF); /* sets the # of range measurements after which auto calibration of system is performed */
+ VL6180X_WrByte( dev, SYSALS_INTEGRATION_PERIOD, 0x63); /* Set ALS integration time to 100ms */
+ VL6180X_WrByte( dev, SYSRANGE_VHV_RECALIBRATE, 0x01); /* perform a single temperature calibration of the ranging sensor */
+
+ /* Optional: Public registers - See data sheet for more detail */
+ VL6180X_WrByte( dev, SYSRANGE_INTERMEASUREMENT_PERIOD, 0x09); /* Set default ranging inter-measurement period to 100ms */
+ VL6180X_WrByte( dev, SYSALS_INTERMEASUREMENT_PERIOD, 0x31); /* Set default ALS inter-measurement period to 500ms */
+ VL6180X_WrByte( dev, SYSTEM_INTERRUPT_CONFIG_GPIO, 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, SYSTEM_MODE_GPIO1, 0x10);
+ VL6180X_WrByte( dev, READOUT_AVERAGING_SAMPLE_PERIOD, 0x30);
+ VL6180X_WrByte( dev, SYSALS_ANALOGUE_GAIN, 0x46);
+ VL6180X_WrByte( dev, SYSRANGE_VHV_REPEAT_RATE, 0xFF);
+ VL6180X_WrByte( dev, SYSALS_INTEGRATION_PERIOD, 0x63);
+ VL6180X_WrByte( dev, SYSRANGE_VHV_RECALIBRATE, 0x01);
+ VL6180X_WrByte( dev, SYSRANGE_MAX_AMBIENT_LEVEL_MULT, 0xff);
+ VL6180X_WrByte( dev, SYSRANGE_INTERMEASUREMENT_PERIOD, 0x09);
+ VL6180X_WrByte( dev, SYSALS_INTERMEASUREMENT_PERIOD, 0x31);
+ VL6180X_WrByte( dev, SYSTEM_INTERRUPT_CONFIG_GPIO, 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, SYSTEM_FRESH_OUT_OF_RESET, 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
+ */
+static 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
+
+/*
+ * 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 */
+
+ /* "bit" starts at the highest power of four <= the argument. */
+ while (bit > num)
+ bit >>= 2;
+
+ while (bit != 0) {
+ if (num >= res + bit) {
+ num -= res + bit;
+ res = (res >> 1) + bit;
+ }
+ else
+ res >>= 1;
+ bit >>= 2;
+ }
+ return res;
+}
+#endif
+
+
+/* DMax one time init */
+void _DMax_OneTimeInit(VL6180XDev_t dev){
+ _DMaxData(ambTuningWindowFactor_K)=DEF_AMBIENT_TUNING;
+}
+
+
+static uint32_t _DMax_RawValueAtRateKCps(VL6180XDev_t dev, int32_t rate){
+ uint32_t snrLimit_K;
+ int32_t DMaxSq;
+ uint32_t RawDMax;
+ DMaxFix_t retSignalAt400mm;
+ uint32_t ambTuningWindowFactor_K;
+
+
+ ambTuningWindowFactor_K = _DMaxData(ambTuningWindowFactor_K);
+ snrLimit_K = _DMaxData(snrLimit_K);
+ retSignalAt400mm = _DMaxData(retSignalAt400mm); /* 12 to 18 bits Kcps */
+ if( rate > 0 ){
+ DMaxSq = 400*400*1000 / rate -(400*400/330); /* K of (1/RtnAmb -1/330 )=> 30bit- (12-18)bit => 12-18 bits*/
+ if( DMaxSq<= 0){
+ RawDMax = 0;
+ }
+ else{
+ /* value can be more 32 bit so base on raneg apply *retSignalAt400mm before or after division to presevr accuracy */
+ if( DMaxSq< (2<<12) ){
+ DMaxSq = DMaxSq*retSignalAt400mm/(snrLimit_K+ambTuningWindowFactor_K); /* max 12 + 12 to 18 -10 => 12-26 bit */
+ }else{
+ DMaxSq = DMaxSq/(snrLimit_K+ambTuningWindowFactor_K)*retSignalAt400mm; /* 12 to 18 -10 + 12 to 18 *=> 12-26 bit */
+ }
+ RawDMax=VL6180X_SqrtUint32(DMaxSq);
+ }
+ }
+ else{
+ RawDMax = 0x7FFFFFFF; /* bigest possibmle 32bit signed value */
+ }
+ return RawDMax;
+}
+
+/*
+ * 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;
+ uint32_t u32;
+ uint32_t Reg2A_KCps;
+ uint32_t RegB8;
+ uint8_t MaxConvTime;
+ uint32_t XTalkCompRate_KCps;
+ uint32_t RangeIgnoreThreshold;
+ int32_t minSignalNeeded;
+ uint8_t SysRangeCheckEn;
+ uint8_t snrLimit;
+ warning=0;
+
+ static const int ROMABLE_DATA MaxConvTimeAdjust=-4;
+
+ LOG_FUNCTION_START("");
+ do{
+ status = VL6180X_RdByte(dev, 0x02A ,&u8);
+ if( status ){
+ VL6180X_ErrLog("Reg 0x02A rd fail");
+ break;
+ }
+
+ if( u8 == 0 ) {
+ warning = CALIBRATION_WARNING;
+ u8 = 40; /* use a default average value */
+ }
+ Reg2A_KCps = Fix7_2_KCPs(u8); /* convert to KCPs */
+
+ status = VL6180X_RdByte(dev, SYSRANGE_RANGE_CHECK_ENABLES, &SysRangeCheckEn);
+ if (status) {
+ VL6180X_ErrLog("SYSRANGE_RANGE_CHECK_ENABLES rd fail ");
+ break;
+ }
+
+ status = VL6180X_RdByte(dev, SYSRANGE_MAX_CONVERGENCE_TIME, &MaxConvTime);
+ if( status){
+ VL6180X_ErrLog("SYSRANGE_MAX_CONVERGENCE_TIME rd fail ");
+ break;
+ }
+
+ status = VL6180X_RdDWord(dev, 0x0B8, &RegB8);
+ if( status ){
+ VL6180X_ErrLog("reg 0x0B8 rd fail ");
+ break;
+ }
+
+ status = VL6180X_RdByte(dev, SYSRANGE_MAX_AMBIENT_LEVEL_MULT, &snrLimit);
+ if( status){
+ VL6180X_ErrLog("SYSRANGE_MAX_AMBIENT_LEVEL_MULT rd fail ");
+ break;
+ }
+ _DMaxData(snrLimit_K) = (int32_t)16*1000/snrLimit;
+ XTalkCompRate_KCps = VL6180XDevDataGet(dev, XTalkCompRate_KCps );
+
+ if( Reg2A_KCps >= XTalkCompRate_KCps){
+ _DMaxData(retSignalAt400mm)=( Reg2A_KCps - XTalkCompRate_KCps);
+ }
+ else{
+ _DMaxData(retSignalAt400mm)=0; /* Reg2A_K - XTalkCompRate_KCp <0 is invalid */
+ }
+
+ /* if xtalk range check is off omit it in snr clipping */
+ if( SysRangeCheckEn&RANGE_CHECK_RANGE_ENABLE_MASK ){
+ status = VL6180X_RdWord(dev, SYSRANGE_RANGE_IGNORE_THRESHOLD, &u16);
+ if( status){
+ VL6180X_ErrLog("SYSRANGE_RANGE_IGNORE_THRESHOLD rd fail ");
+ break;
+ }
+ RangeIgnoreThreshold = Fix7_2_KCPs(u16);
+ }
+ else{
+ RangeIgnoreThreshold = 0;
+ }
+
+ minSignalNeeded = (RegB8*256)/((int32_t)MaxConvTime+(int32_t)MaxConvTimeAdjust); /* KCps 8+8 bit -(1 to 6 bit) => 15-10 bit */
+ /* minSignalNeeded = max ( minSignalNeeded, RangeIgnoreThreshold - XTalkCompRate_KCps) */
+ if( minSignalNeeded <= RangeIgnoreThreshold - XTalkCompRate_KCps )
+ minSignalNeeded = RangeIgnoreThreshold - XTalkCompRate_KCps;
+
+ u32 = (minSignalNeeded*(uint32_t)snrLimit)/16;
+ _DMaxData(ClipSnrLimit ) = _DMax_RawValueAtRateKCps(dev, u32 ); /* clip to dmax to min signal snr limit rate*/
+ }
+ while(0);
+ if( !status )
+ status = warning;
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+static int _DMax_Compute(VL6180XDev_t dev, VL6180X_RangeData_t *pRange){
+ uint32_t rtnAmbRate;
+ int32_t DMax;
+ int scaling;
+ uint16_t HwLimitAtScale;
+ static const int ROMABLE_DATA rtnAmbLowLimit_KCps=330*1000;
+
+ rtnAmbRate = pRange->rtnAmbRate;
+ if( rtnAmbRate < rtnAmbLowLimit_KCps ){
+ DMax = _DMax_RawValueAtRateKCps( dev, rtnAmbRate);
+ scaling = _GetUpscale(dev);
+ HwLimitAtScale=UpperLimitLookUP[scaling - 1];
+
+ if( DMax > _DMaxData(ClipSnrLimit) ){
+ DMax=_DMaxData(ClipSnrLimit);
+ }
+ if( DMax > HwLimitAtScale ){
+ DMax=HwLimitAtScale;
+ }
+ pRange->DMax=DMax;
+ }
+ else{
+ pRange->DMax = 0;
+ }
+ return 0;
+}
+
+#undef _DMaxData
+#undef Fix7_2_KCPs
+
+#endif /* VL6180X_HAVE_DMAX_RANGING */
+
+
+/******************************************************************************/
+/******************************************************************************/
+
+
+
+/****************** Write and read functions from I2C *************************/
+
+int VL6180X::VL6180X_WrByte(VL6180XDev_t dev, uint16_t index, uint8_t data)
+{
+ int status;
+
+ status=VL6180X_I2CWrite(dev->I2cAddr, index, &data,(uint8_t)1);
+ return status;
+}
+
+int VL6180X::VL6180X_WrWord(VL6180XDev_t dev, uint16_t index, uint16_t data)
+{
+ int status;
+
+ status=VL6180X_I2CWrite(dev->I2cAddr, index, (uint8_t *)&data,(uint8_t)2);
+ return status;
+}
+
+int VL6180X::VL6180X_WrDWord(VL6180XDev_t dev, uint16_t index, uint32_t data)
+{
+ int status;
+
+ status=VL6180X_I2CWrite(dev->I2cAddr, index, (uint8_t *)&data,(uint8_t)4);
+ return status;
+}
+
+int VL6180X::VL6180X_RdByte(VL6180XDev_t dev, uint16_t index, uint8_t *data)
+{
+ int status;
+
+ uint8_t buffer=0;
+ status=VL6180X_I2CRead(dev->I2cAddr, index, &buffer,1);
+ if(!status)
+ {
+ *data=buffer;
+ }
+ return status;
+}
+
+int VL6180X::VL6180X_RdWord(VL6180XDev_t dev, uint16_t index, uint16_t *data)
+{
+ int status;
+
+ uint8_t buffer[2];
+ buffer[0]=buffer[1]=0;
+ status=VL6180X_I2CRead(dev->I2cAddr, index, buffer, 2);
+ if(!status)
+ {
+ memcpy(data, buffer, 2);
+ }
+ return status;
+}
+
+int VL6180X::VL6180X_RdDWord(VL6180XDev_t dev, uint16_t index, uint32_t *data)
+{
+ int status;
+ uint8_t buffer[4];
+ buffer[0]=buffer[1]=buffer[2]=buffer[3]=0;
+ status=VL6180X_I2CRead(dev->I2cAddr, index, buffer,4);
+ if(!status)
+ {
+ memcpy(data, buffer, 4);
+ }
+ return status;
+}
+
+int VL6180X::VL6180X_UpdateByte(VL6180XDev_t dev, uint16_t index, uint8_t AndData, uint8_t OrData)
+{
+ int status;
+ uint8_t buffer=0;
+
+ status=VL6180X_I2CWrite(dev->I2cAddr, index, (uint8_t *)&buffer,(uint8_t)0);
+ if(!status)
+ {
+ /* read data direct onto buffer */
+ status=VL6180X_I2CRead(dev->I2cAddr, index, &buffer,1);
+ if(!status)
+ {
+ buffer=(buffer & AndData)|OrData;
+ status=VL6180X_I2CWrite(dev->I2cAddr, index, &buffer, (uint8_t)1);
+ }
+ }
+ return status;
+}
+
+int VL6180X::VL6180X_I2CWrite(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t* pBuffer, uint16_t NumByteToWrite)
+{
+ int ret;
+ int i;
+ uint8_t tmp[TEMP_BUF_SIZE];
+ uint16_t myRegisterAddr = RegisterAddr;
+ uint16_t WriteDeviceAddr=0;
+
+ /* First, prepare 8 bits device address in 7bits i2ci format */
+ WriteDeviceAddr=DeviceAddr*2;
+ if(NumByteToWrite >= TEMP_BUF_SIZE) return -2;
+
+ /* then prepare 16 bits register address in BE format. Then, send data and STOP condition */
+ tmp[0] = *(((uint8_t*)&myRegisterAddr)+1);
+ tmp[1] = (uint8_t)RegisterAddr;
+
+ if(NumByteToWrite>1) /* swap data endianess */
+ {
+ for(i=0;i<NumByteToWrite;i++)
+ {
+ tmp[NumByteToWrite+sizeof(RegisterAddr)-1-i]=pBuffer[i];
+ }
+ }
+ else
+ {
+ memcpy(tmp+sizeof(RegisterAddr), pBuffer, NumByteToWrite);
+ }
+ ret = _dev_i2c.write(WriteDeviceAddr, (const char*)tmp, NumByteToWrite+sizeof(RegisterAddr), false);
+
+ if(ret)
+ return -1;
+ return 0;
+}
+
+int VL6180X::VL6180X_I2CRead(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t* pBuffer, uint16_t NumByteToRead)
+{
+ int ret,i;
+ uint8_t tmp[TEMP_BUF_SIZE];
+ uint16_t myRegisterAddr = RegisterAddr;
+ uint16_t myRegisterAddrBE;
+ uint16_t ReadDeviceAddr=DeviceAddr;
+
+ ReadDeviceAddr=DeviceAddr*2;
+ myRegisterAddrBE = *(((uint8_t*)&myRegisterAddr)+1);
+ *(((uint8_t*)&myRegisterAddrBE)+1) = (uint8_t)myRegisterAddr;
+
+ /* Send 8 bits device address and 16 bits register address in BE format, with no STOP condition */
+ ret = _dev_i2c.write(ReadDeviceAddr, (const char*)&myRegisterAddrBE, sizeof(RegisterAddr), true);
+ if(!ret)
+ {
+ ReadDeviceAddr|=0x001;
+ /* Read data, with STOP condition */
+ ret = _dev_i2c.read(ReadDeviceAddr, (char*)tmp, NumByteToRead, false);
+ }
+ if(ret)
+ return -1;
+
+ if(NumByteToRead>1) /* swap data endianess */
+ {
+ for(i=0;i<NumByteToRead;i++)
+ {
+ pBuffer[i] = tmp[NumByteToRead-1-i];
+ }
+ }
+ else
+ {
+ memcpy(pBuffer, tmp, NumByteToRead);
+ }
+ return 0;
+}
+
+/******************************************************************************/
+
+int VL6180X::als_set_thresholds(uint16_t lux_threshold_low, uint16_t lux_threshold_high)
+{
+ uint32_t AlsAnGain, IntPeriod, AlsScaler, GainFix, RawAlsHigh, RawAlsLow;
+ uint16_t RawThreshLow, RawThreshHigh;
+ const uint32_t LuxResxIntIme =(uint32_t)(0.56f* DEF_INT_PEFRIOD *(1<<LUXRES_FIX_PREC));
+ void *p_low;
+ void *p_high;
+
+ AlsAnGain=VL6180XDevDataGet(_device, AlsGainCode);
+ IntPeriod=VL6180XDevDataGet(_device, IntegrationPeriod);
+ AlsScaler=VL6180XDevDataGet(_device, AlsScaler);
+ GainFix=AlsGainLookUp[AlsAnGain];
+ IntPeriod++;
+ RawAlsLow=lux_threshold_low*AlsScaler*GainFix;
+ RawAlsLow=RawAlsLow*IntPeriod;
+ RawAlsLow=RawAlsLow/LuxResxIntIme;
+ RawAlsHigh=lux_threshold_high*(AlsScaler*GainFix);
+ RawAlsHigh=RawAlsHigh*IntPeriod;
+ RawAlsHigh=RawAlsHigh/LuxResxIntIme;
+ p_low=&RawAlsLow;
+ RawThreshLow=*(uint16_t*)p_low;
+ p_high=&RawAlsHigh;
+ RawThreshHigh=*(uint16_t*)p_high;
+ return VL6180X_AlsSetThresholds(_device, RawThreshLow, RawThreshHigh);
+}
+
+int VL6180X::read_id(uint8_t *id)
+{
+ return VL6180X_RdByte(_device, IDENTIFICATION_MODEL_ID, id);
+}
+
+
+int VL6180X::start_measurement(operating_mode_t operating_mode, void (*fptr)(void), uint16_t low, uint16_t high)
+{
+ int status, r_status, l_status;
+
+ switch (operating_mode) {
+ case(range_single_shot_polling):
+ r_status=VL6180X_RangeConfigInterrupt(_device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
+ l_status=VL6180X_AlsConfigInterrupt(_device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ disable_gpio_x_out(1);
+ if((!r_status)&&(!l_status))
+ return RangeMeasPollSingleShot();
+ else
+ return (r_status|l_status);
+
+ case(als_single_shot_polling):
+ r_status=VL6180X_AlsConfigInterrupt(_device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
+ l_status=VL6180X_RangeConfigInterrupt(_device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ disable_gpio_x_out(1);
+ if((!r_status)&&(!l_status))
+ return AlsMeasPollSingleShot();
+ else
+ return (r_status|l_status);
+
+ case(range_continuous_polling):
+ r_status=VL6180X_RangeConfigInterrupt(_device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
+ l_status=VL6180X_AlsConfigInterrupt(_device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ return RangeMeasPollContinuousMode();
+ else
+ return (r_status|l_status);
+
+ case(als_continuous_polling):
+ r_status=VL6180X_AlsConfigInterrupt(_device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
+ l_status=VL6180X_RangeConfigInterrupt(_device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ return AlsMeasPollContinuousMode();
+ else
+ return (r_status|l_status);
+
+ case(range_continuous_interrupt):
+ if (_gpio1Int==NULL) return 1;
+ r_status=VL6180X_RangeConfigInterrupt(_device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
+ l_status=VL6180X_AlsConfigInterrupt(_device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ return RangeMeasIntContinuousMode(fptr);
+ else
+ return (r_status|l_status);
+
+ case(als_continuous_interrupt):
+ if (_gpio1Int==NULL) return 1;
+ l_status=VL6180X_AlsConfigInterrupt(_device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
+ r_status=VL6180X_RangeConfigInterrupt(_device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ return AlsMeasIntContinuousMode(fptr);
+ else
+ return (r_status|l_status);
+
+ case(interleaved_mode_interrupt):
+ if (_gpio1Int==NULL) return 1;
+ l_status=VL6180X_AlsConfigInterrupt(_device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
+ r_status=VL6180X_RangeConfigInterrupt(_device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ return InterleavedMode(fptr);
+ else
+ return (r_status|l_status);
+
+ case(range_continuous_polling_low_threshold):
+ r_status=VL6180X_RangeConfigInterrupt(_device, CONFIG_GPIO_INTERRUPT_LEVEL_LOW);
+ l_status=VL6180X_AlsConfigInterrupt(_device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ {
+ status=RangeSetLowThreshold(low);
+ if(!status)
+ return RangeMeasPollContinuousMode();
+ else
+ return status;
+ }
+ else
+ return (r_status|l_status);
+
+ case(range_continuous_polling_high_threshold):
+ r_status=VL6180X_RangeConfigInterrupt(_device, CONFIG_GPIO_INTERRUPT_LEVEL_HIGH);
+ l_status=VL6180X_AlsConfigInterrupt(_device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ {
+ status=RangeSetHighThreshold(high);
+ if(!status)
+ return RangeMeasPollContinuousMode();
+ else
+ return status;
+ }
+ else
+ return (r_status|l_status);
+
+ case(range_continuous_polling_out_of_window):
+ r_status=VL6180X_RangeConfigInterrupt(_device, CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW);
+ l_status=VL6180X_AlsConfigInterrupt(_device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ {
+ status=VL6180X_RangeSetThresholds(_device,low,high,1);
+ if(!status)
+ return RangeMeasPollContinuousMode();
+ else
+ return status;
+ }
+ else
+ return (r_status|l_status);
+
+ case(als_continuous_polling_low_threshold):
+ l_status=VL6180X_AlsConfigInterrupt(_device, CONFIG_GPIO_INTERRUPT_LEVEL_LOW);
+ r_status=VL6180X_RangeConfigInterrupt(_device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ {
+ status=AlsSetLowThreshold(low);
+ if(!status)
+ return AlsMeasPollContinuousMode();
+ else
+ return status;
+ }
+ else
+ return (r_status|l_status);
+
+ case(als_continuous_polling_high_threshold):
+ l_status=VL6180X_AlsConfigInterrupt(_device, CONFIG_GPIO_INTERRUPT_LEVEL_HIGH);
+ r_status=VL6180X_RangeConfigInterrupt(_device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ {
+ status=AlsSetHighThreshold(high);
+ if(!status)
+ return AlsMeasPollContinuousMode();
+ else
+ return status;
+ }
+ else
+ return (r_status|l_status);
+
+ case(als_continuous_polling_out_of_window):
+ l_status=VL6180X_AlsConfigInterrupt(_device, CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW);
+ r_status=VL6180X_RangeConfigInterrupt(_device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ {
+ status=VL6180X_AlsSetThresholds(_device,low,high);
+ if(!status)
+ return AlsMeasPollContinuousMode();
+ else
+ return status;
+ }
+ else
+ return (r_status|l_status);
+
+ case(range_continuous_interrupt_low_threshold):
+ if (_gpio1Int==NULL) return 1;
+ r_status=VL6180X_RangeConfigInterrupt(_device, CONFIG_GPIO_INTERRUPT_LEVEL_LOW);
+ l_status=VL6180X_AlsConfigInterrupt(_device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ {
+ status=RangeSetLowThreshold(low);
+ if(!status)
+ return RangeMeasIntContinuousMode(fptr);
+ else
+ return status;
+ }
+ else
+ return (r_status|l_status);
+
+ case(range_continuous_interrupt_high_threshold):
+ if (_gpio1Int==NULL) return 1;
+ r_status=VL6180X_RangeConfigInterrupt(_device, CONFIG_GPIO_INTERRUPT_LEVEL_HIGH);
+ l_status=VL6180X_AlsConfigInterrupt(_device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ {
+ status=RangeSetHighThreshold(high);
+ if(!status)
+ return RangeMeasIntContinuousMode(fptr);
+ else
+ return status;
+ }
+ else
+ return (r_status|l_status);
+
+ case(range_continuous_interrupt_out_of_window):
+ if (_gpio1Int==NULL) return 1;
+ r_status=VL6180X_RangeConfigInterrupt(_device, CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW);
+ l_status=VL6180X_AlsConfigInterrupt(_device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ {
+ status=VL6180X_RangeSetThresholds(_device,low,high,1);
+ if(!status)
+ return RangeMeasIntContinuousMode(fptr);
+ else
+ return status;
+ }
+ else
+ return (r_status|l_status);
+
+ case(als_continuous_interrupt_low_threshold):
+ if (_gpio1Int==NULL) return 1;
+ l_status=VL6180X_AlsConfigInterrupt(_device, CONFIG_GPIO_INTERRUPT_LEVEL_LOW);
+ r_status=VL6180X_RangeConfigInterrupt(_device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ {
+ status=AlsSetLowThreshold(low);
+ if(!status)
+ return AlsMeasIntContinuousMode(fptr);
+ else
+ return status;
+ }
+ else
+ return (r_status|l_status);
+
+ case(als_continuous_interrupt_high_threshold):
+ if (_gpio1Int==NULL) return 1;
+ l_status=VL6180X_AlsConfigInterrupt(_device, CONFIG_GPIO_INTERRUPT_LEVEL_HIGH);
+ r_status=VL6180X_RangeConfigInterrupt(_device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ {
+ status=AlsSetHighThreshold(high);
+ if(!status)
+ return AlsMeasIntContinuousMode(fptr);
+ else
+ return status;
+ }
+ else
+ return (r_status|l_status);
+
+ case(als_continuous_interrupt_out_of_window):
+ if (_gpio1Int==NULL) return 1;
+ l_status=VL6180X_AlsConfigInterrupt(_device, CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW);
+ r_status=VL6180X_RangeConfigInterrupt(_device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if((!r_status)&&(!l_status))
+ {
+ status=VL6180X_AlsSetThresholds(_device,low,high);
+ if(!status)
+ return AlsMeasIntContinuousMode(fptr);
+ else
+ return status;
+ }
+ else
+ return (r_status|l_status);
+
+ default:
+ return INVALID_PARAMS;
+ }
+}
+
+int VL6180X::GetRangeError(measure_data_t *Data, VL6180X_RangeData_t RangeData)
+{
+ Data->range_error=RangeData.errorStatus;
+ if(Data->range_error!=0)
+ {
+ VL6180X_ErrLog("Range error %d",Data->range_error);
+ return RANGE_ERROR;
+ }
+ return NoError_;
+}
+
+int VL6180X::GetAlsError(measure_data_t *Data, VL6180X_AlsData_t AlsData)
+{
+ Data->als_error=AlsData.errorStatus;
+ if(Data->als_error!=0)
+ {
+ VL6180X_ErrLog("Light error %d",Data->light_error);
+ return API_ERROR;
+ }
+ return NoError_;
+}
+
+int VL6180X::RangeMeasPollSingleShot()
+{
+ int status;
+
+ status=VL6180X_RangeClearInterrupt(_device);
+ if(status)
+ {
+ VL6180X_ErrLog("VL6180X_RangeClearInterrupt fail");
+ return status;
+ }
+ status=VL6180X_ClearErrorInterrupt(_device);
+ if(status)
+ {
+ VL6180X_ErrLog("VL6180X_ClearErrorInterrupt fail");
+ return status;
+ }
+ return range_start_single_shot();
+}
+
+
+int VL6180X::AlsMeasPollSingleShot()
+{
+ int status;
+
+ status=VL6180X_AlsClearInterrupt(_device);
+ if(status)
+ {
+ VL6180X_ErrLog("VL6180X_AlsClearInterrupt fail");
+ return status;
+ }
+ status=VL6180X_ClearErrorInterrupt(_device);
+ if(status)
+ {
+ VL6180X_ErrLog("VL6180X_ClearErrorInterrupt fail");
+ return status;
+ }
+ return als_start_single_shot();
+}
+
+
+int VL6180X::RangeMeasPollContinuousMode()
+{
+ int status;
+
+ status=VL6180X_RangeClearInterrupt(_device);
+ if(status)
+ {
+ VL6180X_ErrLog("VL6180X_RangeClearInterrupt fail");
+ return status;
+ }
+ status=VL6180X_ClearErrorInterrupt(_device);
+ if(status)
+ {
+ VL6180X_ErrLog("VL6180X_ClearErrorInterrupt fail");
+ return status;
+ }
+ return range_start_continuous_mode();
+}
+
+
+int VL6180X::AlsMeasPollContinuousMode()
+{
+ int status;
+
+ status=VL6180X_AlsClearInterrupt(_device);
+ if(status)
+ {
+ VL6180X_ErrLog("VL6180X_AlsClearInterrupt fail");
+ return status;
+ }
+ status=VL6180X_ClearErrorInterrupt(_device);
+ if(status)
+ {
+ VL6180X_ErrLog("VL6180X_ClearErrorInterrupt fail");
+ return status;
+ }
+ return als_start_continuous_mode();
+}
+
+
+int VL6180X::AlsGetMeasurementIfReady(VL6180XDev_t dev, VL6180X_AlsData_t *pAlsData)
+{
+ int status;
+ uint8_t IntStatus;
+
+ status=VL6180X_AlsGetInterruptStatus(dev, &IntStatus);
+ if(!status)
+ {
+ if(IntStatus==RES_INT_STAT_GPIO_NEW_SAMPLE_READY)
+ {
+ status = VL6180X_AlsGetMeasurement(dev, pAlsData);
+ if(!status)
+ {
+ status=VL6180X_AlsClearInterrupt(_device);
+ if(status)
+ VL6180X_ErrLog("VL6180X_AlsClearInterrupt fail");
+ }
+ }
+ else
+ status=NOT_READY;
+ }
+ else
+ VL6180X_ErrLog("Failed to get interrupt status");
+ return status;
+}
+
+
+int VL6180X::RangeMeasIntContinuousMode(void (*fptr)(void))
+{
+ int status, ClrStatus;
+
+ enable_interrupt_measure_detection_irq();
+ attach_interrupt_measure_detection_irq(fptr);
+ status=setup_gpio_1(GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT, 1);
+ ClrStatus=VL6180X_ClearAllInterrupt(_device);
+ if(ClrStatus)
+ VL6180X_ErrLog("VL6180X_ClearErrorInterrupt fail");
+ if(!status)
+ status=range_start_continuous_mode();
+ return status;
+}
+
+
+int VL6180X::AlsMeasIntContinuousMode(void (*fptr)(void))
+{
+ int status, ClrStatus;
+
+ enable_interrupt_measure_detection_irq();
+ attach_interrupt_measure_detection_irq(fptr);
+ status=setup_gpio_1(GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT, 1);
+ ClrStatus=VL6180X_ClearAllInterrupt(_device);
+ if(ClrStatus)
+ VL6180X_ErrLog("VL6180X_ClearErrorInterrupt fail");
+ if(!status)
+ status=als_start_continuous_mode();
+ return status;
+}
+
+
+int VL6180X::StartInterleavedMode()
+{
+ int status;
+ uint16_t integration_period, intermeasurement_period_ms;
+ uint8_t max_convergence_time;
+ uint8_t buf;
+
+ status=VL6180X_WrByte(_device, 0x2A3, 1);
+ if(status)
+ {
+ VL6180X_ErrLog("Failed to write INTERLEAVED_MODE_ENABLE!\n\r");
+ return status;
+ }
+ status=VL6180X_RdByte(_device, SYSRANGE_MAX_CONVERGENCE_TIME, &max_convergence_time);
+ if(status)
+ {
+ VL6180X_ErrLog("Failed to read SYSRANGE_MAX_CONVERGENCE_TIME!\n\r");
+ return status;
+ }
+ status=VL6180X_RdWord(_device, SYSALS_INTEGRATION_PERIOD, &integration_period);
+ if(status)
+ {
+ VL6180X_ErrLog("Failed to read SYSALS_INTEGRATION_PERIOD!\n\r");
+ return status;
+ }
+ max_convergence_time&=0x3F;
+ integration_period&=0x01FF;
+ intermeasurement_period_ms=((max_convergence_time+5)+(integration_period*1.1));
+ intermeasurement_period_ms=(intermeasurement_period_ms/0.9)+10;
+ intermeasurement_period_ms=200;
+ status=VL6180X_AlsSetInterMeasurementPeriod(_device, intermeasurement_period_ms);
+ VL6180X_RdByte(_device, 0x03E, &buf);
+ if(status)
+ {
+ VL6180X_ErrLog("Failed to write SYSALS_INTERMEASUREMENT_PERIOD!\n\r");
+ return status;
+ }
+ return als_start_continuous_mode();
+}
+
+
+int VL6180X::InterleavedMode(void (*fptr)(void))
+{
+ int status, ClrStatus;
+
+ enable_interrupt_measure_detection_irq();
+ attach_interrupt_measure_detection_irq(fptr);
+ status=setup_gpio_1(GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT, 1);
+ ClrStatus=VL6180X_ClearAllInterrupt(_device);
+ if(ClrStatus)
+ VL6180X_ErrLog("VL6180X_ClearErrorInterrupt fail");
+ if(!status)
+ status=StartInterleavedMode();
+ return status;
+}
+
+
+int VL6180X::handle_irq(operating_mode_t operating_mode, measure_data_t *Data)
+{
+ int status;
+ enable_interrupt_measure_detection_irq();
+ status=get_measurement(operating_mode, Data);
+ return status;
+}
+
+
+int VL6180X::RangeSetLowThreshold(uint16_t threshold)
+{
+ int status;
+ uint16_t low, high;
+
+ status=VL6180X_RangeGetThresholds(_device, &low, &high);
+ if(!status)
+ status=VL6180X_RangeSetThresholds(_device, threshold, high, 1);
+ return status;
+}
+
+
+int VL6180X::RangeSetHighThreshold(uint16_t threshold)
+{
+ int status;
+ uint16_t low, high;
+
+ status=VL6180X_RangeGetThresholds(_device, &low, &high);
+ if(!status)
+ status=VL6180X_RangeSetThresholds(_device, low, threshold, 1);
+ return status;
+}
+
+
+int VL6180X::AlsSetLowThreshold(uint16_t threshold)
+{
+ int status;
+ lux_t low, high;
+
+ status=AlsGetThresholds(_device, &low, &high);
+ if(!status)
+ status=VL6180X_AlsSetThresholds(_device, threshold, high);
+ return status;
+}
+
+
+int VL6180X::AlsSetHighThreshold(uint16_t threshold)
+{
+ int status;
+ lux_t low, high;
+
+ status=AlsGetThresholds(_device, &low, &high);
+ if(!status)
+ status=VL6180X_AlsSetThresholds(_device, low, threshold);
+ return status;
+}
+
+
+int VL6180X::AlsGetThresholds(VL6180XDev_t dev, lux_t *low, lux_t *high)
+{
+ int status;
+ uint16_t RawAlsLow, RawAlsHigh;
+ uint32_t luxLowValue, luxHighValue, IntPeriod, AlsAnGain, GainFix, AlsScaler;
+ const uint32_t LuxResxIntIme =(uint32_t)(0.56f* DEF_INT_PEFRIOD *(1<<LUXRES_FIX_PREC));
+
+ status=VL6180X_RdWord(dev, SYSALS_THRESH_LOW, &RawAlsLow);
+ if(status)
+ {
+ VL6180X_ErrLog("rd SYSALS_THRESH_LOW fail");
+ return status;
+ }
+ status=VL6180X_RdWord(dev, SYSALS_THRESH_HIGH, &RawAlsHigh);
+ if(status)
+ {
+ VL6180X_ErrLog("rd SYSALS_THRESH_HIGH fail");
+ return status;
+ }
+ AlsAnGain=VL6180XDevDataGet(dev, AlsGainCode);
+ IntPeriod=VL6180XDevDataGet(dev, IntegrationPeriod);
+ AlsScaler=VL6180XDevDataGet(dev, AlsScaler);
+ GainFix=AlsGainLookUp[AlsAnGain];
+ IntPeriod++;
+ luxLowValue=(uint32_t)RawAlsLow*LuxResxIntIme;
+ luxLowValue=luxLowValue/IntPeriod;
+ luxLowValue=luxLowValue/(AlsScaler*GainFix);
+ luxHighValue=(uint32_t)RawAlsHigh*LuxResxIntIme;
+ luxHighValue=luxHighValue/IntPeriod;
+ luxHighValue=luxHighValue/(AlsScaler*GainFix);
+ *low=luxLowValue;
+ *high=luxHighValue;
+ return status;
+}
+
+
+int VL6180X::get_measurement(operating_mode_t operating_mode, measure_data_t *Data)
+{
+ switch(operating_mode)
+ {
+ case(range_single_shot_polling):
+ case(range_continuous_polling):
+ case(range_continuous_interrupt):
+ case(range_continuous_polling_low_threshold):
+ case(range_continuous_polling_high_threshold):
+ case(range_continuous_polling_out_of_window):
+ case(range_continuous_interrupt_low_threshold):
+ case(range_continuous_interrupt_high_threshold):
+ case(range_continuous_interrupt_out_of_window):
+ return GetRangeMeas(operating_mode, Data);
+
+ case(als_single_shot_polling):
+ case(als_continuous_polling):
+ case(als_continuous_interrupt):
+ case(als_continuous_polling_low_threshold):
+ case(als_continuous_polling_high_threshold):
+ case(als_continuous_polling_out_of_window):
+ case(als_continuous_interrupt_low_threshold):
+ case(als_continuous_interrupt_high_threshold):
+ case(als_continuous_interrupt_out_of_window):
+ return GetAlsMeas(operating_mode, Data);
+
+ case(interleaved_mode_interrupt):
+ return GetRangeAlsMeas(Data);
+
+ default:
+ return INVALID_PARAMS;
+ }
+}
+
+
+int VL6180X::GetRangeMeas(operating_mode_t operating_mode, measure_data_t *Data)
+{
+ VL6180X_RangeData_t RangeData;
+ int status, ClrStatus;
+ IntrStatus_t IntStatus;
+
+ status=VL6180X_RangeGetInterruptStatus(_device, &IntStatus.val);
+ if(!status)
+ {
+ Data->int_error=IntStatus.status.Error;
+ if(IntStatus.status.Error!=0)
+ {
+ VL6180X_ErrLog("GPIO int Error report %d",(int)IntStatus.val);
+ status=RANGE_ERROR;
+ }
+ }
+ else
+ {
+ VL6180X_ErrLog("Failed to read RESULT_INTERRUPT_STATUS_GPIO");
+ }
+ ClrStatus=VL6180X_RangeClearInterrupt(_device);
+ if(ClrStatus)
+ {
+ VL6180X_ErrLog("VL6180X_RangeClearInterrupt fail");
+ }
+ ClrStatus=VL6180X_ClearErrorInterrupt(_device);
+ if(ClrStatus)
+ {
+ VL6180X_ErrLog("VL6180X_ClearErrorInterrupt fail");
+ }
+ if(status)
+ return status;
+ if((operating_mode==range_single_shot_polling)||(operating_mode==range_continuous_polling)||(operating_mode==range_continuous_interrupt))
+ {
+ if(IntStatus.status.Range==RES_INT_STAT_GPIO_NEW_SAMPLE_READY)
+ status=VL6180X_RangeGetMeasurement(_device, &RangeData);
+ else
+ return NOT_READY;
+ }
+ else if((operating_mode==range_continuous_polling_low_threshold)||(operating_mode==range_continuous_interrupt_low_threshold))
+ {
+ if(IntStatus.status.Range==RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD)
+ status=VL6180X_RangeGetMeasurement(_device, &RangeData);
+ else
+ return NOT_READY;
+ }
+ else if((operating_mode==range_continuous_polling_high_threshold)||(operating_mode==range_continuous_interrupt_high_threshold))
+ {
+ if(IntStatus.status.Range==RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD)
+ status=VL6180X_RangeGetMeasurement(_device, &RangeData);
+ else
+ return NOT_READY;
+ }
+ else if((operating_mode==range_continuous_polling_out_of_window)||(operating_mode==range_continuous_interrupt_out_of_window))
+ {
+ if(IntStatus.status.Range==RES_INT_STAT_GPIO_OUT_OF_WINDOW)
+ status=VL6180X_RangeGetMeasurement(_device, &RangeData);
+ else
+ return NOT_READY;
+ }
+ if(!status)
+ {
+ status=GetRangeError(Data, RangeData);
+ if(!status)
+ Data->range_mm=RangeData.range_mm;
+ else
+ Data->range_mm=0xFFFFFFFF;
+ }
+ return status;
+}
+
+
+int VL6180X::GetAlsMeas(operating_mode_t operating_mode, measure_data_t *Data)
+{
+ VL6180X_AlsData_t AlsData;
+ int status, ClrStatus;
+ uint8_t IntStatus;
+
+ status=VL6180X_AlsGetInterruptStatus(_device, &IntStatus);
+ if(status)
+ {
+ VL6180X_ErrLog("Failed to read RESULT_INTERRUPT_STATUS_GPIO");
+ }
+ ClrStatus=VL6180X_AlsClearInterrupt(_device);
+ if(ClrStatus)
+ {
+ VL6180X_ErrLog("VL6180X_AlsClearInterrupt fail");
+ }
+ ClrStatus=VL6180X_ClearErrorInterrupt(_device);
+ if(ClrStatus)
+ {
+ VL6180X_ErrLog("VL6180X_ClearErrorInterrupt fail");
+ }
+ if(status)
+ return status;
+ if((operating_mode==als_single_shot_polling)||(operating_mode==als_continuous_polling)||(operating_mode==als_continuous_interrupt))
+ {
+ if(IntStatus==RES_INT_STAT_GPIO_NEW_SAMPLE_READY)
+ status=VL6180X_AlsGetMeasurement(_device, &AlsData);
+ else
+ return NOT_READY;
+ }
+ else if((operating_mode==als_continuous_polling_low_threshold)||(operating_mode==als_continuous_interrupt_low_threshold))
+ {
+ if(IntStatus==RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD)
+ status=VL6180X_AlsGetMeasurement(_device, &AlsData);
+ else
+ return NOT_READY;
+ }
+ else if((operating_mode==als_continuous_polling_high_threshold)||(operating_mode==als_continuous_interrupt_high_threshold))
+ {
+ if(IntStatus==RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD)
+ status=VL6180X_AlsGetMeasurement(_device, &AlsData);
+ else
+ return NOT_READY;
+ }
+ else if((operating_mode==als_continuous_polling_out_of_window)||(operating_mode==als_continuous_interrupt_out_of_window))
+ {
+ if(IntStatus==RES_INT_STAT_GPIO_OUT_OF_WINDOW)
+ status=VL6180X_AlsGetMeasurement(_device, &AlsData);
+ else
+ return NOT_READY;
+ }
+ if(!status)
+ {
+ status=GetAlsError(Data, AlsData);
+ if(!status)
+ Data->lux=AlsData.lux;
+ else
+ Data->lux=0xFFFFFFFF;
+ }
+ return status;
+}
+
+
+int VL6180X::GetRangeAlsMeas(measure_data_t *Data)
+{
+ int status, ClrStatus, r_status, l_status;
+ IntrStatus_t IntStatus;
+ VL6180X_RangeData_t RangeData;
+ VL6180X_AlsData_t AlsData;
+
+ status=VL6180X_RdByte(_device, RESULT_INTERRUPT_STATUS_GPIO, &IntStatus.val);
+ if(!status)
+ {
+ Data->int_error=IntStatus.status.Error;
+ if(IntStatus.status.Error!=0)
+ {
+ VL6180X_ErrLog("GPIO int Error report %d",(int)IntStatus.val);
+ status=RANGE_ERROR;
+ }
+ }
+ else
+ {
+ VL6180X_ErrLog("Failed to read RESULT_INTERRUPT_STATUS_GPIO");
+ }
+ ClrStatus=VL6180X_ClearAllInterrupt(_device);
+ if(ClrStatus)
+ VL6180X_ErrLog("VL6180X_ClearAllInterrupt fail");
+ if(status)
+ return status;
+
+ if(IntStatus.status.Als==RES_INT_STAT_GPIO_NEW_SAMPLE_READY)
+ {
+ r_status=VL6180X_RangeGetMeasurement(_device, &RangeData);
+ l_status=VL6180X_AlsGetMeasurement(_device, &AlsData);
+ if((!r_status)&&(!l_status))
+ {
+ r_status=GetRangeError(Data, RangeData);
+ l_status=GetAlsError(Data, AlsData);
+ if(!r_status)
+ Data->range_mm=RangeData.range_mm;
+ else
+ Data->range_mm=0xFFFFFFFF;
+ if(!l_status)
+ Data->lux=AlsData.lux;
+ else
+ Data->lux=0xFFFFFFFF;
+ status=r_status|l_status;
+ }
+ else
+ {
+ status=r_status|l_status;
+ }
+ }
+ else
+ return NOT_READY;
+ return status;
+}
+
+
+int VL6180X::stop_measurement(operating_mode_t operating_mode)
+{
+ int status;
+
+ switch(operating_mode)
+ {
+ case(range_single_shot_polling):
+ case(range_continuous_polling):
+ case(range_continuous_interrupt):
+ case(range_continuous_polling_low_threshold):
+ case(range_continuous_polling_high_threshold):
+ case(range_continuous_polling_out_of_window):
+ case(range_continuous_interrupt_low_threshold):
+ case(range_continuous_interrupt_high_threshold):
+ case(range_continuous_interrupt_out_of_window):
+ return StopRangeMeasurement(operating_mode);
+
+ case(als_single_shot_polling):
+ case(als_continuous_polling):
+ case(als_continuous_interrupt):
+ case(als_continuous_polling_low_threshold):
+ case(als_continuous_polling_high_threshold):
+ case(als_continuous_polling_out_of_window):
+ case(als_continuous_interrupt_low_threshold):
+ case(als_continuous_interrupt_high_threshold):
+ case(als_continuous_interrupt_out_of_window):
+ return StopAlsMeasurement(operating_mode);
+
+ case(interleaved_mode_interrupt):
+ status=StopRangeMeasurement(range_continuous_interrupt);
+ if(!status)
+ return StopAlsMeasurement(als_continuous_interrupt);
+ else return status;
+
+ default:
+ return INVALID_PARAMS;
+ }
+}
+
+
+int VL6180X::IsPresent()
+{
+ int status; uint8_t id;
+
+ status=read_id(&id);
+ if(status)
+ VL6180X_ErrLog("Failed to read ID device. _device not present!\n\r");
+ return status;
+}
+
+
+int VL6180X::StopRangeMeasurement(operating_mode_t operating_mode)
+{
+ int status;
+
+ if(operating_mode==range_single_shot_polling)
+ status=VL6180X_RangeSetSystemMode(_device, MODE_SINGLESHOT);
+ else
+ status=VL6180X_RangeSetSystemMode(_device, MODE_START_STOP|MODE_SINGLESHOT);
+ if(status)
+ return status;
+ status=VL6180X_RangeConfigInterrupt(_device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if(status)
+ {
+ VL6180X_ErrLog("VL6180X_RangeConfigInterrupt fail"\n\r);
+ return status;
+ }
+ status=VL6180X_RangeClearInterrupt(_device);
+ if(status)
+ {
+ VL6180X_ErrLog("VL6180X_RangeClearInterrupt fail");
+ return status;
+ }
+ status=VL6180X_ClearErrorInterrupt(_device);
+ if(status)
+ {
+ VL6180X_ErrLog("VL6180X_ClearErrorInterrupt fail");
+ return status;
+ }
+ status=VL6180X_RangeSetRawThresholds(_device, 10, 200);
+ if(status)
+ VL6180X_ErrLog("VL6180X_RangeSetThresholds fail");
+ return status;
+}
+
+
+int VL6180X::StopAlsMeasurement(operating_mode_t operating_mode)
+{
+ int status;
+
+ if(operating_mode==als_single_shot_polling)
+ status=VL6180X_AlsSetSystemMode(_device, MODE_SINGLESHOT);
+ else
+ status=VL6180X_AlsSetSystemMode(_device, MODE_START_STOP|MODE_SINGLESHOT);
+ if(status)
+ return status;
+ status=VL6180X_AlsConfigInterrupt(_device, CONFIG_GPIO_INTERRUPT_DISABLED);
+ if(status)
+ {
+ VL6180X_ErrLog("VL6180X_AlsConfigInterrupt fail"\n\r);
+ return status;
+ }
+ status=VL6180X_AlsClearInterrupt(_device);
+ if(status)
+ {
+ VL6180X_ErrLog("VL6180X_AlsClearInterrupt fail");
+ return status;
+ }
+ status=VL6180X_ClearErrorInterrupt(_device);
+ if(status)
+ {
+ VL6180X_ErrLog("VL6180X_ClearErrorInterrupt fail");
+ return status;
+ }
+ status=VL6180X_AlsSetThresholds(_device, 0x0, 1800);
+ if(status)
+ VL6180X_ErrLog("VL6180X_AlsSetThresholds fail");
+ return status;
+}
+
+
+
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/VL6180X/VL6180X.h Mon Mar 13 19:08:10 2017 +0000
@@ -0,0 +1,1271 @@
+/**
+ ******************************************************************************
+ * @file VL6180X.h
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 9-November-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 __VL6180X_CLASS_H
+#define __VL6180X_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include "RangeSensor.h"
+#include "LightSensor.h"
+#include "DevI2C.h"
+//#include "vl6180x_api.h"
+#include "vl6180x_cfg.h"
+#include "vl6180x_def.h"
+#include "vl6180x_types.h"
+#include "vl6180x_platform.h"
+#include "STMPE1600.h"
+
+
+/* Definitions ---------------------------------------------------------------*/
+
+/**
+ * @brief Clear error interrupt
+ *
+ * @param dev The device
+ * @return 0 On success
+ */
+#define VL6180X_ClearErrorInterrupt(dev) VL6180X_ClearInterrupt(dev, INTERRUPT_CLEAR_ERROR)
+
+/**
+ * @brief Clear All interrupt causes (als+range+error)
+ *
+ * @param dev The device
+ * @return 0 On success
+ */
+#define VL6180X_ClearAllInterrupt(dev) VL6180X_ClearInterrupt(dev, INTERRUPT_CLEAR_ERROR|INTERRUPT_CLEAR_RANGING|INTERRUPT_CLEAR_ALS)
+
+/**
+ * Default device address
+ */
+#define DEFAULT_DEVICE_ADDRESS 0x29
+
+/* Types ---------------------------------------------------------------------*/
+
+/* data struct containing range measure, light measure and type of error provided to the user
+ in case of invalid data range_mm=0xFFFFFFFF and lux=0xFFFFFFFF */
+typedef struct MeasureData
+{
+ uint32_t range_mm;
+ uint32_t lux;
+ uint32_t range_error;
+ uint32_t als_error;
+ uint32_t int_error;
+} measure_data_t;
+
+/* sensor operating modes */
+typedef enum
+{
+ range_single_shot_polling=1,
+ als_single_shot_polling,
+ range_continuous_polling,
+ als_continuous_polling,
+ range_continuous_interrupt,
+ als_continuous_interrupt,
+ interleaved_mode_interrupt,
+ range_continuous_polling_low_threshold,
+ range_continuous_polling_high_threshold,
+ range_continuous_polling_out_of_window,
+ als_continuous_polling_low_threshold,
+ als_continuous_polling_high_threshold,
+ als_continuous_polling_out_of_window,
+ range_continuous_interrupt_low_threshold,
+ range_continuous_interrupt_high_threshold,
+ range_continuous_interrupt_out_of_window,
+ als_continuous_interrupt_low_threshold,
+ als_continuous_interrupt_high_threshold,
+ als_continuous_interrupt_out_of_window,
+ range_continuous_als_single_shot,
+ range_single_shot_als_continuous,
+} operating_mode_t;
+
+
+/* Classes -------------------------------------------------------------------*/
+
+/**
+ * Class representing a VL6180X sensor component
+ */
+class VL6180X : public RangeSensor, public LightSensor
+{
+public:
+ /** Constructor 1 (DigitalOut)
+ * @param[in] &i2c device I2C to be used for communication
+ * @param[in] &pin Mbed DigitalOut pin to be used as component GPIO_0 CE
+ * @param[in] &pin_gpio1 pin Mbed InterruptIn PinName to be used as component GPIO_1 INT
+ * @param[in] DevAddr device address, 0x29 by default
+ */
+ VL6180X(DevI2C &i2c, DigitalOut &pin, PinName pin_gpio1, uint8_t DevAddr=DEFAULT_DEVICE_ADDRESS) : RangeSensor(), LightSensor(), _dev_i2c(i2c), _gpio0(&pin)
+ {
+ _my_device.I2cAddr=DevAddr;
+ _my_device.Present=0;
+ _my_device.Ready=0;
+ _device=&_my_device;;
+ _expgpio0=NULL;
+ if (pin_gpio1 != NC) {
+ _gpio1Int = new InterruptIn(pin_gpio1);
+ } else {
+ _gpio1Int = NULL;
+ }
+ }
+ /** Constructor 2 (STMPE1600DigiOut)
+ * @param[in] i2c device I2C to be used for communication
+ * @param[in] &pin Gpio Expander STMPE1600DigiOut pin to be used as component GPIO_0 CE
+ * @param[in] pin_gpio1 pin Mbed InterruptIn PinName to be used as component GPIO_1 INT
+ * @param[in] device address, 0x29 by default
+ */
+ VL6180X(DevI2C &i2c, STMPE1600DigiOut &pin, PinName pin_gpio1, uint8_t DevAddr=DEFAULT_DEVICE_ADDRESS) : RangeSensor(), LightSensor(), _dev_i2c(i2c), _expgpio0(&pin)
+ {
+ _my_device.I2cAddr=DevAddr;
+ _my_device.Present=0;
+ _my_device.Ready=0;
+ _device=&_my_device;
+ _gpio0=NULL;
+ if (pin_gpio1 != NC) {
+ _gpio1Int = new InterruptIn(pin_gpio1);
+ } else {
+ _gpio1Int = NULL;
+ }
+ }
+
+ /** Destructor
+ */
+ virtual ~VL6180X() {
+ if (_gpio1Int != NULL) {
+ delete _gpio1Int;
+ }
+ }
+
+ /* warning: VL6180X class inherits from GenericSensor, RangeSensor and LightSensor, that haven`t a destructor.
+ The warning should request to introduce a virtual destructor to make sure to delete the object */
+
+ /*** Interface Methods ***/
+ /*** High level API ***/
+ /**
+ * @brief PowerOn the sensor
+ * @return void
+ */
+ /* turns on the sensor */
+ void on(void)
+ {
+ if (_gpio0) {
+ *_gpio0=1;
+ } else if(_expgpio0) {
+ *_expgpio0=1;
+ }
+ _my_device.I2cAddr=DEFAULT_DEVICE_ADDRESS;
+ _my_device.Ready=0;
+ }
+
+ /**
+ * @brief PowerOff the sensor
+ * @return void
+ */
+ /* turns off the sensor */
+ void off(void)
+ {
+ if (_gpio0) {
+ *_gpio0=0;
+ } else if(_expgpio0) {
+ *_expgpio0=0;
+ }
+ _my_device.I2cAddr=DEFAULT_DEVICE_ADDRESS;
+ _my_device.Ready=0;
+ }
+
+ /**
+ * @brief Start the measure indicated by operating mode
+ * @param[in] operating_mode specifies requested measure
+ * @param[in] fptr specifies call back function must be !NULL in case of interrupt measure
+ * @param[in] low specifies measure low threashold in Lux or in mm according to measure
+ * @param[in] high specifies measure high threashold in Lux or in mm according to measure
+ * @return 0 on Success
+ */
+ int start_measurement(operating_mode_t operating_mode, void (*fptr)(void), uint16_t low, uint16_t high);
+
+ /**
+ * @brief Get results for the measure indicated by operating mode
+ * @param[in] operating_mode specifies requested measure results
+ * @param[out] Data pointer to the measure_data_t structure to read data in to
+ * @return 0 on Success
+ */
+ int get_measurement(operating_mode_t operating_mode, measure_data_t *Data);
+
+ /**
+ * @brief Stop the currently running measure indicate by operating_mode
+ * @param[in] operating_mode specifies requested measure to stop
+ * @return 0 on Success
+ */
+ int stop_measurement(operating_mode_t operating_mode);
+
+ /**
+ * @brief Interrupt handling func to be called by user after an INT is occourred
+ * @param[in] opeating_mode indicating the in progress measure
+ * @param[out] Data pointer to the measure_data_t structure to read data in to
+ * @return 0 on Success
+ */
+ int handle_irq(operating_mode_t operating_mode, measure_data_t *Data);
+
+ /**
+ * @brief Enable interrupt measure IRQ
+ * @return 0 on Success
+ */
+ void enable_interrupt_measure_detection_irq(void)
+ {
+ if (_gpio1Int != NULL) {
+ _gpio1Int->enable_irq();
+ }
+ }
+
+ /**
+ * @brief Disable interrupt measure IRQ
+ * @return 0 on Success
+ */
+ void disable_interrupt_measure_detection_irq(void)
+ {
+ if (_gpio1Int != NULL) {
+ _gpio1Int->disable_irq();
+ }
+ }
+ /*** End High level API ***/
+
+ /**
+ * @brief Attach a function to call when an interrupt is detected, i.e. measurement is ready
+ * @param[in] fptr pointer to call back function to be called whenever an interrupt occours
+ * @return 0 on Success
+ */
+ void attach_interrupt_measure_detection_irq(void (*fptr)(void))
+ {
+ if (_gpio1Int != NULL) {
+ _gpio1Int->rise(fptr);
+ }
+ }
+
+ /**
+ * @brief Check the sensor presence
+ * @return 1 when device is present
+ */
+ unsigned present()
+ {
+ return _device->Present;
+ }
+
+ /** Wrapper functions */
+ /** @defgroup api_init Init functions
+ * @brief API init functions
+ * @ingroup api_hl
+ * @{
+ */
+ /**
+ * @brief Wait for device booted after chip enable (hardware standby)
+ * @par Function Description
+ * After Chip enable Application you can also simply wait at least 1ms to ensure device is ready
+ * @warning After device chip enable (_gpio0) de-asserted user must wait gpio1 to get asserted (hardware standby).
+ * or wait at least 400usec prior to do any low level access or api call .
+ *
+ * This function implements polling for standby but you must ensure 400usec from chip enable passed\n
+ * @warning if device get prepared @a VL6180X_Prepare() re-using these function can hold indefinitely\n
+ *
+ * @param void
+ * @return 0 on success
+ */
+ int wait_device_booted()
+ {
+ return VL6180X_WaitDeviceBooted(_device);
+ }
+
+ /**
+ *
+ * @brief One time device initialization
+ *
+ * To be called once and only once after device is brought out of reset (Chip enable) and booted see @a VL6180X_WaitDeviceBooted()
+ *
+ * @par Function Description
+ * When not used after a fresh device "power up" or reset, it may return @a #CALIBRATION_WARNING
+ * meaning wrong calibration data may have been fetched from device that can result in ranging offset error\n
+ * If application cannot execute device reset or need to run VL6180X_InitData multiple time
+ * then it must ensure proper offset calibration saving and restore on its own
+ * by using @a VL6180X_GetOffsetCalibrationData() on first power up and then @a VL6180X_SetOffsetCalibrationData() all all subsequent init
+ *
+ * @param void
+ * @return 0 on success, @a #CALIBRATION_WARNING if failed
+ */
+ virtual int init(void * NewAddr)
+ {
+ int status;
+
+ off();
+ on();
+
+ status=VL6180X_WaitDeviceBooted(_device);
+ if(status) {
+ VL6180X_ErrLog("WaitDeviceBooted fail\n\r");
+ }
+ status=IsPresent();
+ if(!status) {
+ _device->Present=1;
+ VL6180X_InitData(_device);
+ if(status) {
+ printf("Failed to init VL6180X sensor!\n\r");
+ return status;
+ }
+ status=prepare();
+ if(status) {
+ printf("Failed to prepare VL6180X!\n\r");
+ return status;
+ }
+ if(*(uint8_t*)NewAddr!=DEFAULT_DEVICE_ADDRESS) {
+ status=set_i2c_address(*(uint8_t*)NewAddr);
+ if(status) {
+ printf("Failed to change I2C address!\n\r");
+ return status;
+ }
+ }
+ _device->Ready=1;
+ }
+ return status;
+ }
+
+ /**
+ * @brief Configure GPIO1 function and set polarity.
+ * @par Function Description
+ * To be used prior to arm single shot measure or start continuous mode.
+ *
+ * The function uses @a VL6180X_SetupGPIOx() for setting gpio 1.
+ * @warning changing polarity can generate a spurious interrupt on pins.
+ * It sets an interrupt flags condition that must be cleared to avoid polling hangs. \n
+ * It is safe to run VL6180X_ClearAllInterrupt() just after.
+ *
+ * @param IntFunction The interrupt functionality to use one of :\n
+ * @a #GPIOx_SELECT_OFF \n
+ * @a #GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT
+ * @param ActiveHigh The interrupt line polarity see ::IntrPol_e
+ * use @a #INTR_POL_LOW (falling edge) or @a #INTR_POL_HIGH (rising edge)
+ * @return 0 on success
+ */
+ int setup_gpio_1(uint8_t InitFunction, int ActiveHigh)
+ {
+ return VL6180X_SetupGPIO1(_device, InitFunction, ActiveHigh);
+ }
+
+ /**
+ * @brief Prepare device for operation
+ * @par Function Description
+ * Does static initialization and reprogram common default settings \n
+ * _device is prepared for new measure, ready single shot ranging or ALS typical polling operation\n
+ * After prepare user can : \n
+ * @li Call other API function to set other settings\n
+ * @li Configure the interrupt pins, etc... \n
+ * @li Then start ranging or ALS operations in single shot or continuous mode
+ *
+ * @param void
+ * @return 0 on success
+ */
+ int prepare()
+ {
+ return VL6180X_Prepare(_device);
+ }
+
+ /**
+ * @brief Start continuous ranging mode
+ *
+ * @details End user should ensure device is in idle state and not already running
+ * @return 0 on success
+ */
+ int range_start_continuous_mode()
+ {
+ return VL6180X_RangeStartContinuousMode(_device);
+ }
+
+ /**
+ * @brief Start single shot ranging measure
+ *
+ * @details End user should ensure device is in idle state and not already running
+ * @return 0 on success
+ */
+ int range_start_single_shot()
+ {
+ return VL6180X_RangeStartSingleShot(_device);
+ }
+
+ /**
+ * @brief Set maximum convergence time
+ *
+ * @par Function Description
+ * Setting a low convergence time can impact maximal detectable distance.
+ * Refer to VL6180X Datasheet Table 7 : Typical range convergence time.
+ * A typical value for up to x3 scaling is 50 ms
+ *
+ * @param MaxConTime_msec
+ * @return 0 on success. <0 on error. >0 for calibration warning status
+ */
+ int range_set_max_convergence_time(uint8_t MaxConTime_msec)
+ {
+ return VL6180X_RangeSetMaxConvergenceTime(_device, MaxConTime_msec);
+ }
+
+ /**
+ * @brief Single shot Range measurement in polling mode.
+ *
+ * @par Function Description
+ * Kick off a new single shot range then wait for ready to retrieve it by polling interrupt status \n
+ * Ranging must be prepared by a first call to @a VL6180X_Prepare() and it is safer to clear very first poll call \n
+ * This function reference VL6180X_PollDelay(dev) porting macro/call on each polling loop,
+ * but PollDelay(dev) may never be called if measure in ready on first poll loop \n
+ * Should not be use in continuous mode operation as it will stop it and cause stop/start misbehaviour \n
+ * \n This function clears Range Interrupt status , but not error one. For that uses @a VL6180X_ClearErrorInterrupt() \n
+ * This range error is not related VL6180X_RangeData_t::errorStatus that refer measure status \n
+ *
+ * @param pRangeData Will be populated with the result ranging data @a VL6180X_RangeData_t
+ * @return 0 on success , @a #RANGE_ERROR if device reports an error case in it status (not cleared) use
+ *
+ * \sa ::VL6180X_RangeData_t
+ */
+ int range_poll_measurement(VL6180X_RangeData_t *pRangeData)
+ {
+ return VL6180X_RangePollMeasurement(_device, pRangeData);
+ }
+
+ /**
+ * @brief Check for measure readiness and get it if ready
+ *
+ * @par Function Description
+ * Using this function is an alternative to @a VL6180X_RangePollMeasurement() to avoid polling operation. This is suitable for applications
+ * where host CPU is triggered on a interrupt (not from VL6180X) to perform ranging operation. In this scenario, we assume that the very first ranging
+ * operation is triggered by a call to @a VL6180X_RangeStartSingleShot(). Then, host CPU regularly calls @a VL6180X_RangeGetMeasurementIfReady() to
+ * get a distance measure if ready. In case the distance is not ready, host may get it at the next call.\n
+ *
+ * @warning
+ * This function does not re-start a new measurement : this is up to the host CPU to do it.\n
+ * This function clears Range Interrupt for measure ready , but not error interrupts. For that, uses @a VL6180X_ClearErrorInterrupt() \n
+ *
+ * @param pRangeData Will be populated with the result ranging data if available
+ * @return 0 when measure is ready pRange data is updated (untouched when not ready), >0 for warning and @a #NOT_READY if measurement not yet ready, <0 for error @a #RANGE_ERROR if device report an error,
+ */
+ int _range_get_measurement_if_ready(VL6180X_RangeData_t *pRangeData)
+ {
+ return VL6180X_RangeGetMeasurementIfReady(_device, pRangeData);
+ }
+
+ /**
+ * @brief Retrieve range measurements set from device
+ *
+ * @par Function Description
+ * The measurement is made of range_mm status and error code @a VL6180X_RangeData_t \n
+ * Based on configuration selected extra measures are included.
+ *
+ * @warning should not be used in continuous if wrap around filter is active \n
+ * Does not perform any wait nor check for result availability or validity.
+ *\sa VL6180X_RangeGetResult for "range only" measurement
+ *
+ * @param pRangeData Pointer to the data structure to fill up
+ * @return 0 on success
+ */
+ int range_get_measurement(VL6180X_RangeData_t *pRangeData)
+ {
+ return VL6180X_RangeGetMeasurement(_device, pRangeData);
+ }
+
+ /**
+ * @brief Get a single distance measure result
+ *
+ * @par Function Description
+ * It can be called after having initialized a component. It start a single
+ * distance measure in polling mode and wait until the measure is finisched.
+ * The function block until the measure is finished, it can blocks indefinitely
+ * in case the measure never ends for any reason \n
+ *
+ * @param pi_data Pointer to distance
+ * @return 0 on success
+ */
+ virtual int get_distance(uint32_t *pi_data)
+ {
+ int status=0;
+ LOG_FUNCTION_START("");
+ status=start_measurement(range_single_shot_polling, NULL, NULL, NULL);
+ if (!status) {
+ range_wait_device_ready(2000);
+ for (status=1; status!=0; status=VL6180X_RangeGetResult(_device, pi_data));
+ }
+ stop_measurement(range_single_shot_polling);
+ range_wait_device_ready(2000);
+ LOG_FUNCTION_END(status);
+
+ return status;
+ }
+
+ /**
+ * @brief Configure ranging interrupt reported to application
+ *
+ * @param ConfigGpioInt Select ranging report\n select one (and only one) of:\n
+ * @a #CONFIG_GPIO_INTERRUPT_DISABLED \n
+ * @a #CONFIG_GPIO_INTERRUPT_LEVEL_LOW \n
+ * @a #CONFIG_GPIO_INTERRUPT_LEVEL_HIGH \n
+ * @a #CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW \n
+ * @a #CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY
+ * @return 0 on success
+ */
+ int range_config_interrupt(uint8_t ConfigGpioInt)
+ {
+ return VL6180X_RangeConfigInterrupt(_device, ConfigGpioInt);
+ }
+
+ /**
+ * @brief Return ranging error interrupt status
+ *
+ * @par Function Description
+ * Appropriate Interrupt report must have been selected first by @a VL6180X_RangeConfigInterrupt() or @a VL6180X_Prepare() \n
+ *
+ * Can be used in polling loop to wait for a given ranging event or in interrupt to read the trigger \n
+ * Events triggers are : \n
+ * @a #RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD \n
+ * @a #RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD \n
+ * @a #RES_INT_STAT_GPIO_OUT_OF_WINDOW \n (RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD|RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD)
+ * @a #RES_INT_STAT_GPIO_NEW_SAMPLE_READY \n
+ *
+ * @sa IntrStatus_t
+ * @param pIntStatus Pointer to status variable to update
+ * @return 0 on success
+ */
+ int range_get_interrupt_status(uint8_t *pIntStatus)
+ {
+ return VL6180X_RangeGetInterruptStatus(_device, pIntStatus);
+ }
+
+ /**
+ * @brief Run a single ALS measurement in single shot polling mode
+ *
+ * @par Function Description
+ * Kick off a new single shot ALS then wait new measurement ready to retrieve it ( polling system interrupt status register for als) \n
+ * ALS must be prepared by a first call to @a VL6180X_Prepare() \n
+ * \n Should not be used in continuous or interrupt mode it will break it and create hazard in start/stop \n
+ *
+ * @param dev The device
+ * @param pAlsData Als data structure to fill up @a VL6180X_AlsData_t
+ * @return 0 on success
+ */
+ int als_poll_measurement(VL6180X_AlsData_t *pAlsData)
+ {
+ return VL6180X_AlsPollMeasurement(_device, pAlsData);
+ }
+
+ /**
+ * @brief Get actual ALS measurement
+ *
+ * @par Function Description
+ * Can be called after success status polling or in interrupt mode to retrieve ALS measurement from device \n
+ * This function doesn't perform any data ready check !
+ *
+ * @param pAlsData Pointer to measurement struct @a VL6180X_AlsData_t
+ * @return 0 on success
+ */
+ int als_get_measurement(VL6180X_AlsData_t *pAlsData)
+ {
+ return VL6180X_AlsGetMeasurement(_device, pAlsData);
+ }
+
+ /**
+ * @brief Configure ALS interrupts provide to application
+ *
+ * @param ConfigGpioInt Select one (and only one) of : \n
+ * @a #CONFIG_GPIO_INTERRUPT_DISABLED \n
+ * @a #CONFIG_GPIO_INTERRUPT_LEVEL_LOW \n
+ * @a #CONFIG_GPIO_INTERRUPT_LEVEL_HIGH \n
+ * @a #CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW \n
+ * @a #CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY
+ * @return 0 on success may return #INVALID_PARAMS for invalid mode
+ */
+ int als_config_interrupt(uint8_t ConfigGpioInt)
+ {
+ return VL6180X_AlsConfigInterrupt(_device, ConfigGpioInt);
+ }
+
+ /**
+ * @brief Set ALS integration period
+ *
+ * @param period_ms Integration period in msec. Value in between 50 to 100 msec is recommended\n
+ * @return 0 on success
+ */
+ int als_set_integration_period(uint16_t period_ms)
+ {
+ return VL6180X_AlsSetIntegrationPeriod(_device, period_ms);
+ }
+
+ /**
+ * @brief Set ALS "inter-measurement period"
+ *
+ * @par Function Description
+ * The so call data-sheet "inter measurement period" is actually an extra inter-measurement delay
+ *
+ * @param intermeasurement_period_ms Inter measurement time in milli second\n
+ * @warning applied value is clipped to 2550 ms\n
+ * @return 0 on success if value is
+ */
+ int als_set_inter_measurement_period(uint16_t intermeasurement_period_ms)
+ {
+ return VL6180X_AlsSetInterMeasurementPeriod(_device, intermeasurement_period_ms);
+ }
+
+ /**
+ * @brief Set ALS analog gain code
+ *
+ * @par Function Description
+ * ALS gain code value programmed in @a SYSALS_ANALOGUE_GAIN .
+ * @param gain Gain code see datasheet or AlsGainLookUp for real value. Value is clipped to 7.
+ * @return 0 on success
+ */
+ int als_set_analogue_gain(uint8_t gain)
+ {
+ return VL6180X_AlsSetAnalogueGain(_device, gain);
+ }
+
+ /**
+ * @brief Set thresholds for ALS continuous mode
+ * @warning Threshold are raw device value not lux!
+ *
+ * @par Function Description
+ * Basically value programmed in @a SYSALS_THRESH_LOW and @a SYSALS_THRESH_HIGH registers
+ * @param low ALS low raw threshold for @a SYSALS_THRESH_LOW
+ * @param high ALS high raw threshold for @a SYSALS_THRESH_HIGH
+ * @return 0 on success
+ */
+ int als_set_thresholds(uint16_t lux_threshold_low, uint16_t lux_threshold_high);
+
+ /**
+ * Read ALS interrupt status
+ * @param pIntStatus Pointer to status
+ * @return 0 on success
+ */
+ int als_get_interrupt_status(uint8_t *pIntStatus)
+ {
+ return VL6180X_AlsGetInterruptStatus(_device, pIntStatus);
+ }
+
+ /**
+ * @brief Low level ranging and ALS register static settings (you should call @a VL6180X_Prepare() function instead)
+ *
+ * @return 0 on success
+ */
+ int static_init()
+ {
+ return VL6180X_StaticInit(_device);
+ }
+
+ /**
+ * @brief Wait for device to be ready (before a new ranging command can be issued by application)
+ * @param MaxLoop Max Number of i2c polling loop see @a #msec_2_i2cloop
+ * @return 0 on success. <0 when fail \n
+ * @ref VL6180X_ErrCode_t::TIME_OUT for time out \n
+ * @ref VL6180X_ErrCode_t::INVALID_PARAMS if MaxLop<1
+ */
+ int range_wait_device_ready(int MaxLoop)
+ {
+ return VL6180X_RangeWaitDeviceReady(_device, MaxLoop);
+ }
+
+ /**
+ * @brief Program Inter measurement period (used only in continuous mode)
+ *
+ * @par Function Description
+ * When trying to set too long time, it returns #INVALID_PARAMS
+ *
+ * @param InterMeasTime_msec Requires inter-measurement time in msec
+ * @return 0 on success
+ */
+ int range_set_inter_meas_period(uint32_t InterMeasTime_msec)
+ {
+ return VL6180X_RangeSetInterMeasPeriod(_device, InterMeasTime_msec);
+ }
+
+ /**
+ * @brief Set device ranging scaling factor
+ *
+ * @par Function Description
+ * The ranging scaling factor is applied on the raw distance measured by the device to increase operating ranging at the price of the precision.
+ * Changing the scaling factor when device is not in f/w standby state (free running) is not safe.
+ * It can be source of spurious interrupt, wrongly scaled range etc ...
+ * @warning __This function doesns't update high/low threshold and other programmed settings linked to scaling factor__.
+ * To ensure proper operation, threshold and scaling changes should be done following this procedure: \n
+ * @li Set Group hold : @a VL6180X_SetGroupParamHold() \n
+ * @li Get Threshold @a VL6180X_RangeGetThresholds() \n
+ * @li Change scaling : @a VL6180X_UpscaleSetScaling() \n
+ * @li Set Threshold : @a VL6180X_RangeSetThresholds() \n
+ * @li Unset Group Hold : @a VL6180X_SetGroupParamHold()
+ *
+ * @param scaling Scaling factor to apply (1,2 or 3)
+ * @return 0 on success when up-scale support is not configured it fail for any
+ * scaling than the one statically configured.
+ */
+ int upscale_set_scaling(uint8_t scaling)
+ {
+ return VL6180X_UpscaleSetScaling(_device, scaling);
+ }
+
+ /**
+ * @brief Get current ranging scaling factor
+ *
+ * @return The current scaling factor
+ */
+ int upscale_get_scaling()
+ {
+ return VL6180X_UpscaleGetScaling(_device);
+ }
+
+ /**
+ * @brief Get the maximal distance for actual scaling
+ * @par Function Description
+ * Do not use prior to @a VL6180X_Prepare() or at least @a VL6180X_InitData()
+ *
+ * Any range value more than the value returned by this function is to be considered as "no target detected"
+ * or "no target in detectable range" \n
+ * @warning The maximal distance depends on the scaling
+ *
+ * @return The maximal range limit for actual mode and scaling
+ */
+ uint16_t get_upper_limit()
+ {
+ return VL6180X_GetUpperLimit(_device);
+ }
+
+ /**
+ * @brief Apply low and high ranging thresholds that are considered only in continuous mode
+ *
+ * @par Function Description
+ * This function programs low and high ranging thresholds that are considered in continuous mode :
+ * interrupt will be raised only when an object is detected at a distance inside this [low:high] range.
+ * The function takes care of applying current scaling factor if any.\n
+ * To be safe, in continuous operation, thresholds must be changed under "group parameter hold" cover.
+ * Group hold can be activated/deactivated directly in the function or externally (then set 0)
+ * using /a VL6180X_SetGroupParamHold() function.
+ *
+ * @param low Low threshold in mm
+ * @param high High threshold in mm
+ * @param SafeHold Use of group parameters hold to surround threshold programming.
+ * @return 0 On success
+ */
+ int range_set_thresholds(uint16_t low, uint16_t high, int SafeHold)
+ {
+ return VL6180X_RangeSetThresholds(_device, low, high, SafeHold);
+ }
+
+ /**
+ * @brief Get scaled high and low threshold from device
+ *
+ * @par Function Description
+ * Due to scaling factor, the returned value may be different from what has been programmed first (precision lost).
+ * For instance VL6180X_RangeSetThresholds(dev,11,22) with scale 3
+ * will read back 9 ((11/3)x3) and 21 ((22/3)x3).
+ *
+ * @param low scaled low Threshold ptr can be NULL if not needed
+ * @param high scaled High Threshold ptr can be NULL if not needed
+ * @return 0 on success, return value is undefined if both low and high are NULL
+ * @warning return value is undefined if both low and high are NULL
+ */
+ int range_get_thresholds(uint16_t *low, uint16_t *high)
+ {
+ return VL6180X_RangeGetThresholds(_device, low, high);
+ }
+
+ /**
+ * @brief Set ranging raw thresholds (scaling not considered so not recommended to use it)
+ *
+ * @param low raw low threshold set to raw register
+ * @param high raw high threshold set to raw register
+ * @return 0 on success
+ */
+ int range_set_raw_thresholds(uint8_t low, uint8_t high)
+ {
+ return VL6180X_RangeSetRawThresholds(_device, low, high);
+ }
+
+ /**
+ * @brief Set Early Convergence Estimate ratio
+ * @par Function Description
+ * For more information on ECE check datasheet
+ * @warning May return a calibration warning in some use cases
+ *
+ * @param FactorM ECE factor M in M/D
+ * @param FactorD ECE factor D in M/D
+ * @return 0 on success. <0 on error. >0 on warning
+ */
+ int range_set_ece_factor(uint16_t FactorM, uint16_t FactorD)
+ {
+ return VL6180X_RangeSetEceFactor(_device, FactorM, FactorD);
+ }
+
+ /**
+ * @brief Set Early Convergence Estimate state (See #SYSRANGE_RANGE_CHECK_ENABLES register)
+ * @param enable State to be set 0=disabled, otherwise enabled
+ * @return 0 on success
+ */
+ int range_set_ece_state(int enable)
+ {
+ return VL6180X_RangeSetEceState(_device, enable);
+ }
+
+ /**
+ * @brief Set activation state of the wrap around filter
+ * @param state New activation state (0=off, otherwise on)
+ * @return 0 on success
+ */
+ int flter_set_state(int state)
+ {
+ return VL6180X_FilterSetState(_device, state);
+ }
+
+ /**
+ * Get activation state of the wrap around filter
+ * @return Filter enabled or not, when filter is not supported it always returns 0S
+ */
+ int filter_get_state()
+ {
+ return VL6180X_FilterGetState(_device);
+ }
+
+ /**
+ * @brief Set activation state of DMax computation
+ * @param state New activation state (0=off, otherwise on)
+ * @return 0 on success
+ */
+ int d_max_set_state(int state)
+ {
+ return VL6180X_DMaxSetState(_device, state);
+ }
+
+ /**
+ * Get activation state of DMax computation
+ * @return Filter enabled or not, when filter is not supported it always returns 0S
+ */
+ int d_max_get_state()
+ {
+ return VL6180X_DMaxGetState(_device);
+ }
+
+ /**
+ * @brief Set ranging mode and start/stop measure (use high level functions instead : @a VL6180X_RangeStartSingleShot() or @a VL6180X_RangeStartContinuousMode())
+ *
+ * @par Function Description
+ * When used outside scope of known polling single shot stopped state, \n
+ * user must ensure the device state is "idle" before to issue a new command.
+ *
+ * @param mode A combination of working mode (#MODE_SINGLESHOT or #MODE_CONTINUOUS) and start/stop condition (#MODE_START_STOP) \n
+ * @return 0 on success
+ */
+ int range_set_system_mode(uint8_t mode)
+ {
+ return VL6180X_RangeSetSystemMode(_device, mode);
+ }
+
+ /** @} */
+
+ /** @defgroup api_ll_range_calibration Ranging calibration functions
+ * @brief Ranging calibration functions
+ * @ingroup api_ll
+ * @{
+ */
+ /**
+ * @brief Get part to part calibration offset
+ *
+ * @par Function Description
+ * Should only be used after a successful call to @a VL6180X_InitData to backup device nvm value
+ *
+ * @return part to part calibration offset from device
+ */
+ int8_t get_offset_calibration_data()
+ {
+ return VL6180X_GetOffsetCalibrationData(_device);
+ }
+
+ /**
+ * Set or over-write part to part calibration offset
+ * \sa VL6180X_InitData(), VL6180X_GetOffsetCalibrationData()
+ * @param offset Offset
+ */
+ void set_offset_calibration_data(int8_t offset)
+ {
+ return VL6180X_SetOffsetCalibrationData(_device, offset);
+ }
+
+ /**
+ * @brief Set Cross talk compensation rate
+ *
+ * @par Function Description
+ * It programs register @a #SYSRANGE_CROSSTALK_COMPENSATION_RATE
+ *
+ * @param Rate Compensation rate (9.7 fix point) see datasheet for details
+ * @return 0 on success
+ */
+ int set_x_talk_compensation_rate(FixPoint97_t Rate)
+ {
+ return VL6180X_SetXTalkCompensationRate(_device, Rate);
+ }
+ /** @} */
+
+ /** @defgroup api_ll_als ALS functions
+ * @brief ALS functions
+ * @ingroup api_ll
+ * @{
+ */
+
+ /**
+ * @brief Wait for device to be ready for new als operation or max pollign loop (time out)
+ * @param MaxLoop Max Number of i2c polling loop see @a #msec_2_i2cloop
+ * @return 0 on success. <0 when @a VL6180X_ErrCode_t::TIME_OUT if timed out
+ */
+ int als_wait_device_ready(int MaxLoop)
+ {
+ return VL6180X_AlsWaitDeviceReady(_device, MaxLoop);
+ }
+
+ /**
+ * @brief Set ALS system mode and start/stop measure
+ *
+ * @warning When used outside after single shot polling, \n
+ * User must ensure the device state is ready before issuing a new command (using @a VL6180X_AlsWaitDeviceReady()). \n
+ * Non respect of this, can cause loss of interrupt or device hanging.
+ *
+ * @param mode A combination of working mode (#MODE_SINGLESHOT or #MODE_CONTINUOUS) and start condition (#MODE_START_STOP) \n
+ * @return 0 on success
+ */
+ int als_set_system_mode(uint8_t mode)
+ {
+ return VL6180X_AlsSetSystemMode(_device, mode);
+ }
+
+ /** @defgroup api_ll_misc Misc functions
+ * @brief Misc functions
+ * @ingroup api_ll
+ * @{
+ */
+
+ /**
+ * Set Group parameter Hold state
+ *
+ * @par Function Description
+ * Group parameter holds @a #SYSTEM_GROUPED_PARAMETER_HOLD enable safe update (non atomic across multiple measure) by host
+ * \n The critical register group is composed of: \n
+ * #SYSTEM_INTERRUPT_CONFIG_GPIO \n
+ * #SYSRANGE_THRESH_HIGH \n
+ * #SYSRANGE_THRESH_LOW \n
+ * #SYSALS_INTEGRATION_PERIOD \n
+ * #SYSALS_ANALOGUE_GAIN \n
+ * #SYSALS_THRESH_HIGH \n
+ * #SYSALS_THRESH_LOW
+ *
+ *
+ * @param Hold Group parameter Hold state to be set (on/off)
+ * @return 0 on success
+ */
+ int set_group_param_hold(int Hold)
+ {
+ return VL6180X_SetGroupParamHold(_device, Hold);
+ }
+
+ /**
+ * @brief Set new device i2c address
+ *
+ * After completion the device will answer to the new address programmed.
+ *
+ * @sa AN4478: Using multiple VL6180X's in a single design
+ * @param NewAddr The new i2c address (7bit)
+ * @return 0 on success
+ */
+ int set_i2c_address(int NewAddr)
+ {
+ int status;
+
+ status=VL6180X_SetI2CAddress(_device, NewAddr);
+ if (!status) {
+ _device->I2cAddr=NewAddr;
+ }
+ return status;
+ }
+
+ /**
+ * @brief Fully configure gpio 0/1 pin : polarity and functionality
+ *
+ * @param pin gpio pin 0 or 1
+ * @param IntFunction Pin functionality : either #GPIOx_SELECT_OFF or #GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT (refer to #SYSTEM_MODE_GPIO1 register definition)
+ * @param ActiveHigh Set active high polarity, or active low see @a ::IntrPol_e
+ * @return 0 on success
+ */
+ int setup_gpio_x(int pin, uint8_t IntFunction, int ActiveHigh)
+ {
+ return VL6180X_SetupGPIOx(_device, pin, IntFunction, ActiveHigh);
+ }
+
+ /**
+ * @brief Set interrupt pin polarity for the given GPIO
+ *
+ * @param pin Pin 0 or 1
+ * @param active_high select active high or low polarity using @ref IntrPol_e
+ * @return 0 on success
+ */
+ int set_gpio_x_polarity(int pin, int active_high)
+ {
+ return VL6180X_SetGPIOxPolarity(_device, pin, active_high);
+ }
+
+ /**
+ * Select interrupt functionality for the given GPIO
+ *
+ * @par Function Description
+ * Functionality refer to @a SYSTEM_MODE_GPIO0
+ *
+ * @param pin Pin to configure 0 or 1 (_gpio0 or gpio1)\nNote that _gpio0 is chip enable at power up !
+ * @param functionality Pin functionality : either #GPIOx_SELECT_OFF or #GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT (refer to #SYSTEM_MODE_GPIO1 register definition)
+ * @return 0 on success
+ */
+ int set_gpio_x_functionality(int pin, uint8_t functionality)
+ {
+ return VL6180X_SetGPIOxFunctionality(_device, pin, functionality);
+ }
+
+ /**
+ * #brief Disable and turn to Hi-Z gpio output pin
+ *
+ * @param pin The pin number to disable 0 or 1
+ * @return 0 on success
+ */
+ int disable_gpio_x_out(int pin)
+ {
+ return VL6180X_DisableGPIOxOut(_device, pin);
+ }
+
+ /** @} */
+
+ /** @defgroup api_ll_intr Interrupts management functions
+ * @brief Interrupts management functions
+ * @ingroup api_ll
+ * @{
+ */
+
+ /**
+ * @brief Get all interrupts cause
+ *
+ * @param status Ptr to interrupt status. You can use @a IntrStatus_t::val
+ * @return 0 on success
+ */
+ int get_interrupt_status(uint8_t *status)
+ {
+ return VL6180X_GetInterruptStatus(_device, status);
+ }
+
+ /**
+ * @brief Clear given system interrupt condition
+ *
+ * @par Function Description
+ * Clear given interrupt cause by writing into register #SYSTEM_INTERRUPT_CLEAR register.
+ * @param dev The device
+ * @param IntClear Which interrupt source to clear. Use any combinations of #INTERRUPT_CLEAR_RANGING , #INTERRUPT_CLEAR_ALS , #INTERRUPT_CLEAR_ERROR.
+ * @return 0 On success
+ */
+ int clear_interrupt(uint8_t IntClear)
+ {
+ return VL6180X_ClearInterrupt(_device, IntClear );
+ }
+
+ /** @} */
+
+ /**
+ * @brief Get a single light (in Lux) measure result
+ *
+ * @par Function Description
+ * It can be called after having initialized a component. It start a single
+ * light measure in polling mode and wait until the measure is finisched.
+ * The function block until the measure is finished, it can blocks indefinitely
+ * in case the measure never ends for any reason \n
+ */
+ virtual int get_lux(uint32_t *pi_data)
+ {
+ int status=0;
+ LOG_FUNCTION_START("");
+ status = start_measurement(als_single_shot_polling, NULL, NULL, NULL);
+ if (!status) {
+ als_wait_device_ready(2000);
+ for (status=1; status!=0; status=VL6180X_AlsGetLux(_device, pi_data));
+ }
+ stop_measurement(als_single_shot_polling);
+ als_wait_device_ready(2000);
+ LOG_FUNCTION_END(status);
+
+ return status;
+ }
+
+ /**
+ * @brief Start the ALS (light) measure in continous mode
+ *
+ * @par Function Description
+ * Start the ALS (light) measure in continous mode
+ * @return 0 On success
+ */
+ int als_start_continuous_mode()
+ {
+ return VL6180X_AlsSetSystemMode(_device, MODE_START_STOP|MODE_CONTINUOUS);
+ }
+
+ /**
+ * @brief Start the ALS (light) measure in single shot mode
+ *
+ * @par Function Description
+ * Start the ALS (light) measure in single shot mode
+ * @return 0 On success
+ */
+ int als_start_single_shot()
+ {
+ return VL6180X_AlsSetSystemMode(_device, MODE_START_STOP|MODE_SINGLESHOT);
+ }
+
+private:
+ /* api.h 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, uint32_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, uint16_t low, uint16_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 );
+
+ /* Other functions defined in api.c */
+ 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 function of the ID device */
+ virtual int read_id(uint8_t *id);
+
+ /* Write and read functions from I2C */
+ int VL6180X_WrByte(VL6180XDev_t dev, uint16_t index, uint8_t data);
+ int VL6180X_WrWord(VL6180XDev_t dev, uint16_t index, uint16_t data);
+ int VL6180X_WrDWord(VL6180XDev_t dev, uint16_t index, uint32_t data);
+ 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);
+
+ int IsPresent();
+ int StopRangeMeasurement(operating_mode_t operating_mode);
+ int StopAlsMeasurement(operating_mode_t operating_mode);
+ int GetRangeMeas(operating_mode_t operating_mode, measure_data_t *Data);
+ int GetAlsMeas(operating_mode_t operating_mode, measure_data_t *Data);
+ int GetRangeAlsMeas(measure_data_t *Data);
+ int RangeSetLowThreshold(uint16_t threshold);
+ int RangeSetHighThreshold(uint16_t threshold);
+ int AlsSetLowThreshold(uint16_t threshold);
+ int AlsSetHighThreshold(uint16_t threshold);
+ int GetRangeError(measure_data_t *Data, VL6180X_RangeData_t RangeData);
+ int GetAlsError(measure_data_t *Data, VL6180X_AlsData_t AlsData);
+ int RangeMeasPollSingleShot();
+ int AlsMeasPollSingleShot();
+ int RangeMeasPollContinuousMode();
+ int AlsMeasPollContinuousMode();
+ int AlsGetMeasurementIfReady(VL6180XDev_t dev, VL6180X_AlsData_t *pAlsData);
+ int RangeMeasIntContinuousMode(void (*fptr)(void));
+ int AlsMeasIntContinuousMode(void (*fptr)(void));
+ int InterleavedMode(void (*fptr)(void));
+ int StartInterleavedMode();
+ int AlsGetThresholds(VL6180XDev_t dev, lux_t *low, lux_t *high);
+
+ /* IO _device */
+ DevI2C &_dev_i2c;
+ /* Digital out pin */
+ DigitalOut *_gpio0;
+ /* GPIO expander */
+ STMPE1600DigiOut *_expgpio0;
+ /* Measure detection IRQ */
+ InterruptIn *_gpio1Int;
+ /* _device data */
+ MyVL6180Dev_t _my_device;
+ VL6180XDev_t _device;
+};
+
+#endif // __VL6180X_CLASS_H
--- a/Components/VL6180X/vl6180x_cfg.h Mon Mar 13 17:57:03 2017 +0100 +++ b/Components/VL6180X/vl6180x_cfg.h Mon Mar 13 19:08:10 2017 +0000 @@ -31,13 +31,13 @@ */ /** - * @file VL6180x_cfg.h + * @file VL6180X_cfg.h * * Proximity and ALS configuration */ -#ifndef VL6180x_CFG_H_ -#define VL6180x_CFG_H_ +#ifndef VL6180X_CFG_H_ +#define VL6180X_CFG_H_ /** @defgroup api_config Configuration * @brief API static configuration @@ -50,42 +50,42 @@ /** - * @def VL6180x_UPSCALE_SUPPORT + * @def VL6180X_UPSCALE_SUPPORT * @brief Configure up-scale capabilities and default up-scale factor for ranging operations * * @li 1 : Fixed scaling by 1 (no up-scaling support) * @li 2 : Fixed scaling by 2 * @li 3 : Fixed scaling by 3 - * @li -1 -2 -3 : Run time programmable through @a VL6180x_UpscaleSetScaling(). Default scaling factore is -VL6180x_UPSCALE_SUPPORT \n + * @li -1 -2 -3 : Run time programmable through @a VL6180X_UpscaleSetScaling(). Default scaling factore is -VL6180X_UPSCALE_SUPPORT \n */ -//#define VL6180x_UPSCALE_SUPPORT -1 +//#define VL6180X_UPSCALE_SUPPORT -1 /** - * @def VL6180x_ALS_SUPPORT + * @def VL6180X_ALS_SUPPORT * @brief Enable ALS support * * Set to 0 if ALS is not used in application. This can help reducing code size if it is a concern. */ -#define VL6180x_ALS_SUPPORT 1 +#define VL6180X_ALS_SUPPORT 1 /** - * @def VL6180x_HAVE_DMAX_RANGING + * @def VL6180X_HAVE_DMAX_RANGING * @brief Enable DMax calculation for ranging applications. * - * When set to 1, __Dmax__ is returned by API typically when @a VL6180x_RangePollMeasurement() high level - * function is called (this is returned in @a VL6180x_RangeData_t structure). + * When set to 1, __Dmax__ is returned by API typically when @a VL6180X_RangePollMeasurement() high level + * function is called (this is returned in @a VL6180X_RangeData_t structure). * __Dmax__ is an estimation of the maximum distance (in mm) the product can report a valid distance of a 17% target for * the current ambient light conditions (__Dmax__ decreases when ambient light increases). __Dmax__ should be used only * when the product is not able to return a valid distance (no object or object is too far from the ranging sensor). - * Typically, this is done by checking the __errorStatus__ field of the @a VL6180x_RangeData_t structure returned by - * the @a VL6180x_RangePollMeasurement() function. + * Typically, this is done by checking the __errorStatus__ field of the @a VL6180X_RangeData_t structure returned by + * the @a VL6180X_RangePollMeasurement() function. * You may refer to ::RangeError_u to get full list of supported error codes. * @warning Dmax is estimated for a 17% grey target. If the real target has a reflectance lower than 17%, report Dmax could be over-estimated */ -#define VL6180x_HAVE_DMAX_RANGING 1 +#define VL6180X_HAVE_DMAX_RANGING 1 /** - * @def VL6180x_WRAP_AROUND_FILTER_SUPPORT + * @def VL6180X_WRAP_AROUND_FILTER_SUPPORT * @brief Enable wrap around filter (WAF) feature * * In specific conditions, when targeting a mirror or a very reflective metal, a __wrap around__ effect can occur internally to the @@ -95,35 +95,35 @@ * * @li 0 : Filter is not supported, no filtering code is included in API * @li 1 : Filter is supported and active by default - * @li -1 : Filter is supported but is not active by default @a VL6180x_FilterSetState() can turn it on and off at any time + * @li -1 : Filter is supported but is not active by default @a VL6180X_FilterSetState() can turn it on and off at any time */ -#define VL6180x_WRAP_AROUND_FILTER_SUPPORT 1 +#define VL6180X_WRAP_AROUND_FILTER_SUPPORT 1 /** - * @def VL6180x_EXTENDED_RANGE + * @def VL6180X_EXTENDED_RANGE * @brief Enable extended ranging support * * Device that do not formally support extended ranging should only be used with a scaling factor of 1. * Correct operation with scaling factor other than 1 (>200mm ) is not granted by ST. */ -//#define VL6180x_EXTENDED_RANGE 0 +//#define VL6180X_EXTENDED_RANGE 0 #define EXTENDED_RANGE_50CM 0 //#define EXTENDED_RANGE_50CM 1 #if EXTENDED_RANGE_50CM -#define VL6180x_UPSCALE_SUPPORT -3 -#define VL6180x_EXTENDED_RANGE 1 +#define VL6180X_UPSCALE_SUPPORT -3 +#define VL6180X_EXTENDED_RANGE 1 #else -#define VL6180x_UPSCALE_SUPPORT -1 -#define VL6180x_EXTENDED_RANGE 0 +#define VL6180X_UPSCALE_SUPPORT -1 +#define VL6180X_EXTENDED_RANGE 0 #endif -#if (VL6180x_EXTENDED_RANGE) && (VL6180x_ALS_SUPPORT) +#if (VL6180X_EXTENDED_RANGE) && (VL6180X_ALS_SUPPORT) #warning "Als support should be OFF for extended range" #endif #endif /** @} */ // end of api_config -/* VL6180x_CFG_H_ */ +/* VL6180X_CFG_H_ */
--- a/Components/VL6180X/vl6180x_class.cpp Mon Mar 13 17:57:03 2017 +0100
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,3605 +0,0 @@
-/**
- ******************************************************************************
- * @file vl6180x_class.cpp
- * @author AST / EST
- * @version V0.0.1
- * @date 14-April-2015
- * @brief Implementation file for the HTS221 driver class
- ******************************************************************************
- * @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.
- *
- ******************************************************************************
-*/
-
-/* Includes */
-#include "vl6180x_class.h"
-
-
-#ifndef VL6180x_RANGE_STATUS_ERRSTRING
-#warning "VL6180x_RANGE_STATUS_ERRSTRING not defined ?"
-/* TODO you may remove or comment these #warning and keep the default below to keep compatibility
- or update your vl6180x_platform.h file */
-/**
- * force VL6180x_RANGE_STATUS_ERRSTRING to not supported when not part of any cfg file
- */
-#define VL6180x_RANGE_STATUS_ERRSTRING 0
-#endif
-
-#ifndef VL6180X_SAFE_POLLING_ENTER
-#warning "VL6180X_SAFE_POLLING_ENTER not defined, likely old vl6180x_cfg.h file ?"
-/* TODO you may remove or comment these #warning and keep the default below to keep compatibility
- or update your vl6180x_platform.h file */
-/**
- * force VL6180X_SAFE_POLLING_ENTER to off when not in cfg file
- */
-#define VL6180X_SAFE_POLLING_ENTER 0 /* off by default as in api 2.0 */
-#endif
-
-#ifndef VL6180X_LOG_ENABLE
-/**
- * Force VL6180X_LOG_ENABLE to none as default
- */
-#define VL6180X_LOG_ENABLE 0
-#endif
-
-#ifdef MY_LOG
-Serial pc(USBTX, USBRX);
-#endif
-
-#if VL6180x_RANGE_STATUS_ERRSTRING
-/**@def VL6180x_HAVE_RANGE_STATUS_ERRSTRING
- * @brief is defined when @a #VL6180x_RANGE_STATUS_ERRSTRING is enable
- */
-#define VL6180x_HAVE_RANGE_STATUS_ERRSTRING
-#endif
-
-
-/** @brief Get API version as "hex integer" 0xMMnnss
- */
-#define VL6180x_ApiRevInt ((VL6180x_API_REV_MAJOR<<24)+(VL6180x_API_REV_MINOR<<16)+VL6180x_API_REV_SUB)
-
-/** Get API version as string for exe "2.1.12" "
- */
-#define VL6180x_ApiRevStr VL6180X_STR(VL6180x_API_REV_MAJOR) "." VL6180X_STR(VL6180x_API_REV_MINOR) "." VL6180X_STR(VL6180x_API_REV_SUB)
-
-/** @defgroup api_init Init functions
- * @brief API init functions
- * @ingroup api_hl
- * @{
- */
-
-
-/****************** define for i2c configuration *******************************/
-
-#define TEMP_BUF_SIZE 32
-
-#define IsValidGPIOFunction(x) ((x)==GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT || (x)==GPIOx_SELECT_OFF)
-/**
- * @brief Clear All interrupt causes (als+range+error)
- *
- * @param dev The device
- * @return 0 On success
- */
-#define VL6180x_ClearAllInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_ERROR|INTERRUPT_CLEAR_RANGING|INTERRUPT_CLEAR_ALS)
-/**
- * @brief Clear ALS interrupt
- *
- * @param dev The device
- * @return 0 On success
- */
- #define VL6180x_AlsClearInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_ALS)
-/**
- * @brief Clear range interrupt
- *
- * @param dev The device
- * @return 0 On success
- */
-#define VL6180x_RangeClearInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_RANGING)
-
-/******************************************************************************/
-/******************************* file api.c ***********************************/
-
-#define VL6180x_9to7Conv(x) (x)
-
-/* TODO when set all "cached" value with "default init" are updated after init from register read back */
-#define REFRESH_CACHED_DATA_AFTER_INIT 1
-
-
-#define IsValidGPIOFunction(x) ((x)==GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT || (x)==GPIOx_SELECT_OFF)
-
-
-/** default value ECE factor Molecular */
-#define DEF_ECE_FACTOR_M 85
-/** default value ECE factor Denominator */
-#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)
-
-
-//int32_t _GetAveTotalTime(VL6180xDev_t dev);
-//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
-static int _filter_Init(VL6180xDev_t dev);
- #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=0;
- 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;
- uint32_t CalValue;
- uint16_t u16;
- uint32_t XTalkCompRate_KCps;
-
- LOG_FUNCTION_START("");
-
- VL6180xDevDataSet(dev, EceFactorM , DEF_ECE_FACTOR_M);
- VL6180xDevDataSet(dev, EceFactorD , DEF_ECE_FACTOR_D);
-
-#ifdef VL6180x_HAVE_UPSCALE_DATA
- VL6180xDevDataSet(dev, UpscaleFactor , DEF_UPSCALE);
-#endif
-
-#ifdef VL6180x_HAVE_ALS_DATA
- VL6180xDevDataSet(dev, IntegrationPeriod, DEF_INT_PEFRIOD);
- VL6180xDevDataSet(dev, AlsGainCode, DEF_ALS_GAIN);
- VL6180xDevDataSet(dev, AlsScaler, DEF_ALS_SCALER);
-#endif
-
-#ifdef VL6180x_HAVE_WRAP_AROUND_DATA
- VL6180xDevDataSet(dev, WrapAroundFilterActive, (VL6180x_WRAP_AROUND_FILTER_SUPPORT >0));
- VL6180xDevDataSet(dev, DMaxEnable, DEF_DMAX_ENABLE);
-#endif
-
- _DMax_OneTimeInit(dev);
- do{
-
- /* backup offset initial value from nvm these must be done prior any over call that use offset */
- status = VL6180X::VL6180x_RdByte(dev,SYSRANGE_PART_TO_PART_RANGE_OFFSET, (uint8_t*)&offset);
- if( status ){
- VL6180x_ErrLog("SYSRANGE_PART_TO_PART_RANGE_OFFSET rd fail");
- break;
- }
- VL6180xDevDataSet(dev, Part2PartOffsetNVM, offset);
-
- status=VL6180x_RdDWord( dev, SYSRANGE_RANGE_IGNORE_THRESHOLD, &CalValue);
- if( status ){
- VL6180x_ErrLog("Part2PartAmbNVM rd fail");
- break;
- }
- if( (CalValue&0xFFFF0000) == 0 ){
- CalValue=0x00CE03F8;
- }
- VL6180xDevDataSet(dev, Part2PartAmbNVM, CalValue);
-
- status = VL6180x_RdWord(dev, SYSRANGE_CROSSTALK_COMPENSATION_RATE ,&u16);
- if( status){
- VL6180x_ErrLog("SYSRANGE_CROSSTALK_COMPENSATION_RATE rd fail ");
- break;
- }
- XTalkCompRate_KCps = Fix7_2_KCPs(u16);
- VL6180xDevDataSet(dev, XTalkCompRate_KCps , XTalkCompRate_KCps );
-
- dmax_status = _DMax_InitData(dev);
- if( dmax_status < 0 ){
- VL6180x_ErrLog("DMax init failure");
- break;
- }
-
- /* Read or wait for fresh out of reset */
- status = VL6180x_RdByte(dev,SYSTEM_FRESH_OUT_OF_RESET, &FreshOutReset);
- if( status ) {
- VL6180x_ErrLog("SYSTEM_FRESH_OUT_OF_RESET rd fail");
- break;
- }
- if( FreshOutReset!= 1 || dmax_status )
- status = CALIBRATION_WARNING;
-
- }
- while(0);
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-int8_t VL6180X::VL6180x_GetOffsetCalibrationData(VL6180xDev_t dev)
-{
- int8_t offset;
- 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);
- 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_DISABLED );
- 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, 0xFFFF);
- if( status ) break;
- /* set Als InterruptMode to new sample */
- status=VL6180x_AlsConfigInterrupt(dev, CONFIG_GPIO_INTERRUPT_DISABLED);
- 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) */
- }
- wait_ms(10);
- };
-
- 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, uint16_t low, uint16_t high) {
- int status;
-
- LOG_FUNCTION_START("%d %d", (int )low, (int)high);
-
- status = VL6180x_WrWord(dev, SYSALS_THRESH_LOW, low);
- if(!status ){
- status = VL6180x_WrWord(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;
- }
- wait_ms(10);
- }
- /* //![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, uint32_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, SYSTEM_MODE_GPIO1, 0x10); /* Enables polling for New Sample ready when measurement completes */
- VL6180x_WrByte( dev, READOUT_AVERAGING_SAMPLE_PERIOD, 0x30); /* Set the averaging sample period (compromise between lower noise and increased execution time) */
- VL6180x_WrByte( dev, SYSALS_ANALOGUE_GAIN, 0x46); /* Sets the light and dark gain (upper nibble). Dark gain should not be changed.*/
- VL6180x_WrByte( dev, SYSRANGE_VHV_REPEAT_RATE, 0xFF); /* sets the # of range measurements after which auto calibration of system is performed */
- VL6180x_WrByte( dev, SYSALS_INTEGRATION_PERIOD, 0x63); /* Set ALS integration time to 100ms */
- VL6180x_WrByte( dev, SYSRANGE_VHV_RECALIBRATE, 0x01); /* perform a single temperature calibration of the ranging sensor */
-
- /* Optional: Public registers - See data sheet for more detail */
- VL6180x_WrByte( dev, SYSRANGE_INTERMEASUREMENT_PERIOD, 0x09); /* Set default ranging inter-measurement period to 100ms */
- VL6180x_WrByte( dev, SYSALS_INTERMEASUREMENT_PERIOD, 0x31); /* Set default ALS inter-measurement period to 500ms */
- VL6180x_WrByte( dev, SYSTEM_INTERRUPT_CONFIG_GPIO, 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, SYSTEM_MODE_GPIO1, 0x10);
- VL6180x_WrByte( dev, READOUT_AVERAGING_SAMPLE_PERIOD, 0x30);
- VL6180x_WrByte( dev, SYSALS_ANALOGUE_GAIN, 0x46);
- VL6180x_WrByte( dev, SYSRANGE_VHV_REPEAT_RATE, 0xFF);
- VL6180x_WrByte( dev, SYSALS_INTEGRATION_PERIOD, 0x63);
- VL6180x_WrByte( dev, SYSRANGE_VHV_RECALIBRATE, 0x01);
- VL6180x_WrByte( dev, SYSRANGE_MAX_AMBIENT_LEVEL_MULT, 0xff);
- VL6180x_WrByte( dev, SYSRANGE_INTERMEASUREMENT_PERIOD, 0x09);
- VL6180x_WrByte( dev, SYSALS_INTERMEASUREMENT_PERIOD, 0x31);
- VL6180x_WrByte( dev, SYSTEM_INTERRUPT_CONFIG_GPIO, 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, SYSTEM_FRESH_OUT_OF_RESET, 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
- */
-static 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
-
-/*
- * 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 */
-
- /* "bit" starts at the highest power of four <= the argument. */
- while (bit > num)
- bit >>= 2;
-
- while (bit != 0) {
- if (num >= res + bit) {
- num -= res + bit;
- res = (res >> 1) + bit;
- }
- else
- res >>= 1;
- bit >>= 2;
- }
- return res;
-}
-#endif
-
-
-/* DMax one time init */
-void _DMax_OneTimeInit(VL6180xDev_t dev){
- _DMaxData(ambTuningWindowFactor_K)=DEF_AMBIENT_TUNING;
-}
-
-
-static uint32_t _DMax_RawValueAtRateKCps(VL6180xDev_t dev, int32_t rate){
- uint32_t snrLimit_K;
- int32_t DMaxSq;
- uint32_t RawDMax;
- DMaxFix_t retSignalAt400mm;
- uint32_t ambTuningWindowFactor_K;
-
-
- ambTuningWindowFactor_K = _DMaxData(ambTuningWindowFactor_K);
- snrLimit_K = _DMaxData(snrLimit_K);
- retSignalAt400mm = _DMaxData(retSignalAt400mm); /* 12 to 18 bits Kcps */
- if( rate > 0 ){
- DMaxSq = 400*400*1000 / rate -(400*400/330); /* K of (1/RtnAmb -1/330 )=> 30bit- (12-18)bit => 12-18 bits*/
- if( DMaxSq<= 0){
- RawDMax = 0;
- }
- else{
- /* value can be more 32 bit so base on raneg apply *retSignalAt400mm before or after division to presevr accuracy */
- if( DMaxSq< (2<<12) ){
- DMaxSq = DMaxSq*retSignalAt400mm/(snrLimit_K+ambTuningWindowFactor_K); /* max 12 + 12 to 18 -10 => 12-26 bit */
- }else{
- DMaxSq = DMaxSq/(snrLimit_K+ambTuningWindowFactor_K)*retSignalAt400mm; /* 12 to 18 -10 + 12 to 18 *=> 12-26 bit */
- }
- RawDMax=VL6180x_SqrtUint32(DMaxSq);
- }
- }
- else{
- RawDMax = 0x7FFFFFFF; /* bigest possibmle 32bit signed value */
- }
- return RawDMax;
-}
-
-/*
- * 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;
- uint32_t u32;
- uint32_t Reg2A_KCps;
- uint32_t RegB8;
- uint8_t MaxConvTime;
- uint32_t XTalkCompRate_KCps;
- uint32_t RangeIgnoreThreshold;
- int32_t minSignalNeeded;
- uint8_t SysRangeCheckEn;
- uint8_t snrLimit;
- warning=0;
-
- static const int ROMABLE_DATA MaxConvTimeAdjust=-4;
-
- LOG_FUNCTION_START("");
- do{
- status = VL6180x_RdByte(dev, 0x02A ,&u8);
- if( status ){
- VL6180x_ErrLog("Reg 0x02A rd fail");
- break;
- }
-
- if( u8 == 0 ) {
- warning = CALIBRATION_WARNING;
- u8 = 40; /* use a default average value */
- }
- Reg2A_KCps = Fix7_2_KCPs(u8); /* convert to KCPs */
-
- status = VL6180x_RdByte(dev, SYSRANGE_RANGE_CHECK_ENABLES, &SysRangeCheckEn);
- if (status) {
- VL6180x_ErrLog("SYSRANGE_RANGE_CHECK_ENABLES rd fail ");
- break;
- }
-
- status = VL6180x_RdByte(dev, SYSRANGE_MAX_CONVERGENCE_TIME, &MaxConvTime);
- if( status){
- VL6180x_ErrLog("SYSRANGE_MAX_CONVERGENCE_TIME rd fail ");
- break;
- }
-
- status = VL6180x_RdDWord(dev, 0x0B8, &RegB8);
- if( status ){
- VL6180x_ErrLog("reg 0x0B8 rd fail ");
- break;
- }
-
- status = VL6180x_RdByte(dev, SYSRANGE_MAX_AMBIENT_LEVEL_MULT, &snrLimit);
- if( status){
- VL6180x_ErrLog("SYSRANGE_MAX_AMBIENT_LEVEL_MULT rd fail ");
- break;
- }
- _DMaxData(snrLimit_K) = (int32_t)16*1000/snrLimit;
- XTalkCompRate_KCps = VL6180xDevDataGet(dev, XTalkCompRate_KCps );
-
- if( Reg2A_KCps >= XTalkCompRate_KCps){
- _DMaxData(retSignalAt400mm)=( Reg2A_KCps - XTalkCompRate_KCps);
- }
- else{
- _DMaxData(retSignalAt400mm)=0; /* Reg2A_K - XTalkCompRate_KCp <0 is invalid */
- }
-
- /* if xtalk range check is off omit it in snr clipping */
- if( SysRangeCheckEn&RANGE_CHECK_RANGE_ENABLE_MASK ){
- status = VL6180x_RdWord(dev, SYSRANGE_RANGE_IGNORE_THRESHOLD, &u16);
- if( status){
- VL6180x_ErrLog("SYSRANGE_RANGE_IGNORE_THRESHOLD rd fail ");
- break;
- }
- RangeIgnoreThreshold = Fix7_2_KCPs(u16);
- }
- else{
- RangeIgnoreThreshold = 0;
- }
-
- minSignalNeeded = (RegB8*256)/((int32_t)MaxConvTime+(int32_t)MaxConvTimeAdjust); /* KCps 8+8 bit -(1 to 6 bit) => 15-10 bit */
- /* minSignalNeeded = max ( minSignalNeeded, RangeIgnoreThreshold - XTalkCompRate_KCps) */
- if( minSignalNeeded <= RangeIgnoreThreshold - XTalkCompRate_KCps )
- minSignalNeeded = RangeIgnoreThreshold - XTalkCompRate_KCps;
-
- u32 = (minSignalNeeded*(uint32_t)snrLimit)/16;
- _DMaxData(ClipSnrLimit ) = _DMax_RawValueAtRateKCps(dev, u32 ); /* clip to dmax to min signal snr limit rate*/
- }
- while(0);
- if( !status )
- status = warning;
- LOG_FUNCTION_END(status);
- return status;
-}
-
-static int _DMax_Compute(VL6180xDev_t dev, VL6180x_RangeData_t *pRange){
- uint32_t rtnAmbRate;
- int32_t DMax;
- int scaling;
- uint16_t HwLimitAtScale;
- static const int ROMABLE_DATA rtnAmbLowLimit_KCps=330*1000;
-
- rtnAmbRate = pRange->rtnAmbRate;
- if( rtnAmbRate < rtnAmbLowLimit_KCps ){
- DMax = _DMax_RawValueAtRateKCps( dev, rtnAmbRate);
- scaling = _GetUpscale(dev);
- HwLimitAtScale=UpperLimitLookUP[scaling - 1];
-
- if( DMax > _DMaxData(ClipSnrLimit) ){
- DMax=_DMaxData(ClipSnrLimit);
- }
- if( DMax > HwLimitAtScale ){
- DMax=HwLimitAtScale;
- }
- pRange->DMax=DMax;
- }
- else{
- pRange->DMax = 0;
- }
- return 0;
-}
-
-#undef _DMaxData
-#undef Fix7_2_KCPs
-
-#endif /* VL6180x_HAVE_DMAX_RANGING */
-
-
-/******************************************************************************/
-/******************************************************************************/
-
-
-
-/****************** Write and read functions from I2C *************************/
-
-int VL6180X::VL6180x_WrByte(VL6180xDev_t dev, uint16_t index, uint8_t data)
-{
- int status;
-
- status=VL6180x_I2CWrite(dev->I2cAddr, index, &data,(uint8_t)1);
- return status;
-}
-
-int VL6180X::VL6180x_WrWord(VL6180xDev_t dev, uint16_t index, uint16_t data)
-{
- int status;
-
- status=VL6180x_I2CWrite(dev->I2cAddr, index, (uint8_t *)&data,(uint8_t)2);
- return status;
-}
-
-int VL6180X::VL6180x_WrDWord(VL6180xDev_t dev, uint16_t index, uint32_t data)
-{
- int status;
-
- status=VL6180x_I2CWrite(dev->I2cAddr, index, (uint8_t *)&data,(uint8_t)4);
- return status;
-}
-
-int VL6180X::VL6180x_RdByte(VL6180xDev_t dev, uint16_t index, uint8_t *data)
-{
- int status;
-
- uint8_t buffer=0;
- status=VL6180x_I2CRead(dev->I2cAddr, index, &buffer,1);
- if(!status)
- {
- *data=buffer;
- }
- return status;
-}
-
-int VL6180X::VL6180x_RdWord(VL6180xDev_t dev, uint16_t index, uint16_t *data)
-{
- int status;
-
- uint8_t buffer[2];
- buffer[0]=buffer[1]=0;
- status=VL6180x_I2CRead(dev->I2cAddr, index, buffer, 2);
- if(!status)
- {
- memcpy(data, buffer, 2);
- }
- return status;
-}
-
-int VL6180X::VL6180x_RdDWord(VL6180xDev_t dev, uint16_t index, uint32_t *data)
-{
- int status;
- uint8_t buffer[4];
- buffer[0]=buffer[1]=buffer[2]=buffer[3]=0;
- status=VL6180x_I2CRead(dev->I2cAddr, index, buffer,4);
- if(!status)
- {
- memcpy(data, buffer, 4);
- }
- return status;
-}
-
-int VL6180X::VL6180x_UpdateByte(VL6180xDev_t dev, uint16_t index, uint8_t AndData, uint8_t OrData)
-{
- int status;
- uint8_t buffer=0;
-
- status=VL6180x_I2CWrite(dev->I2cAddr, index, (uint8_t *)&buffer,(uint8_t)0);
- if(!status)
- {
- /* read data direct onto buffer */
- status=VL6180x_I2CRead(dev->I2cAddr, index, &buffer,1);
- if(!status)
- {
- buffer=(buffer & AndData)|OrData;
- status=VL6180x_I2CWrite(dev->I2cAddr, index, &buffer, (uint8_t)1);
- }
- }
- return status;
-}
-
-int VL6180X::VL6180x_I2CWrite(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t* pBuffer, uint16_t NumByteToWrite)
-{
- int ret;
- int i;
- uint8_t tmp[TEMP_BUF_SIZE];
- uint16_t myRegisterAddr = RegisterAddr;
- uint16_t WriteDeviceAddr=0;
-
- /* First, prepare 8 bits device address in 7bits i2ci format */
- WriteDeviceAddr=DeviceAddr*2;
- if(NumByteToWrite >= TEMP_BUF_SIZE) return -2;
-
- /* then prepare 16 bits register address in BE format. Then, send data and STOP condition */
- tmp[0] = *(((uint8_t*)&myRegisterAddr)+1);
- tmp[1] = (uint8_t)RegisterAddr;
-
- if(NumByteToWrite>1) /* swap data endianess */
- {
- for(i=0;i<NumByteToWrite;i++)
- {
- tmp[NumByteToWrite+sizeof(RegisterAddr)-1-i]=pBuffer[i];
- }
- }
- else
- {
- memcpy(tmp+sizeof(RegisterAddr), pBuffer, NumByteToWrite);
- }
- ret = dev_i2c.write(WriteDeviceAddr, (const char*)tmp, NumByteToWrite+sizeof(RegisterAddr), false);
-
- if(ret)
- return -1;
- return 0;
-}
-
-int VL6180X::VL6180x_I2CRead(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t* pBuffer, uint16_t NumByteToRead)
-{
- int ret,i;
- uint8_t tmp[TEMP_BUF_SIZE];
- uint16_t myRegisterAddr = RegisterAddr;
- uint16_t myRegisterAddrBE;
- uint16_t ReadDeviceAddr=DeviceAddr;
-
- ReadDeviceAddr=DeviceAddr*2;
- myRegisterAddrBE = *(((uint8_t*)&myRegisterAddr)+1);
- *(((uint8_t*)&myRegisterAddrBE)+1) = (uint8_t)myRegisterAddr;
-
- /* Send 8 bits device address and 16 bits register address in BE format, with no STOP condition */
- ret = dev_i2c.write(ReadDeviceAddr, (const char*)&myRegisterAddrBE, sizeof(RegisterAddr), true);
- if(!ret)
- {
- ReadDeviceAddr|=0x001;
- /* Read data, with STOP condition */
- ret = dev_i2c.read(ReadDeviceAddr, (char*)tmp, NumByteToRead, false);
- }
- if(ret)
- return -1;
-
- if(NumByteToRead>1) /* swap data endianess */
- {
- for(i=0;i<NumByteToRead;i++)
- {
- pBuffer[i] = tmp[NumByteToRead-1-i];
- }
- }
- else
- {
- memcpy(pBuffer, tmp, NumByteToRead);
- }
- return 0;
-}
-
-/******************************************************************************/
-
-int VL6180X::AlsSetThresholds(uint16_t lux_threshold_low, uint16_t lux_threshold_high)
-{
- uint32_t AlsAnGain, IntPeriod, AlsScaler, GainFix, RawAlsHigh, RawAlsLow;
- uint16_t RawThreshLow, RawThreshHigh;
- const uint32_t LuxResxIntIme =(uint32_t)(0.56f* DEF_INT_PEFRIOD *(1<<LUXRES_FIX_PREC));
- void *p_low;
- void *p_high;
-
- AlsAnGain=VL6180xDevDataGet(Device, AlsGainCode);
- IntPeriod=VL6180xDevDataGet(Device, IntegrationPeriod);
- AlsScaler=VL6180xDevDataGet(Device, AlsScaler);
- GainFix=AlsGainLookUp[AlsAnGain];
- IntPeriod++;
- RawAlsLow=lux_threshold_low*AlsScaler*GainFix;
- RawAlsLow=RawAlsLow*IntPeriod;
- RawAlsLow=RawAlsLow/LuxResxIntIme;
- RawAlsHigh=lux_threshold_high*(AlsScaler*GainFix);
- RawAlsHigh=RawAlsHigh*IntPeriod;
- RawAlsHigh=RawAlsHigh/LuxResxIntIme;
- p_low=&RawAlsLow;
- RawThreshLow=*(uint16_t*)p_low;
- p_high=&RawAlsHigh;
- RawThreshHigh=*(uint16_t*)p_high;
- return VL6180x_AlsSetThresholds(Device, RawThreshLow, RawThreshHigh);
-}
-
-
-int VL6180X::ReadID(uint8_t *id)
-{
- return VL6180x_RdByte(Device, IDENTIFICATION_MODEL_ID, id);
-}
-
-
-int VL6180X::StartMeasurement(OperatingMode operating_mode, void (*fptr)(void), uint16_t low, uint16_t high)
-{
- int status, r_status, l_status;
-
- switch(operating_mode)
- {
- case(range_single_shot_polling):
- r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
- l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- DisableGPIOxOut(1);
- if((!r_status)&&(!l_status))
- return RangeMeasPollSingleShot();
- else
- return (r_status|l_status);
-
- case(als_single_shot_polling):
- r_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
- l_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- DisableGPIOxOut(1);
- if((!r_status)&&(!l_status))
- return AlsMeasPollSingleShot();
- else
- return (r_status|l_status);
-
- case(range_continuous_polling):
- r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
- l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- return RangeMeasPollContinuousMode();
- else
- return (r_status|l_status);
-
- case(als_continuous_polling):
- r_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
- l_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- return AlsMeasPollContinuousMode();
- else
- return (r_status|l_status);
-
- case(range_continuous_interrupt):
- if (gpio1Int==NULL) return 1;
- r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
- l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- return RangeMeasIntContinuousMode(fptr);
- else
- return (r_status|l_status);
-
- case(als_continuous_interrupt):
- if (gpio1Int==NULL) return 1;
- l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
- r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- return AlsMeasIntContinuousMode(fptr);
- else
- return (r_status|l_status);
-
- case(interleaved_mode_interrupt):
- if (gpio1Int==NULL) return 1;
- l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
- r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- return InterleavedMode(fptr);
- else
- return (r_status|l_status);
-
- case(range_continuous_polling_low_threshold):
- r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_LOW);
- l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- {
- status=RangeSetLowThreshold(low);
- if(!status)
- return RangeMeasPollContinuousMode();
- else
- return status;
- }
- else
- return (r_status|l_status);
-
- case(range_continuous_polling_high_threshold):
- r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_HIGH);
- l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- {
- status=RangeSetHighThreshold(high);
- if(!status)
- return RangeMeasPollContinuousMode();
- else
- return status;
- }
- else
- return (r_status|l_status);
-
- case(range_continuous_polling_out_of_window):
- r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW);
- l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- {
- status=VL6180x_RangeSetThresholds(Device,low,high,1);
- if(!status)
- return RangeMeasPollContinuousMode();
- else
- return status;
- }
- else
- return (r_status|l_status);
-
- case(als_continuous_polling_low_threshold):
- l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_LOW);
- r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- {
- status=AlsSetLowThreshold(low);
- if(!status)
- return AlsMeasPollContinuousMode();
- else
- return status;
- }
- else
- return (r_status|l_status);
-
- case(als_continuous_polling_high_threshold):
- l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_HIGH);
- r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- {
- status=AlsSetHighThreshold(high);
- if(!status)
- return AlsMeasPollContinuousMode();
- else
- return status;
- }
- else
- return (r_status|l_status);
-
- case(als_continuous_polling_out_of_window):
- l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW);
- r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- {
- status=VL6180x_AlsSetThresholds(Device,low,high);
- if(!status)
- return AlsMeasPollContinuousMode();
- else
- return status;
- }
- else
- return (r_status|l_status);
-
- case(range_continuous_interrupt_low_threshold):
- if (gpio1Int==NULL) return 1;
- r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_LOW);
- l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- {
- status=RangeSetLowThreshold(low);
- if(!status)
- return RangeMeasIntContinuousMode(fptr);
- else
- return status;
- }
- else
- return (r_status|l_status);
-
- case(range_continuous_interrupt_high_threshold):
- if (gpio1Int==NULL) return 1;
- r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_HIGH);
- l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- {
- status=RangeSetHighThreshold(high);
- if(!status)
- return RangeMeasIntContinuousMode(fptr);
- else
- return status;
- }
- else
- return (r_status|l_status);
-
- case(range_continuous_interrupt_out_of_window):
- if (gpio1Int==NULL) return 1;
- r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW);
- l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- {
- status=VL6180x_RangeSetThresholds(Device,low,high,1);
- if(!status)
- return RangeMeasIntContinuousMode(fptr);
- else
- return status;
- }
- else
- return (r_status|l_status);
-
- case(als_continuous_interrupt_low_threshold):
- if (gpio1Int==NULL) return 1;
- l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_LOW);
- r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- {
- status=AlsSetLowThreshold(low);
- if(!status)
- return AlsMeasIntContinuousMode(fptr);
- else
- return status;
- }
- else
- return (r_status|l_status);
-
- case(als_continuous_interrupt_high_threshold):
- if (gpio1Int==NULL) return 1;
- l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_HIGH);
- r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- {
- status=AlsSetHighThreshold(high);
- if(!status)
- return AlsMeasIntContinuousMode(fptr);
- else
- return status;
- }
- else
- return (r_status|l_status);
-
- case(als_continuous_interrupt_out_of_window):
- if (gpio1Int==NULL) return 1;
- l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW);
- r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- {
- status=VL6180x_AlsSetThresholds(Device,low,high);
- if(!status)
- return AlsMeasIntContinuousMode(fptr);
- else
- return status;
- }
- else
- return (r_status|l_status);
-
- default:
- return INVALID_PARAMS;
- }
-}
-
-
-int VL6180X::GetRangeError(MeasureData_t *Data, VL6180x_RangeData_t RangeData)
-{
- Data->range_error=RangeData.errorStatus;
- if(Data->range_error!=0)
- {
- VL6180x_ErrLog("Range error %d",Data->range_error);
- return RANGE_ERROR;
- }
- return NoError_;
-}
-
-
-int VL6180X::GetAlsError(MeasureData_t *Data, VL6180x_AlsData_t AlsData)
-{
- Data->als_error=AlsData.errorStatus;
- if(Data->als_error!=0)
- {
- VL6180x_ErrLog("Light error %d",Data->light_error);
- return API_ERROR;
- }
- return NoError_;
-}
-
-
-int VL6180X::RangeMeasPollSingleShot()
-{
- int status;
-
- status=VL6180x_RangeClearInterrupt(Device);
- if(status)
- {
- VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
- return status;
- }
- status=VL6180x_ClearErrorInterrupt(Device);
- if(status)
- {
- VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
- return status;
- }
- return RangeStartSingleShot();
-}
-
-
-int VL6180X::AlsMeasPollSingleShot()
-{
- int status;
-
- status=VL6180x_AlsClearInterrupt(Device);
- if(status)
- {
- VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
- return status;
- }
- status=VL6180x_ClearErrorInterrupt(Device);
- if(status)
- {
- VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
- return status;
- }
- return AlsStartSingleShot();
-}
-
-
-int VL6180X::RangeMeasPollContinuousMode()
-{
- int status;
-
- status=VL6180x_RangeClearInterrupt(Device);
- if(status)
- {
- VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
- return status;
- }
- status=VL6180x_ClearErrorInterrupt(Device);
- if(status)
- {
- VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
- return status;
- }
- return RangeStartContinuousMode();
-}
-
-
-int VL6180X::AlsMeasPollContinuousMode()
-{
- int status;
-
- status=VL6180x_AlsClearInterrupt(Device);
- if(status)
- {
- VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
- return status;
- }
- status=VL6180x_ClearErrorInterrupt(Device);
- if(status)
- {
- VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
- return status;
- }
- return AlsStartContinuousMode();
-}
-
-
-int VL6180X::AlsGetMeasurementIfReady(VL6180xDev_t dev, VL6180x_AlsData_t *pAlsData)
-{
- int status;
- uint8_t IntStatus;
-
- status=VL6180x_AlsGetInterruptStatus(dev, &IntStatus);
- if(!status)
- {
- if(IntStatus==RES_INT_STAT_GPIO_NEW_SAMPLE_READY)
- {
- status = VL6180x_AlsGetMeasurement(dev, pAlsData);
- if(!status)
- {
- status=VL6180x_AlsClearInterrupt(Device);
- if(status)
- VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
- }
- }
- else
- status=NOT_READY;
- }
- else
- VL6180x_ErrLog("Failed to get interrupt status");
- return status;
-}
-
-
-int VL6180X::RangeMeasIntContinuousMode(void (*fptr)(void))
-{
- int status, ClrStatus;
-
- EnableInterruptMeasureDetectionIRQ();
- AttachInterruptMeasureDetectionIRQ(fptr);
- status=SetupGPIO1(GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT, 1);
- ClrStatus=VL6180x_ClearAllInterrupt(Device);
- if(ClrStatus)
- VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
- if(!status)
- status=RangeStartContinuousMode();
- return status;
-}
-
-
-int VL6180X::AlsMeasIntContinuousMode(void (*fptr)(void))
-{
- int status, ClrStatus;
-
- EnableInterruptMeasureDetectionIRQ();
- AttachInterruptMeasureDetectionIRQ(fptr);
- status=SetupGPIO1(GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT, 1);
- ClrStatus=VL6180x_ClearAllInterrupt(Device);
- if(ClrStatus)
- VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
- if(!status)
- status=AlsStartContinuousMode();
- return status;
-}
-
-
-int VL6180X::StartInterleavedMode()
-{
- int status;
- uint16_t integration_period, intermeasurement_period_ms;
- uint8_t max_convergence_time;
- uint8_t buf;
-
- status=VL6180x_WrByte(Device, 0x2A3, 1);
- if(status)
- {
- VL6180x_ErrLog("Failed to write INTERLEAVED_MODE_ENABLE!\n\r");
- return status;
- }
- status=VL6180x_RdByte(Device, SYSRANGE_MAX_CONVERGENCE_TIME, &max_convergence_time);
- if(status)
- {
- VL6180x_ErrLog("Failed to read SYSRANGE_MAX_CONVERGENCE_TIME!\n\r");
- return status;
- }
- status=VL6180x_RdWord(Device, SYSALS_INTEGRATION_PERIOD, &integration_period);
- if(status)
- {
- VL6180x_ErrLog("Failed to read SYSALS_INTEGRATION_PERIOD!\n\r");
- return status;
- }
- max_convergence_time&=0x3F;
- integration_period&=0x01FF;
- intermeasurement_period_ms=((max_convergence_time+5)+(integration_period*1.1));
- intermeasurement_period_ms=(intermeasurement_period_ms/0.9)+10;
- intermeasurement_period_ms=200;
- status=VL6180x_AlsSetInterMeasurementPeriod(Device, intermeasurement_period_ms);
- VL6180x_RdByte(Device, 0x03E, &buf);
- if(status)
- {
- VL6180x_ErrLog("Failed to write SYSALS_INTERMEASUREMENT_PERIOD!\n\r");
- return status;
- }
- return AlsStartContinuousMode();
-}
-
-
-int VL6180X::InterleavedMode(void (*fptr)(void))
-{
- int status, ClrStatus;
-
- EnableInterruptMeasureDetectionIRQ();
- AttachInterruptMeasureDetectionIRQ(fptr);
- status=SetupGPIO1(GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT, 1);
- ClrStatus=VL6180x_ClearAllInterrupt(Device);
- if(ClrStatus)
- VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
- if(!status)
- status=StartInterleavedMode();
- return status;
-}
-
-
-int VL6180X::HandleIRQ(OperatingMode operating_mode, MeasureData_t *Data)
-{
- int status;
- EnableInterruptMeasureDetectionIRQ();
- status=GetMeasurement(operating_mode, Data);
- return status;
-}
-
-
-int VL6180X::RangeSetLowThreshold(uint16_t threshold)
-{
- int status;
- uint16_t low, high;
-
- status=VL6180x_RangeGetThresholds(Device, &low, &high);
- if(!status)
- status=VL6180x_RangeSetThresholds(Device, threshold, high, 1);
- return status;
-}
-
-
-int VL6180X::RangeSetHighThreshold(uint16_t threshold)
-{
- int status;
- uint16_t low, high;
-
- status=VL6180x_RangeGetThresholds(Device, &low, &high);
- if(!status)
- status=VL6180x_RangeSetThresholds(Device, low, threshold, 1);
- return status;
-}
-
-
-int VL6180X::AlsSetLowThreshold(uint16_t threshold)
-{
- int status;
- lux_t low, high;
-
- status=AlsGetThresholds(Device, &low, &high);
- if(!status)
- status=VL6180x_AlsSetThresholds(Device, threshold, high);
- return status;
-}
-
-
-int VL6180X::AlsSetHighThreshold(uint16_t threshold)
-{
- int status;
- lux_t low, high;
-
- status=AlsGetThresholds(Device, &low, &high);
- if(!status)
- status=VL6180x_AlsSetThresholds(Device, low, threshold);
- return status;
-}
-
-
-int VL6180X::AlsGetThresholds(VL6180xDev_t dev, lux_t *low, lux_t *high)
-{
- int status;
- uint16_t RawAlsLow, RawAlsHigh;
- uint32_t luxLowValue, luxHighValue, IntPeriod, AlsAnGain, GainFix, AlsScaler;
- const uint32_t LuxResxIntIme =(uint32_t)(0.56f* DEF_INT_PEFRIOD *(1<<LUXRES_FIX_PREC));
-
- status=VL6180x_RdWord(dev, SYSALS_THRESH_LOW, &RawAlsLow);
- if(status)
- {
- VL6180x_ErrLog("rd SYSALS_THRESH_LOW fail");
- return status;
- }
- status=VL6180x_RdWord(dev, SYSALS_THRESH_HIGH, &RawAlsHigh);
- if(status)
- {
- VL6180x_ErrLog("rd SYSALS_THRESH_HIGH fail");
- return status;
- }
- AlsAnGain=VL6180xDevDataGet(dev, AlsGainCode);
- IntPeriod=VL6180xDevDataGet(dev, IntegrationPeriod);
- AlsScaler=VL6180xDevDataGet(dev, AlsScaler);
- GainFix=AlsGainLookUp[AlsAnGain];
- IntPeriod++;
- luxLowValue=(uint32_t)RawAlsLow*LuxResxIntIme;
- luxLowValue=luxLowValue/IntPeriod;
- luxLowValue=luxLowValue/(AlsScaler*GainFix);
- luxHighValue=(uint32_t)RawAlsHigh*LuxResxIntIme;
- luxHighValue=luxHighValue/IntPeriod;
- luxHighValue=luxHighValue/(AlsScaler*GainFix);
- *low=luxLowValue;
- *high=luxHighValue;
- return status;
-}
-
-
-int VL6180X::GetMeasurement(OperatingMode operating_mode, MeasureData_t *Data)
-{
- switch(operating_mode)
- {
- case(range_single_shot_polling):
- case(range_continuous_polling):
- case(range_continuous_interrupt):
- case(range_continuous_polling_low_threshold):
- case(range_continuous_polling_high_threshold):
- case(range_continuous_polling_out_of_window):
- case(range_continuous_interrupt_low_threshold):
- case(range_continuous_interrupt_high_threshold):
- case(range_continuous_interrupt_out_of_window):
- return GetRangeMeas(operating_mode, Data);
-
- case(als_single_shot_polling):
- case(als_continuous_polling):
- case(als_continuous_interrupt):
- case(als_continuous_polling_low_threshold):
- case(als_continuous_polling_high_threshold):
- case(als_continuous_polling_out_of_window):
- case(als_continuous_interrupt_low_threshold):
- case(als_continuous_interrupt_high_threshold):
- case(als_continuous_interrupt_out_of_window):
- return GetAlsMeas(operating_mode, Data);
-
- case(interleaved_mode_interrupt):
- return GetRangeAlsMeas(Data);
-
- default:
- return INVALID_PARAMS;
- }
-}
-
-
-int VL6180X::GetRangeMeas(OperatingMode operating_mode, MeasureData_t *Data)
-{
- VL6180x_RangeData_t RangeData;
- int status, ClrStatus;
- IntrStatus_t IntStatus;
-
- status=VL6180x_RangeGetInterruptStatus(Device, &IntStatus.val);
- if(!status)
- {
- Data->int_error=IntStatus.status.Error;
- if(IntStatus.status.Error!=0)
- {
- VL6180x_ErrLog("GPIO int Error report %d",(int)IntStatus.val);
- status=RANGE_ERROR;
- }
- }
- else
- {
- VL6180x_ErrLog("Failed to read RESULT_INTERRUPT_STATUS_GPIO");
- }
- ClrStatus=VL6180x_RangeClearInterrupt(Device);
- if(ClrStatus)
- {
- VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
- }
- ClrStatus=VL6180x_ClearErrorInterrupt(Device);
- if(ClrStatus)
- {
- VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
- }
- if(status)
- return status;
- if((operating_mode==range_single_shot_polling)||(operating_mode==range_continuous_polling)||(operating_mode==range_continuous_interrupt))
- {
- if(IntStatus.status.Range==RES_INT_STAT_GPIO_NEW_SAMPLE_READY)
- status=VL6180x_RangeGetMeasurement(Device, &RangeData);
- else
- return NOT_READY;
- }
- else if((operating_mode==range_continuous_polling_low_threshold)||(operating_mode==range_continuous_interrupt_low_threshold))
- {
- if(IntStatus.status.Range==RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD)
- status=VL6180x_RangeGetMeasurement(Device, &RangeData);
- else
- return NOT_READY;
- }
- else if((operating_mode==range_continuous_polling_high_threshold)||(operating_mode==range_continuous_interrupt_high_threshold))
- {
- if(IntStatus.status.Range==RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD)
- status=VL6180x_RangeGetMeasurement(Device, &RangeData);
- else
- return NOT_READY;
- }
- else if((operating_mode==range_continuous_polling_out_of_window)||(operating_mode==range_continuous_interrupt_out_of_window))
- {
- if(IntStatus.status.Range==RES_INT_STAT_GPIO_OUT_OF_WINDOW)
- status=VL6180x_RangeGetMeasurement(Device, &RangeData);
- else
- return NOT_READY;
- }
- if(!status)
- {
- status=GetRangeError(Data, RangeData);
- if(!status)
- Data->range_mm=RangeData.range_mm;
- else
- Data->range_mm=0xFFFFFFFF;
- }
- return status;
-}
-
-
-int VL6180X::GetAlsMeas(OperatingMode operating_mode, MeasureData_t *Data)
-{
- VL6180x_AlsData_t AlsData;
- int status, ClrStatus;
- uint8_t IntStatus;
-
- status=VL6180x_AlsGetInterruptStatus(Device, &IntStatus);
- if(status)
- {
- VL6180x_ErrLog("Failed to read RESULT_INTERRUPT_STATUS_GPIO");
- }
- ClrStatus=VL6180x_AlsClearInterrupt(Device);
- if(ClrStatus)
- {
- VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
- }
- ClrStatus=VL6180x_ClearErrorInterrupt(Device);
- if(ClrStatus)
- {
- VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
- }
- if(status)
- return status;
- if((operating_mode==als_single_shot_polling)||(operating_mode==als_continuous_polling)||(operating_mode==als_continuous_interrupt))
- {
- if(IntStatus==RES_INT_STAT_GPIO_NEW_SAMPLE_READY)
- status=VL6180x_AlsGetMeasurement(Device, &AlsData);
- else
- return NOT_READY;
- }
- else if((operating_mode==als_continuous_polling_low_threshold)||(operating_mode==als_continuous_interrupt_low_threshold))
- {
- if(IntStatus==RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD)
- status=VL6180x_AlsGetMeasurement(Device, &AlsData);
- else
- return NOT_READY;
- }
- else if((operating_mode==als_continuous_polling_high_threshold)||(operating_mode==als_continuous_interrupt_high_threshold))
- {
- if(IntStatus==RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD)
- status=VL6180x_AlsGetMeasurement(Device, &AlsData);
- else
- return NOT_READY;
- }
- else if((operating_mode==als_continuous_polling_out_of_window)||(operating_mode==als_continuous_interrupt_out_of_window))
- {
- if(IntStatus==RES_INT_STAT_GPIO_OUT_OF_WINDOW)
- status=VL6180x_AlsGetMeasurement(Device, &AlsData);
- else
- return NOT_READY;
- }
- if(!status)
- {
- status=GetAlsError(Data, AlsData);
- if(!status)
- Data->lux=AlsData.lux;
- else
- Data->lux=0xFFFFFFFF;
- }
- return status;
-}
-
-
-int VL6180X::GetRangeAlsMeas(MeasureData_t *Data)
-{
- int status, ClrStatus, r_status, l_status;
- IntrStatus_t IntStatus;
- VL6180x_RangeData_t RangeData;
- VL6180x_AlsData_t AlsData;
-
- status=VL6180x_RdByte(Device, RESULT_INTERRUPT_STATUS_GPIO, &IntStatus.val);
- if(!status)
- {
- Data->int_error=IntStatus.status.Error;
- if(IntStatus.status.Error!=0)
- {
- VL6180x_ErrLog("GPIO int Error report %d",(int)IntStatus.val);
- status=RANGE_ERROR;
- }
- }
- else
- {
- VL6180x_ErrLog("Failed to read RESULT_INTERRUPT_STATUS_GPIO");
- }
- ClrStatus=VL6180x_ClearAllInterrupt(Device);
- if(ClrStatus)
- VL6180x_ErrLog("VL6180x_ClearAllInterrupt fail");
- if(status)
- return status;
-
- if(IntStatus.status.Als==RES_INT_STAT_GPIO_NEW_SAMPLE_READY)
- {
- r_status=VL6180x_RangeGetMeasurement(Device, &RangeData);
- l_status=VL6180x_AlsGetMeasurement(Device, &AlsData);
- if((!r_status)&&(!l_status))
- {
- r_status=GetRangeError(Data, RangeData);
- l_status=GetAlsError(Data, AlsData);
- if(!r_status)
- Data->range_mm=RangeData.range_mm;
- else
- Data->range_mm=0xFFFFFFFF;
- if(!l_status)
- Data->lux=AlsData.lux;
- else
- Data->lux=0xFFFFFFFF;
- status=r_status|l_status;
- }
- else
- {
- status=r_status|l_status;
- }
- }
- else
- return NOT_READY;
- return status;
-}
-
-
-int VL6180X::StopMeasurement(OperatingMode operating_mode)
-{
- int status;
-
- switch(operating_mode)
- {
- case(range_single_shot_polling):
- case(range_continuous_polling):
- case(range_continuous_interrupt):
- case(range_continuous_polling_low_threshold):
- case(range_continuous_polling_high_threshold):
- case(range_continuous_polling_out_of_window):
- case(range_continuous_interrupt_low_threshold):
- case(range_continuous_interrupt_high_threshold):
- case(range_continuous_interrupt_out_of_window):
- return StopRangeMeasurement(operating_mode);
-
- case(als_single_shot_polling):
- case(als_continuous_polling):
- case(als_continuous_interrupt):
- case(als_continuous_polling_low_threshold):
- case(als_continuous_polling_high_threshold):
- case(als_continuous_polling_out_of_window):
- case(als_continuous_interrupt_low_threshold):
- case(als_continuous_interrupt_high_threshold):
- case(als_continuous_interrupt_out_of_window):
- return StopAlsMeasurement(operating_mode);
-
- case(interleaved_mode_interrupt):
- status=StopRangeMeasurement(range_continuous_interrupt);
- if(!status)
- return StopAlsMeasurement(als_continuous_interrupt);
- else return status;
-
- default:
- return INVALID_PARAMS;
- }
-}
-
-
-int VL6180X::IsPresent()
-{
- int status; uint8_t id;
-
- status=ReadID(&id);
- if(status)
- VL6180x_ErrLog("Failed to read ID device. Device not present!\n\r");
- return status;
-}
-
-
-int VL6180X::StopRangeMeasurement(OperatingMode operating_mode)
-{
- int status;
-
- if(operating_mode==range_single_shot_polling)
- status=VL6180x_RangeSetSystemMode(Device, MODE_SINGLESHOT);
- else
- status=VL6180x_RangeSetSystemMode(Device, MODE_START_STOP|MODE_SINGLESHOT);
- if(status)
- return status;
- status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if(status)
- {
- VL6180x_ErrLog("VL6180x_RangeConfigInterrupt fail"\n\r);
- return status;
- }
- status=VL6180x_RangeClearInterrupt(Device);
- if(status)
- {
- VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
- return status;
- }
- status=VL6180x_ClearErrorInterrupt(Device);
- if(status)
- {
- VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
- return status;
- }
- status=VL6180x_RangeSetRawThresholds(Device, 10, 200);
- if(status)
- VL6180x_ErrLog("VL6180x_RangeSetThresholds fail");
- return status;
-}
-
-
-int VL6180X::StopAlsMeasurement(OperatingMode operating_mode)
-{
- int status;
-
- if(operating_mode==als_single_shot_polling)
- status=VL6180x_AlsSetSystemMode(Device, MODE_SINGLESHOT);
- else
- status=VL6180x_AlsSetSystemMode(Device, MODE_START_STOP|MODE_SINGLESHOT);
- if(status)
- return status;
- status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if(status)
- {
- VL6180x_ErrLog("VL6180x_AlsConfigInterrupt fail"\n\r);
- return status;
- }
- status=VL6180x_AlsClearInterrupt(Device);
- if(status)
- {
- VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
- return status;
- }
- status=VL6180x_ClearErrorInterrupt(Device);
- if(status)
- {
- VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
- return status;
- }
- status=VL6180x_AlsSetThresholds(Device, 0x0, 1800);
- if(status)
- VL6180x_ErrLog("VL6180x_AlsSetThresholds fail");
- return status;
-}
-
-
-
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
\ No newline at end of file
--- a/Components/VL6180X/vl6180x_class.h Mon Mar 13 17:57:03 2017 +0100
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,1253 +0,0 @@
-/**
- ******************************************************************************
- * @file vl6180x_class.h
- * @author AST / EST
- * @version V0.0.1
- * @date 9-November-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 __VL6180X_CLASS_H
-#define __VL6180X_CLASS_H
-
-/* Includes ------------------------------------------------------------------*/
-#include "RangeSensor.h"
-#include "LightSensor.h"
-#include "DevI2C.h"
-//#include "vl6180x_api.h"
-#include "vl6180x_cfg.h"
-#include "vl6180x_def.h"
-#include "vl6180x_types.h"
-#include "vl6180x_platform.h"
-#include "stmpe1600_class.h"
-
-
-/* data struct containing range measure, light measure and type of error provided to the user
- in case of invalid data range_mm=0xFFFFFFFF and lux=0xFFFFFFFF */
-typedef struct MeasureData
-{
- uint32_t range_mm;
- uint32_t lux;
- uint32_t range_error;
- uint32_t als_error;
- uint32_t int_error;
-}MeasureData_t;
-
-/* sensor operating modes */
-typedef enum
-{
- range_single_shot_polling=1,
- als_single_shot_polling,
- range_continuous_polling,
- als_continuous_polling,
- range_continuous_interrupt,
- als_continuous_interrupt,
- interleaved_mode_interrupt,
- range_continuous_polling_low_threshold,
- range_continuous_polling_high_threshold,
- range_continuous_polling_out_of_window,
- als_continuous_polling_low_threshold,
- als_continuous_polling_high_threshold,
- als_continuous_polling_out_of_window,
- range_continuous_interrupt_low_threshold,
- range_continuous_interrupt_high_threshold,
- range_continuous_interrupt_out_of_window,
- als_continuous_interrupt_low_threshold,
- als_continuous_interrupt_high_threshold,
- als_continuous_interrupt_out_of_window,
- range_continuous_als_single_shot,
- range_single_shot_als_continuous,
-}OperatingMode;
-
-/** default device address */
-#define DEFAULT_DEVICE_ADDRESS 0x29
-
-/* Classes -------------------------------------------------------------------*/
-/** Class representing a VL6180X sensor component
- */
-class VL6180X : public RangeSensor, public LightSensor
-{
- public:
- /** Constructor 1 (DigitalOut)
- * @param[in] &i2c device I2C to be used for communication
- * @param[in] &pin Mbed DigitalOut pin to be used as component GPIO_0 CE
- * @param[in] &pin_gpio1 pin Mbed InterruptIn PinName to be used as component GPIO_1 INT
- * @param[in] DevAddr device address, 0x29 by default
- */
- VL6180X(DevI2C &i2c, DigitalOut &pin, PinName pin_gpio1, uint8_t DevAddr=DEFAULT_DEVICE_ADDRESS) : RangeSensor(), LightSensor(), dev_i2c(i2c), gpio0(&pin)
- {
- MyDevice.I2cAddr=DevAddr;
- MyDevice.Present=0;
- MyDevice.Ready=0;
- Device=&MyDevice;;
- expgpio0=NULL;
- if (pin_gpio1 != NC) { gpio1Int = new InterruptIn(pin_gpio1); }
- else { gpio1Int = NULL; }
- }
- /** Constructor 2 (STMPE1600DigiOut)
- * @param[in] i2c device I2C to be used for communication
- * @param[in] &pin Gpio Expander STMPE1600DigiOut pin to be used as component GPIO_0 CE
- * @param[in] pin_gpio1 pin Mbed InterruptIn PinName to be used as component GPIO_1 INT
- * @param[in] device address, 0x29 by default
- */
- VL6180X(DevI2C &i2c, STMPE1600DigiOut &pin, PinName pin_gpio1, uint8_t DevAddr=DEFAULT_DEVICE_ADDRESS) : RangeSensor(), LightSensor(), dev_i2c(i2c), expgpio0(&pin)
- {
- MyDevice.I2cAddr=DevAddr;
- MyDevice.Present=0;
- MyDevice.Ready=0;
- Device=&MyDevice;
- gpio0=NULL;
- if (pin_gpio1 != NC) { gpio1Int = new InterruptIn(pin_gpio1); }
- else { gpio1Int = NULL; }
- }
-
- /** Destructor
- */
- virtual ~VL6180X(){
- if (gpio1Int != NULL) delete gpio1Int;
- }
-
- /* warning: VL6180X class inherits from GenericSensor, RangeSensor and LightSensor, that haven`t a destructor.
- The warning should request to introduce a virtual destructor to make sure to delete the object */
-
- /*** Interface Methods ***/
- /*** High level API ***/
- /**
- * @brief PowerOn the sensor
- * @return void
- */
- /* turns on the sensor */
- void VL6180x_On(void)
- {
- if(gpio0)
- *gpio0=1;
- else if(expgpio0)
- *expgpio0=1;
-
- MyDevice.I2cAddr=DEFAULT_DEVICE_ADDRESS;
- MyDevice.Ready=0;
- }
-
- /**
- * @brief PowerOff the sensor
- * @return void
- */
- /* turns off the sensor */
- void VL6180x_Off(void)
- {
- if(gpio0)
- *gpio0=0;
- else if(expgpio0)
- *expgpio0=0;
-
- MyDevice.I2cAddr=DEFAULT_DEVICE_ADDRESS;
- MyDevice.Ready=0;
- }
-
- /**
- * @brief Start the measure indicated by operating mode
- * @param[in] operating_mode specifies requested measure
- * @param[in] fptr specifies call back function must be !NULL in case of interrupt measure
- * @param[in] low specifies measure low threashold in Lux or in mm according to measure
- * @param[in] high specifies measure high threashold in Lux or in mm according to measure
- * @return 0 on Success
- */
- int StartMeasurement(OperatingMode operating_mode, void (*fptr)(void), uint16_t low, uint16_t high);
-
- /**
- * @brief Get results for the measure indicated by operating mode
- * @param[in] operating_mode specifies requested measure results
- * @param[out] Data pointer to the MeasureData_t structure to read data in to
- * @return 0 on Success
- */
- int GetMeasurement(OperatingMode operating_mode, MeasureData_t *Data);
-
- /**
- * @brief Stop the currently running measure indicate by operating_mode
- * @param[in] operating_mode specifies requested measure to stop
- * @return 0 on Success
- */
- int StopMeasurement(OperatingMode operating_mode);
-
- /**
- * @brief Interrupt handling func to be called by user after an INT is occourred
- * @param[in] opeating_mode indicating the in progress measure
- * @param[out] Data pointer to the MeasureData_t structure to read data in to
- * @return 0 on Success
- */
- int HandleIRQ(OperatingMode operating_mode, MeasureData_t *Data);
-
- /**
- * @brief Enable interrupt measure IRQ
- * @return 0 on Success
- */
- void EnableInterruptMeasureDetectionIRQ(void)
- {
- if (gpio1Int != NULL) gpio1Int->enable_irq();
- }
-
- /**
- * @brief Disable interrupt measure IRQ
- * @return 0 on Success
- */
- void disable_interrupt_measure_detection_irq(void)
- {
- if (gpio1Int != NULL) gpio1Int->disable_irq();
- }
- /*** End High level API ***/
-
- /**
- * @brief Attach a function to call when an interrupt is detected, i.e. measurement is ready
- * @param[in] fptr pointer to call back function to be called whenever an interrupt occours
- * @return 0 on Success
- */
- void AttachInterruptMeasureDetectionIRQ(void (*fptr)(void))
- {
- if (gpio1Int != NULL) gpio1Int->rise(fptr);
- }
-
- /**
- * @brief Check the sensor presence
- * @return 1 when device is present
- */
- unsigned Present()
- {
- return Device->Present;
- }
-
- /** Wrapper functions */
-/** @defgroup api_init Init functions
- * @brief API init functions
- * @ingroup api_hl
- * @{
- */
-/**
- * @brief Wait for device booted after chip enable (hardware standby)
- * @par Function Description
- * After Chip enable Application you can also simply wait at least 1ms to ensure device is ready
- * @warning After device chip enable (gpio0) de-asserted user must wait gpio1 to get asserted (hardware standby).
- * or wait at least 400usec prior to do any low level access or api call .
- *
- * This function implements polling for standby but you must ensure 400usec from chip enable passed\n
- * @warning if device get prepared @a VL6180x_Prepare() re-using these function can hold indefinitely\n
- *
- * @param void
- * @return 0 on success
- */
- int WaitDeviceBooted()
- {
- return VL6180x_WaitDeviceBooted(Device);
- }
-
-/**
- *
- * @brief One time device initialization
- *
- * To be called once and only once after device is brought out of reset (Chip enable) and booted see @a VL6180x_WaitDeviceBooted()
- *
- * @par Function Description
- * When not used after a fresh device "power up" or reset, it may return @a #CALIBRATION_WARNING
- * meaning wrong calibration data may have been fetched from device that can result in ranging offset error\n
- * If application cannot execute device reset or need to run VL6180x_InitData multiple time
- * then it must ensure proper offset calibration saving and restore on its own
- * by using @a VL6180x_GetOffsetCalibrationData() on first power up and then @a VL6180x_SetOffsetCalibrationData() all all subsequent init
- *
- * @param void
- * @return 0 on success, @a #CALIBRATION_WARNING if failed
-*/
-virtual int Init(void * NewAddr)
-{
- int status;
-
- VL6180x_Off();
- VL6180x_On();
-
- status=VL6180x_WaitDeviceBooted(Device);
- if(status) {
- VL6180x_ErrLog("WaitDeviceBooted fail\n\r");
- }
- status=IsPresent();
- if(!status)
- {
- Device->Present=1;
- VL6180x_InitData(Device);
- if(status)
- {
- printf("Failed to init VL6180X sensor!\n\r");
- return status;
- }
- status=Prepare();
- if(status)
- {
- printf("Failed to prepare VL6180X!\n\r");
- return status;
- }
- if(*(uint8_t*)NewAddr!=DEFAULT_DEVICE_ADDRESS)
- {
- status=SetI2CAddress(*(uint8_t*)NewAddr);
- if(status)
- {
- printf("Failed to change I2C address!\n\r");
- return status;
- }
- }
- Device->Ready=1;
- }
- return status;
-}
-
-
-/**
- * @brief Configure GPIO1 function and set polarity.
- * @par Function Description
- * To be used prior to arm single shot measure or start continuous mode.
- *
- * The function uses @a VL6180x_SetupGPIOx() for setting gpio 1.
- * @warning changing polarity can generate a spurious interrupt on pins.
- * It sets an interrupt flags condition that must be cleared to avoid polling hangs. \n
- * It is safe to run VL6180x_ClearAllInterrupt() just after.
- *
- * @param IntFunction The interrupt functionality to use one of :\n
- * @a #GPIOx_SELECT_OFF \n
- * @a #GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT
- * @param ActiveHigh The interrupt line polarity see ::IntrPol_e
- * use @a #INTR_POL_LOW (falling edge) or @a #INTR_POL_HIGH (rising edge)
- * @return 0 on success
- */
- int SetupGPIO1(uint8_t InitFunction, int ActiveHigh)
- {
- return VL6180x_SetupGPIO1(Device, InitFunction, ActiveHigh);
- }
-
-/**
- * @brief Prepare device for operation
- * @par Function Description
- * Does static initialization and reprogram common default settings \n
- * Device is prepared for new measure, ready single shot ranging or ALS typical polling operation\n
- * After prepare user can : \n
- * @li Call other API function to set other settings\n
- * @li Configure the interrupt pins, etc... \n
- * @li Then start ranging or ALS operations in single shot or continuous mode
- *
- * @param void
- * @return 0 on success
- */
- int Prepare()
- {
- return VL6180x_Prepare(Device);
- }
-
- /**
- * @brief Start continuous ranging mode
- *
- * @details End user should ensure device is in idle state and not already running
- * @return 0 on success
- */
- int RangeStartContinuousMode()
- {
- return VL6180x_RangeStartContinuousMode(Device);
- }
-
-/**
- * @brief Start single shot ranging measure
- *
- * @details End user should ensure device is in idle state and not already running
- * @return 0 on success
- */
- int RangeStartSingleShot()
- {
- return VL6180x_RangeStartSingleShot(Device);
- }
-
-/**
- * @brief Set maximum convergence time
- *
- * @par Function Description
- * Setting a low convergence time can impact maximal detectable distance.
- * Refer to VL6180x Datasheet Table 7 : Typical range convergence time.
- * A typical value for up to x3 scaling is 50 ms
- *
- * @param MaxConTime_msec
- * @return 0 on success. <0 on error. >0 for calibration warning status
- */
- int RangeSetMaxConvergenceTime(uint8_t MaxConTime_msec)
- {
- return VL6180x_RangeSetMaxConvergenceTime(Device, MaxConTime_msec);
- }
-
-/**
- * @brief Single shot Range measurement in polling mode.
- *
- * @par Function Description
- * Kick off a new single shot range then wait for ready to retrieve it by polling interrupt status \n
- * Ranging must be prepared by a first call to @a VL6180x_Prepare() and it is safer to clear very first poll call \n
- * This function reference VL6180x_PollDelay(dev) porting macro/call on each polling loop,
- * but PollDelay(dev) may never be called if measure in ready on first poll loop \n
- * Should not be use in continuous mode operation as it will stop it and cause stop/start misbehaviour \n
- * \n This function clears Range Interrupt status , but not error one. For that uses @a VL6180x_ClearErrorInterrupt() \n
- * This range error is not related VL6180x_RangeData_t::errorStatus that refer measure status \n
- *
- * @param pRangeData Will be populated with the result ranging data @a VL6180x_RangeData_t
- * @return 0 on success , @a #RANGE_ERROR if device reports an error case in it status (not cleared) use
- *
- * \sa ::VL6180x_RangeData_t
- */
- int RangePollMeasurement(VL6180x_RangeData_t *pRangeData)
- {
- return VL6180x_RangePollMeasurement(Device, pRangeData);
- }
-
-/**
- * @brief Check for measure readiness and get it if ready
- *
- * @par Function Description
- * Using this function is an alternative to @a VL6180x_RangePollMeasurement() to avoid polling operation. This is suitable for applications
- * where host CPU is triggered on a interrupt (not from VL6180X) to perform ranging operation. In this scenario, we assume that the very first ranging
- * operation is triggered by a call to @a VL6180x_RangeStartSingleShot(). Then, host CPU regularly calls @a VL6180x_RangeGetMeasurementIfReady() to
- * get a distance measure if ready. In case the distance is not ready, host may get it at the next call.\n
- *
- * @warning
- * This function does not re-start a new measurement : this is up to the host CPU to do it.\n
- * This function clears Range Interrupt for measure ready , but not error interrupts. For that, uses @a VL6180x_ClearErrorInterrupt() \n
- *
- * @param pRangeData Will be populated with the result ranging data if available
- * @return 0 when measure is ready pRange data is updated (untouched when not ready), >0 for warning and @a #NOT_READY if measurement not yet ready, <0 for error @a #RANGE_ERROR if device report an error,
- */
- int RangeGetMeasurementIfReady(VL6180x_RangeData_t *pRangeData)
- {
- return VL6180x_RangeGetMeasurementIfReady(Device, pRangeData);
- }
-
-/**
- * @brief Retrieve range measurements set from device
- *
- * @par Function Description
- * The measurement is made of range_mm status and error code @a VL6180x_RangeData_t \n
- * Based on configuration selected extra measures are included.
- *
- * @warning should not be used in continuous if wrap around filter is active \n
- * Does not perform any wait nor check for result availability or validity.
- *\sa VL6180x_RangeGetResult for "range only" measurement
- *
- * @param pRangeData Pointer to the data structure to fill up
- * @return 0 on success
- */
- int RangeGetMeasurement(VL6180x_RangeData_t *pRangeData)
- {
- return VL6180x_RangeGetMeasurement(Device, pRangeData);
- }
-
-/**
- * @brief Get a single distance measure result
- *
- * @par Function Description
- * It can be called after having initialized a component. It start a single
- * distance measure in polling mode and wait until the measure is finisched.
- * The function block until the measure is finished, it can blocks indefinitely
- * in case the measure never ends for any reason \n
- *
- * @param piData Pointer to distance
- * @return 0 on success
- */
- virtual int GetDistance(uint32_t *piData)
- {
- int status=0;
- LOG_FUNCTION_START("");
- status=StartMeasurement(range_single_shot_polling, NULL, NULL, NULL);
- if (!status) {
- RangeWaitDeviceReady(2000);
- for (status=1;
- status!=0;
- status=VL6180x_RangeGetResult(Device, piData));
- }
- StopMeasurement(range_single_shot_polling);
- RangeWaitDeviceReady(2000);
- LOG_FUNCTION_END(status);
- return status;
- }
-
-/**
- * @brief Configure ranging interrupt reported to application
- *
- * @param ConfigGpioInt Select ranging report\n select one (and only one) of:\n
- * @a #CONFIG_GPIO_INTERRUPT_DISABLED \n
- * @a #CONFIG_GPIO_INTERRUPT_LEVEL_LOW \n
- * @a #CONFIG_GPIO_INTERRUPT_LEVEL_HIGH \n
- * @a #CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW \n
- * @a #CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY
- * @return 0 on success
- */
- int RangeConfigInterrupt(uint8_t ConfigGpioInt)
- {
- return VL6180x_RangeConfigInterrupt(Device, ConfigGpioInt);
- }
-
-/**
- * @brief Return ranging error interrupt status
- *
- * @par Function Description
- * Appropriate Interrupt report must have been selected first by @a VL6180x_RangeConfigInterrupt() or @a VL6180x_Prepare() \n
- *
- * Can be used in polling loop to wait for a given ranging event or in interrupt to read the trigger \n
- * Events triggers are : \n
- * @a #RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD \n
- * @a #RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD \n
- * @a #RES_INT_STAT_GPIO_OUT_OF_WINDOW \n (RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD|RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD)
- * @a #RES_INT_STAT_GPIO_NEW_SAMPLE_READY \n
- *
- * @sa IntrStatus_t
- * @param pIntStatus Pointer to status variable to update
- * @return 0 on success
- */
- int RangeGetInterruptStatus(uint8_t *pIntStatus)
- {
- return VL6180x_RangeGetInterruptStatus(Device, pIntStatus);
- }
-
-/**
- * @brief Run a single ALS measurement in single shot polling mode
- *
- * @par Function Description
- * Kick off a new single shot ALS then wait new measurement ready to retrieve it ( polling system interrupt status register for als) \n
- * ALS must be prepared by a first call to @a VL6180x_Prepare() \n
- * \n Should not be used in continuous or interrupt mode it will break it and create hazard in start/stop \n
- *
- * @param dev The device
- * @param pAlsData Als data structure to fill up @a VL6180x_AlsData_t
- * @return 0 on success
- */
- int AlsPollMeasurement(VL6180x_AlsData_t *pAlsData)
- {
- return VL6180x_AlsPollMeasurement(Device, pAlsData);
- }
-
-/**
- * @brief Get actual ALS measurement
- *
- * @par Function Description
- * Can be called after success status polling or in interrupt mode to retrieve ALS measurement from device \n
- * This function doesn't perform any data ready check !
- *
- * @param pAlsData Pointer to measurement struct @a VL6180x_AlsData_t
- * @return 0 on success
- */
- int AlsGetMeasurement(VL6180x_AlsData_t *pAlsData)
- {
- return VL6180x_AlsGetMeasurement(Device, pAlsData);
- }
-
-/**
- * @brief Configure ALS interrupts provide to application
- *
- * @param ConfigGpioInt Select one (and only one) of : \n
- * @a #CONFIG_GPIO_INTERRUPT_DISABLED \n
- * @a #CONFIG_GPIO_INTERRUPT_LEVEL_LOW \n
- * @a #CONFIG_GPIO_INTERRUPT_LEVEL_HIGH \n
- * @a #CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW \n
- * @a #CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY
- * @return 0 on success may return #INVALID_PARAMS for invalid mode
- */
- int AlsConfigInterrupt(uint8_t ConfigGpioInt)
- {
- return VL6180x_AlsConfigInterrupt(Device, ConfigGpioInt);
- }
-
-/**
- * @brief Set ALS integration period
- *
- * @param period_ms Integration period in msec. Value in between 50 to 100 msec is recommended\n
- * @return 0 on success
- */
- int AlsSetIntegrationPeriod(uint16_t period_ms)
- {
- return VL6180x_AlsSetIntegrationPeriod(Device, period_ms);
- }
-
-/**
- * @brief Set ALS "inter-measurement period"
- *
- * @par Function Description
- * The so call data-sheet "inter measurement period" is actually an extra inter-measurement delay
- *
- * @param intermeasurement_period_ms Inter measurement time in milli second\n
- * @warning applied value is clipped to 2550 ms\n
- * @return 0 on success if value is
- */
- int AlsSetInterMeasurementPeriod(uint16_t intermeasurement_period_ms)
- {
- return VL6180x_AlsSetInterMeasurementPeriod(Device, intermeasurement_period_ms);
- }
-
-/**
- * @brief Set ALS analog gain code
- *
- * @par Function Description
- * ALS gain code value programmed in @a SYSALS_ANALOGUE_GAIN .
- * @param gain Gain code see datasheet or AlsGainLookUp for real value. Value is clipped to 7.
- * @return 0 on success
- */
- int AlsSetAnalogueGain(uint8_t gain)
- {
- return VL6180x_AlsSetAnalogueGain(Device, gain);
- }
-
-/**
- * @brief Set thresholds for ALS continuous mode
- * @warning Threshold are raw device value not lux!
- *
- * @par Function Description
- * Basically value programmed in @a SYSALS_THRESH_LOW and @a SYSALS_THRESH_HIGH registers
- * @param low ALS low raw threshold for @a SYSALS_THRESH_LOW
- * @param high ALS high raw threshold for @a SYSALS_THRESH_HIGH
- * @return 0 on success
- */
- int AlsSetThresholds(uint16_t lux_threshold_low, uint16_t lux_threshold_high);
-
-/**
- * Read ALS interrupt status
- * @param pIntStatus Pointer to status
- * @return 0 on success
- */
- int AlsGetInterruptStatus(uint8_t *pIntStatus)
- {
- return VL6180x_AlsGetInterruptStatus(Device, pIntStatus);
- }
-
-/**
- * @brief Low level ranging and ALS register static settings (you should call @a VL6180x_Prepare() function instead)
- *
- * @return 0 on success
- */
- int StaticInit()
- {
- return VL6180x_StaticInit(Device);
- }
-
-/**
- * @brief Wait for device to be ready (before a new ranging command can be issued by application)
- * @param MaxLoop Max Number of i2c polling loop see @a #msec_2_i2cloop
- * @return 0 on success. <0 when fail \n
- * @ref VL6180x_ErrCode_t::TIME_OUT for time out \n
- * @ref VL6180x_ErrCode_t::INVALID_PARAMS if MaxLop<1
- */
- int RangeWaitDeviceReady(int MaxLoop )
- {
- return VL6180x_RangeWaitDeviceReady(Device, MaxLoop);
- }
-
-/**
- * @brief Program Inter measurement period (used only in continuous mode)
- *
- * @par Function Description
- * When trying to set too long time, it returns #INVALID_PARAMS
- *
- * @param InterMeasTime_msec Requires inter-measurement time in msec
- * @return 0 on success
- */
- int RangeSetInterMeasPeriod(uint32_t InterMeasTime_msec)
- {
- return VL6180x_RangeSetInterMeasPeriod(Device, InterMeasTime_msec);
- }
-
-/**
- * @brief Set device ranging scaling factor
- *
- * @par Function Description
- * The ranging scaling factor is applied on the raw distance measured by the device to increase operating ranging at the price of the precision.
- * Changing the scaling factor when device is not in f/w standby state (free running) is not safe.
- * It can be source of spurious interrupt, wrongly scaled range etc ...
- * @warning __This function doesns't update high/low threshold and other programmed settings linked to scaling factor__.
- * To ensure proper operation, threshold and scaling changes should be done following this procedure: \n
- * @li Set Group hold : @a VL6180x_SetGroupParamHold() \n
- * @li Get Threshold @a VL6180x_RangeGetThresholds() \n
- * @li Change scaling : @a VL6180x_UpscaleSetScaling() \n
- * @li Set Threshold : @a VL6180x_RangeSetThresholds() \n
- * @li Unset Group Hold : @a VL6180x_SetGroupParamHold()
- *
- * @param scaling Scaling factor to apply (1,2 or 3)
- * @return 0 on success when up-scale support is not configured it fail for any
- * scaling than the one statically configured.
- */
- int UpscaleSetScaling(uint8_t scaling)
- {
- return VL6180x_UpscaleSetScaling(Device, scaling);
- }
-
-/**
- * @brief Get current ranging scaling factor
- *
- * @return The current scaling factor
- */
- int UpscaleGetScaling()
- {
- return VL6180x_UpscaleGetScaling(Device);
- }
-
-/**
- * @brief Get the maximal distance for actual scaling
- * @par Function Description
- * Do not use prior to @a VL6180x_Prepare() or at least @a VL6180x_InitData()
- *
- * Any range value more than the value returned by this function is to be considered as "no target detected"
- * or "no target in detectable range" \n
- * @warning The maximal distance depends on the scaling
- *
- * @return The maximal range limit for actual mode and scaling
- */
- uint16_t GetUpperLimit()
- {
- return VL6180x_GetUpperLimit(Device);
- }
-
-/**
- * @brief Apply low and high ranging thresholds that are considered only in continuous mode
- *
- * @par Function Description
- * This function programs low and high ranging thresholds that are considered in continuous mode :
- * interrupt will be raised only when an object is detected at a distance inside this [low:high] range.
- * The function takes care of applying current scaling factor if any.\n
- * To be safe, in continuous operation, thresholds must be changed under "group parameter hold" cover.
- * Group hold can be activated/deactivated directly in the function or externally (then set 0)
- * using /a VL6180x_SetGroupParamHold() function.
- *
- * @param low Low threshold in mm
- * @param high High threshold in mm
- * @param SafeHold Use of group parameters hold to surround threshold programming.
- * @return 0 On success
- */
- int RangeSetThresholds(uint16_t low, uint16_t high, int SafeHold)
- {
- return VL6180x_RangeSetThresholds(Device, low, high, SafeHold);
- }
-
-/**
- * @brief Get scaled high and low threshold from device
- *
- * @par Function Description
- * Due to scaling factor, the returned value may be different from what has been programmed first (precision lost).
- * For instance VL6180x_RangeSetThresholds(dev,11,22) with scale 3
- * will read back 9 ((11/3)x3) and 21 ((22/3)x3).
- *
- * @param low scaled low Threshold ptr can be NULL if not needed
- * @param high scaled High Threshold ptr can be NULL if not needed
- * @return 0 on success, return value is undefined if both low and high are NULL
- * @warning return value is undefined if both low and high are NULL
- */
- int RangeGetThresholds(uint16_t *low, uint16_t *high)
- {
- return VL6180x_RangeGetThresholds(Device, low, high);
- }
-
-/**
- * @brief Set ranging raw thresholds (scaling not considered so not recommended to use it)
- *
- * @param low raw low threshold set to raw register
- * @param high raw high threshold set to raw register
- * @return 0 on success
- */
- int RangeSetRawThresholds(uint8_t low, uint8_t high)
- {
- return VL6180x_RangeSetRawThresholds(Device, low, high);
- }
-
-/**
- * @brief Set Early Convergence Estimate ratio
- * @par Function Description
- * For more information on ECE check datasheet
- * @warning May return a calibration warning in some use cases
- *
- * @param FactorM ECE factor M in M/D
- * @param FactorD ECE factor D in M/D
- * @return 0 on success. <0 on error. >0 on warning
- */
- int RangeSetEceFactor(uint16_t FactorM, uint16_t FactorD)
- {
- return VL6180x_RangeSetEceFactor(Device, FactorM, FactorD);
- }
-
-/**
- * @brief Set Early Convergence Estimate state (See #SYSRANGE_RANGE_CHECK_ENABLES register)
- * @param enable State to be set 0=disabled, otherwise enabled
- * @return 0 on success
- */
- int RangeSetEceState(int enable)
- {
- return VL6180x_RangeSetEceState(Device, enable);
- }
-
-/**
- * @brief Set activation state of the wrap around filter
- * @param state New activation state (0=off, otherwise on)
- * @return 0 on success
- */
- int FilterSetState(int state)
- {
- return VL6180x_FilterSetState(Device, state);
- }
-
-/**
- * Get activation state of the wrap around filter
- * @return Filter enabled or not, when filter is not supported it always returns 0S
- */
- int FilterGetState()
- {
- return VL6180x_FilterGetState(Device);
- }
-
-/**
- * @brief Set activation state of DMax computation
- * @param state New activation state (0=off, otherwise on)
- * @return 0 on success
- */
- int DMaxSetState(int state)
- {
- return VL6180x_DMaxSetState(Device, state);
- }
-
-/**
- * Get activation state of DMax computation
- * @return Filter enabled or not, when filter is not supported it always returns 0S
- */
- int DMaxGetState()
- {
- return VL6180x_DMaxGetState(Device);
- }
-
-/**
- * @brief Set ranging mode and start/stop measure (use high level functions instead : @a VL6180x_RangeStartSingleShot() or @a VL6180x_RangeStartContinuousMode())
- *
- * @par Function Description
- * When used outside scope of known polling single shot stopped state, \n
- * user must ensure the device state is "idle" before to issue a new command.
- *
- * @param mode A combination of working mode (#MODE_SINGLESHOT or #MODE_CONTINUOUS) and start/stop condition (#MODE_START_STOP) \n
- * @return 0 on success
- */
- int RangeSetSystemMode(uint8_t mode)
- {
- return VL6180x_RangeSetSystemMode(Device, mode);
- }
-
-/** @} */
-
-/** @defgroup api_ll_range_calibration Ranging calibration functions
- * @brief Ranging calibration functions
- * @ingroup api_ll
- * @{
- */
-/**
- * @brief Get part to part calibration offset
- *
- * @par Function Description
- * Should only be used after a successful call to @a VL6180x_InitData to backup device nvm value
- *
- * @return part to part calibration offset from device
- */
- int8_t GetOffsetCalibrationData()
- {
- return VL6180x_GetOffsetCalibrationData(Device);
- }
-
-/**
- * Set or over-write part to part calibration offset
- * \sa VL6180x_InitData(), VL6180x_GetOffsetCalibrationData()
- * @param offset Offset
- */
- void SetOffsetCalibrationData(int8_t offset)
- {
- return VL6180x_SetOffsetCalibrationData(Device, offset);
- }
-
-/**
- * @brief Set Cross talk compensation rate
- *
- * @par Function Description
- * It programs register @a #SYSRANGE_CROSSTALK_COMPENSATION_RATE
- *
- * @param Rate Compensation rate (9.7 fix point) see datasheet for details
- * @return 0 on success
- */
- int SetXTalkCompensationRate(FixPoint97_t Rate)
- {
- return VL6180x_SetXTalkCompensationRate(Device, Rate);
- }
-/** @} */
-
-/** @defgroup api_ll_als ALS functions
- * @brief ALS functions
- * @ingroup api_ll
- * @{
- */
-
-/**
- * @brief Wait for device to be ready for new als operation or max pollign loop (time out)
- * @param MaxLoop Max Number of i2c polling loop see @a #msec_2_i2cloop
- * @return 0 on success. <0 when @a VL6180x_ErrCode_t::TIME_OUT if timed out
- */
- int AlsWaitDeviceReady(int MaxLoop)
- {
- return VL6180x_AlsWaitDeviceReady(Device, MaxLoop);
- }
-
-/**
- * @brief Set ALS system mode and start/stop measure
- *
- * @warning When used outside after single shot polling, \n
- * User must ensure the device state is ready before issuing a new command (using @a VL6180x_AlsWaitDeviceReady()). \n
- * Non respect of this, can cause loss of interrupt or device hanging.
- *
- * @param mode A combination of working mode (#MODE_SINGLESHOT or #MODE_CONTINUOUS) and start condition (#MODE_START_STOP) \n
- * @return 0 on success
- */
- int AlsSetSystemMode(uint8_t mode)
- {
- return VL6180x_AlsSetSystemMode(Device, mode);
- }
-
-/** @defgroup api_ll_misc Misc functions
- * @brief Misc functions
- * @ingroup api_ll
- * @{
- */
-
-/**
- * Set Group parameter Hold state
- *
- * @par Function Description
- * Group parameter holds @a #SYSTEM_GROUPED_PARAMETER_HOLD enable safe update (non atomic across multiple measure) by host
- * \n The critical register group is composed of: \n
- * #SYSTEM_INTERRUPT_CONFIG_GPIO \n
- * #SYSRANGE_THRESH_HIGH \n
- * #SYSRANGE_THRESH_LOW \n
- * #SYSALS_INTEGRATION_PERIOD \n
- * #SYSALS_ANALOGUE_GAIN \n
- * #SYSALS_THRESH_HIGH \n
- * #SYSALS_THRESH_LOW
- *
- *
- * @param Hold Group parameter Hold state to be set (on/off)
- * @return 0 on success
- */
- int SetGroupParamHold(int Hold)
- {
- return VL6180x_SetGroupParamHold(Device, Hold);
- }
-
-/**
- * @brief Set new device i2c address
- *
- * After completion the device will answer to the new address programmed.
- *
- * @sa AN4478: Using multiple VL6180X's in a single design
- * @param NewAddr The new i2c address (7bit)
- * @return 0 on success
- */
- int SetI2CAddress(int NewAddr)
- {
- int status;
-
- status=VL6180x_SetI2CAddress(Device, NewAddr);
- if(!status)
- Device->I2cAddr=NewAddr;
- return status;
- }
-
-/**
- * @brief Fully configure gpio 0/1 pin : polarity and functionality
- *
- * @param pin gpio pin 0 or 1
- * @param IntFunction Pin functionality : either #GPIOx_SELECT_OFF or #GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT (refer to #SYSTEM_MODE_GPIO1 register definition)
- * @param ActiveHigh Set active high polarity, or active low see @a ::IntrPol_e
- * @return 0 on success
- */
- int SetupGPIOx(int pin, uint8_t IntFunction, int ActiveHigh)
- {
- return VL6180x_SetupGPIOx(Device, pin, IntFunction, ActiveHigh);
- }
-
-/**
- * @brief Set interrupt pin polarity for the given GPIO
- *
- * @param pin Pin 0 or 1
- * @param active_high select active high or low polarity using @ref IntrPol_e
- * @return 0 on success
- */
- int SetGPIOxPolarity(int pin, int active_high)
- {
- return VL6180x_SetGPIOxPolarity(Device, pin, active_high);
- }
-
-/**
- * Select interrupt functionality for the given GPIO
- *
- * @par Function Description
- * Functionality refer to @a SYSTEM_MODE_GPIO0
- *
- * @param pin Pin to configure 0 or 1 (gpio0 or gpio1)\nNote that gpio0 is chip enable at power up !
- * @param functionality Pin functionality : either #GPIOx_SELECT_OFF or #GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT (refer to #SYSTEM_MODE_GPIO1 register definition)
- * @return 0 on success
- */
- int SetGPIOxFunctionality(int pin, uint8_t functionality)
- {
- return VL6180x_SetGPIOxFunctionality(Device, pin, functionality);
- }
-
-/**
- * #brief Disable and turn to Hi-Z gpio output pin
- *
- * @param pin The pin number to disable 0 or 1
- * @return 0 on success
- */
- int DisableGPIOxOut(int pin)
- {
- return VL6180x_DisableGPIOxOut(Device, pin);
- }
-
-/** @} */
-
-/** @defgroup api_ll_intr Interrupts management functions
- * @brief Interrupts management functions
- * @ingroup api_ll
- * @{
- */
-
-/**
- * @brief Get all interrupts cause
- *
- * @param status Ptr to interrupt status. You can use @a IntrStatus_t::val
- * @return 0 on success
- */
- int GetInterruptStatus(uint8_t *status)
- {
- return VL6180x_GetInterruptStatus(Device, status);
- }
-
-/**
- * @brief Clear given system interrupt condition
- *
- * @par Function Description
- * Clear given interrupt cause by writing into register #SYSTEM_INTERRUPT_CLEAR register.
- * @param dev The device
- * @param IntClear Which interrupt source to clear. Use any combinations of #INTERRUPT_CLEAR_RANGING , #INTERRUPT_CLEAR_ALS , #INTERRUPT_CLEAR_ERROR.
- * @return 0 On success
- */
- int ClearInterrupt(uint8_t IntClear)
- {
- return VL6180x_ClearInterrupt(Device, IntClear );
- }
-
-/**
- * @brief Clear error interrupt
- *
- * @param dev The device
- * @return 0 On success
- */
- #define VL6180x_ClearErrorInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_ERROR)
-
-/**
- * @brief Clear All interrupt causes (als+range+error)
- *
- * @param dev The device
- * @return 0 On success
- */
-#define VL6180x_ClearAllInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_ERROR|INTERRUPT_CLEAR_RANGING|INTERRUPT_CLEAR_ALS)
-
-/** @} */
-
-/**
- * @brief Get a single light (in Lux) measure result
- *
- * @par Function Description
- * It can be called after having initialized a component. It start a single
- * light measure in polling mode and wait until the measure is finisched.
- * The function block until the measure is finished, it can blocks indefinitely
- * in case the measure never ends for any reason \n
- */
- virtual int GetLux(uint32_t *piData)
- {
- int status=0;
- LOG_FUNCTION_START("");
- status=StartMeasurement(als_single_shot_polling, NULL, NULL, NULL);
- if (!status) {
- AlsWaitDeviceReady(2000);
- for (status=1;
- status!=0;
- status=VL6180x_AlsGetLux(Device, piData));
- }
- StopMeasurement(als_single_shot_polling);
- AlsWaitDeviceReady(2000);
- LOG_FUNCTION_END(status);
- return status;
- }
-
-/**
- * @brief Start the ALS (light) measure in continous mode
- *
- * @par Function Description
- * Start the ALS (light) measure in continous mode
- * @return 0 On success
- */
- int AlsStartContinuousMode()
- {
- return VL6180x_AlsSetSystemMode(Device, MODE_START_STOP|MODE_CONTINUOUS);
- }
-
-/**
- * @brief Start the ALS (light) measure in single shot mode
- *
- * @par Function Description
- * Start the ALS (light) measure in single shot mode
- * @return 0 On success
- */
- int AlsStartSingleShot()
- {
- return VL6180x_AlsSetSystemMode(Device, MODE_START_STOP|MODE_SINGLESHOT);
- }
-
- private:
- /* api.h 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, uint32_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, uint16_t low, uint16_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 );
-
- /* Other functions defined in api.c */
- 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 function of the ID device */
- virtual int ReadID(uint8_t *id);
-
- /* Write and read functions from I2C */
- int VL6180x_WrByte(VL6180xDev_t dev, uint16_t index, uint8_t data);
- int VL6180x_WrWord(VL6180xDev_t dev, uint16_t index, uint16_t data);
- int VL6180x_WrDWord(VL6180xDev_t dev, uint16_t index, uint32_t data);
- 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);
-
- int IsPresent();
- int StopRangeMeasurement(OperatingMode operating_mode);
- int StopAlsMeasurement(OperatingMode operating_mode);
- int GetRangeMeas(OperatingMode operating_mode, MeasureData_t *Data);
- int GetAlsMeas(OperatingMode operating_mode, MeasureData_t *Data);
- int GetRangeAlsMeas(MeasureData_t *Data);
- int RangeSetLowThreshold(uint16_t threshold);
- int RangeSetHighThreshold(uint16_t threshold);
- int AlsSetLowThreshold(uint16_t threshold);
- int AlsSetHighThreshold(uint16_t threshold);
- int GetRangeError(MeasureData_t *Data, VL6180x_RangeData_t RangeData);
- int GetAlsError(MeasureData_t *Data, VL6180x_AlsData_t AlsData);
- int RangeMeasPollSingleShot();
- int AlsMeasPollSingleShot();
- int RangeMeasPollContinuousMode();
- int AlsMeasPollContinuousMode();
- int AlsGetMeasurementIfReady(VL6180xDev_t dev, VL6180x_AlsData_t *pAlsData);
- int RangeMeasIntContinuousMode(void (*fptr)(void));
- int AlsMeasIntContinuousMode(void (*fptr)(void));
- int InterleavedMode(void (*fptr)(void));
- int StartInterleavedMode();
- int AlsGetThresholds(VL6180xDev_t dev, lux_t *low, lux_t *high);
-
-
- /* IO Device */
- DevI2C &dev_i2c;
- /* Digital out pin */
- DigitalOut *gpio0;
- /* GPIO expander */
- STMPE1600DigiOut *expgpio0;
- /* Measure detection IRQ */
- InterruptIn *gpio1Int;
- /* Device data */
- MyVL6180Dev_t MyDevice;
- VL6180xDev_t Device;
-};
-
-#endif // __VL6180X_CLASS_H
--- a/Components/VL6180X/vl6180x_def.h Mon Mar 13 17:57:03 2017 +0100
+++ b/Components/VL6180X/vl6180x_def.h Mon Mar 13 19:08:10 2017 +0000
@@ -32,22 +32,22 @@
*/
/**
- * @file VL6180x_def.h
+ * @file VL6180X_def.h
*
* @brief Type definitions for vl6180x api.
*
*/
-#ifndef _VL6180x_DEF
-#define _VL6180x_DEF
+#ifndef _VL6180X_DEF
+#define _VL6180X_DEF
/** API major version */
-#define VL6180x_API_REV_MAJOR 3
+#define VL6180X_API_REV_MAJOR 3
/** API minor version */
-#define VL6180x_API_REV_MINOR 0
+#define VL6180X_API_REV_MINOR 0
/** API sub version */
-#define VL6180x_API_REV_SUB 1
+#define VL6180X_API_REV_SUB 1
#define VL6180X_STR_HELPER(x) #x
#define VL6180X_STR(x) VL6180X_STR_HELPER(x)
@@ -59,36 +59,36 @@
* check configuration macro raise error or warning and suggest a default value
*/
-#ifndef VL6180x_UPSCALE_SUPPORT
-#error "VL6180x_UPSCALE_SUPPORT not defined"
+#ifndef VL6180X_UPSCALE_SUPPORT
+#error "VL6180X_UPSCALE_SUPPORT not defined"
/* TODO you must define value for upscale support in your vl6180x_cfg.h */
#endif
-#ifndef VL6180x_ALS_SUPPORT
-#error "VL6180x_ALS_SUPPORT not defined"
-/* TODO you must define VL6180x_ALS_SUPPORT with a value in your vl6180x_cfg.h set to 0 do disable*/
+#ifndef VL6180X_ALS_SUPPORT
+#error "VL6180X_ALS_SUPPORT not defined"
+/* TODO you must define VL6180X_ALS_SUPPORT with a value in your vl6180x_cfg.h set to 0 do disable*/
#endif
-#ifndef VL6180x_HAVE_DMAX_RANGING
-#error "VL6180x_HAVE_DMAX_RANGING not defined"
+#ifndef VL6180X_HAVE_DMAX_RANGING
+#error "VL6180X_HAVE_DMAX_RANGING not defined"
/* TODO you may remove or comment these #error and keep the default below or update your vl6180x_cfg.h .h file */
/**
- * force VL6180x_HAVE_DMAX_RANGING to not supported when not part of cfg file
+ * force VL6180X_HAVE_DMAX_RANGING to not supported when not part of cfg file
*/
-#define VL6180x_HAVE_DMAX_RANGING 0
+#define VL6180X_HAVE_DMAX_RANGING 0
#endif
-#ifndef VL6180x_EXTENDED_RANGE
-#define VL6180x_EXTENDED_RANGE 0
+#ifndef VL6180X_EXTENDED_RANGE
+#define VL6180X_EXTENDED_RANGE 0
#endif
-#ifndef VL6180x_WRAP_AROUND_FILTER_SUPPORT
-#error "VL6180x_WRAP_AROUND_FILTER_SUPPORT not defined ?"
+#ifndef VL6180X_WRAP_AROUND_FILTER_SUPPORT
+#error "VL6180X_WRAP_AROUND_FILTER_SUPPORT not defined ?"
/* TODO you may remove or comment these #error and keep the default below or update vl6180x_cfg.h file */
/**
- * force VL6180x_WRAP_AROUND_FILTER_SUPPORT to not supported when not part of cfg file
+ * force VL6180X_WRAP_AROUND_FILTER_SUPPORT to not supported when not part of cfg file
*/
-#define VL6180x_WRAP_AROUND_FILTER_SUPPORT 0
+#define VL6180X_WRAP_AROUND_FILTER_SUPPORT 0
#endif
@@ -99,35 +99,35 @@
****************************************/
/** Maximal buffer size ever use in i2c */
-#define VL6180x_MAX_I2C_XFER_SIZE 8 /* At present time it 6 byte max but that can change */
+#define VL6180X_MAX_I2C_XFER_SIZE 8 /* At present time it 6 byte max but that can change */
-#if VL6180x_UPSCALE_SUPPORT < 0
+#if VL6180X_UPSCALE_SUPPORT < 0
/**
- * @def VL6180x_HAVE_UPSCALE_DATA
+ * @def VL6180X_HAVE_UPSCALE_DATA
* @brief is defined if device data structure has data so when user configurable up-scale is active
*/
-#define VL6180x_HAVE_UPSCALE_DATA /* have data only for user configurable up-scale config */
+#define VL6180X_HAVE_UPSCALE_DATA /* have data only for user configurable up-scale config */
#endif
-#if VL6180x_WRAP_AROUND_FILTER_SUPPORT
+#if VL6180X_WRAP_AROUND_FILTER_SUPPORT
/**
- * @def VL6180x_HAVE_WRAP_AROUND_DATA
+ * @def VL6180X_HAVE_WRAP_AROUND_DATA
* @brief is defined if device data structure has filter data so when active in cfg file
*/
-#define VL6180x_HAVE_WRAP_AROUND_DATA
+#define VL6180X_HAVE_WRAP_AROUND_DATA
#endif
-#if VL6180x_ALS_SUPPORT != 0
+#if VL6180X_ALS_SUPPORT != 0
/**
- * @def VL6180x_HAVE_ALS_DATA
+ * @def VL6180X_HAVE_ALS_DATA
* @brief is defined when als data are include in device data structure so when als suport if configured
*/
-#define VL6180x_HAVE_ALS_DATA
+#define VL6180X_HAVE_ALS_DATA
#endif
-#if VL6180x_WRAP_AROUND_FILTER_SUPPORT || VL6180x_HAVE_DMAX_RANGING
- #define VL6180x_HAVE_RATE_DATA
+#if VL6180X_WRAP_AROUND_FILTER_SUPPORT || VL6180X_HAVE_DMAX_RANGING
+ #define VL6180X_HAVE_RATE_DATA
#endif
/** Error and warning code returned by API
@@ -135,9 +135,9 @@
* negative value are true error mostly fatal\n
* positive value are warning most of time it's ok to continue\n
*/
-enum VL6180x_ErrCode_t{
+enum VL6180X_ErrCode_t{
API_NO_ERROR = 0,
- CALIBRATION_WARNING = 1, /*!< warning invalid calibration data may be in used \a VL6180x_InitData() \a VL6180x_GetOffsetCalibrationData \a VL6180x_SetOffsetCalibrationData*/
+ CALIBRATION_WARNING = 1, /*!< warning invalid calibration data may be in used \a VL6180X_InitData() \a VL6180X_GetOffsetCalibrationData \a VL6180X_SetOffsetCalibrationData*/
MIN_CLIPED = 2, /*!< warning parameter passed was clipped to min before to be applied */
NOT_GUARANTEED = 3, /*!< Correct operation is not guaranteed typically using extended ranging on vl6180x */
NOT_READY = 4, /*!< the data is not ready retry */
@@ -184,7 +184,7 @@
FilterType1_t Previous_VAVGDiff; /*!< internal use */
};
-#if VL6180x_HAVE_DMAX_RANGING
+#if VL6180X_HAVE_DMAX_RANGING
typedef int32_t DMaxFix_t;
struct DMaxData_t {
uint32_t ambTuningWindowFactor_K; /*!< internal algo tuning (*1000) */
@@ -201,14 +201,14 @@
#endif
/**
- * @struct VL6180xDevData_t
+ * @struct VL6180XDevData_t
*
- * @brief Per VL6180x device St private data structure \n
+ * @brief Per VL6180X device St private data structure \n
* End user should never access any of these field directly
*
- * These must never access directly but only via VL6180xDev/SetData(dev, field) macro
+ * These must never access directly but only via VL6180XDev/SetData(dev, field) macro
*/
-struct VL6180xDevData_t {
+struct VL6180XDevData_t {
uint32_t Part2PartAmbNVM; /*!< backed up NVM value */
uint32_t XTalkCompRate_KCps; /*! Cached XTlak Compensation Rate */
@@ -216,48 +216,48 @@
uint16_t EceFactorM; /*!< Ece Factor M numerator */
uint16_t EceFactorD; /*!< Ece Factor D denominator*/
-#ifdef VL6180x_HAVE_ALS_DATA
+#ifdef VL6180X_HAVE_ALS_DATA
uint16_t IntegrationPeriod; /*!< cached als Integration period avoid slow read from device at each measure */
uint16_t AlsGainCode; /*!< cached Als gain avoid slow read from device at each measure */
uint16_t AlsScaler; /*!< cached Als scaler avoid slow read from device at each measure */
#endif
-#ifdef VL6180x_HAVE_UPSCALE_DATA
+#ifdef VL6180X_HAVE_UPSCALE_DATA
uint8_t UpscaleFactor; /*!< up-scaling factor*/
#endif
-#ifdef VL6180x_HAVE_WRAP_AROUND_DATA
+#ifdef VL6180X_HAVE_WRAP_AROUND_DATA
uint8_t WrapAroundFilterActive; /*!< Filter on/off */
struct FilterData_t FilterData; /*!< Filter internal data state history ... */
#endif
-#if VL6180x_HAVE_DMAX_RANGING
+#if VL6180X_HAVE_DMAX_RANGING
struct DMaxData_t DMaxData;
uint8_t DMaxEnable;
#endif
int8_t Part2PartOffsetNVM; /*!< backed up NVM value */
};
-#if VL6180x_SINGLE_DEVICE_DRIVER
-extern struct VL6180xDevData_t SingleVL6180xDevData;
-#define VL6180xDevDataGet(dev, field) (SingleVL6180xDevData.field)
-/* is also used as direct accessor like VL6180xDevDataGet(dev, x)++*/
-#define VL6180xDevDataSet(dev, field, data) (SingleVL6180xDevData.field)=(data)
+#if VL6180X_SINGLE_DEVICE_DRIVER
+extern struct VL6180XDevData_t SingleVL6180XDevData;
+#define VL6180XDevDataGet(dev, field) (SingleVL6180XDevData.field)
+/* is also used as direct accessor like VL6180XDevDataGet(dev, x)++*/
+#define VL6180XDevDataSet(dev, field, data) (SingleVL6180XDevData.field)=(data)
#endif
/**
- * @struct VL6180x_RangeData_t
+ * @struct VL6180X_RangeData_t
* @brief Range and any optional measurement data.
*/
typedef struct {
uint32_t range_mm; /*!< range distance in mm. */
int32_t signalRate_mcps; /*!< signal rate (MCPS)\n these is a 9.7 fix point value, which is effectively a measure of target reflectance.*/
uint32_t errorStatus; /*!< Error status of the current measurement. \n
- see @a ::RangeError_u @a VL6180x_GetRangeStatusErrString() */
+ see @a ::RangeError_u @a VL6180X_GetRangeStatusErrString() */
-#ifdef VL6180x_HAVE_RATE_DATA
+#ifdef VL6180X_HAVE_RATE_DATA
uint32_t rtnAmbRate; /*!< Return Ambient rate in KCount per sec related to \a RESULT_RANGE_RETURN_AMB_COUNT */
uint32_t rtnRate; /*!< Return rate in KCount per sec related to \a RESULT_RANGE_RETURN_SIGNAL_COUNT */
uint32_t rtnConvTime; /*!< Return Convergence time \a RESULT_RANGE_RETURN_CONV_TIME */
@@ -265,14 +265,14 @@
#endif
-#if VL6180x_HAVE_DMAX_RANGING
+#if VL6180X_HAVE_DMAX_RANGING
uint32_t DMax; /*!< DMax when applicable */
#endif
-#ifdef VL6180x_HAVE_WRAP_AROUND_DATA
+#ifdef VL6180X_HAVE_WRAP_AROUND_DATA
RangeFilterResult_t FilteredData; /*!< Filter result main range_mm is updated */
#endif
-}VL6180x_RangeData_t;
+}VL6180X_RangeData_t;
/** use where fix point 9.7 bit values are expected
@@ -286,17 +286,17 @@
/**
* @brief This data type defines als measurement data.
*/
-typedef struct VL6180x_AlsData_st{
+typedef struct VL6180X_AlsData_st{
lux_t lux; /**< Light measurement (Lux) */
uint32_t errorStatus; /**< Error status of the current measurement. \n
* No Error := 0. \n
* Refer to product sheets for other error codes. */
-}VL6180x_AlsData_t;
+}VL6180X_AlsData_t;
/**
* @brief Range status Error code
*
- * @a VL6180x_GetRangeStatusErrString() if configured ( @a #VL6180x_RANGE_STATUS_ERRSTRING )
+ * @a VL6180X_GetRangeStatusErrString() if configured ( @a #VL6180X_RANGE_STATUS_ERRSTRING )
* related to register @a #RESULT_RANGE_STATUS and additional post processing
*/
typedef enum {
@@ -438,7 +438,7 @@
/**
* @def SYSTEM_GROUPED_PARAMETER_HOLD
* @brief Writing 1/0 activate/deactivate safe host update of multiple register in critical group \n
- * rather use \a VL6180x_SetGroupParamHold()
+ * rather use \a VL6180X_SetGroupParamHold()
*
* The critical register group is made of: \n
* #SYSTEM_INTERRUPT_CONFIG_GPIO \n
@@ -487,7 +487,7 @@
/**
* @def SYSRANGE_INTERMEASUREMENT_PERIOD
- * @brief Continuous mode intermeasurement delay \a VL6180x_RangeSetInterMeasPeriod()
+ * @brief Continuous mode intermeasurement delay \a VL6180X_RangeSetInterMeasPeriod()
*
* Time delay between measurements in Ranging continuous mode.\n
* Range 0-254 (0 = 10ms).\n Step size = 10ms.
@@ -508,7 +508,7 @@
*/
#define SYSRANGE_MAX_CONVERGENCE_TIME 0x01C
/**@brief Cross talk compensation rate
- * @warning never write register directly use @a VL6180x_SetXTalkCompensationRate()
+ * @warning never write register directly use @a VL6180X_SetXTalkCompensationRate()
* refer to manual for calibration procedure and computation
* @ingroup device_regdef
*/
@@ -525,7 +525,7 @@
#define SYSRANGE_MAX_AMBIENT_LEVEL_THRESH 0x02A
#define SYSRANGE_MAX_AMBIENT_LEVEL_MULT 0x02C
/** @brief various Enable check enabel register
- * @a VL6180x_RangeSetEceState()
+ * @a VL6180X_RangeSetEceState()
*/
#define SYSRANGE_RANGE_CHECK_ENABLES 0x02D
#define RANGE_CHECK_ECE_ENABLE_MASK 0x01
@@ -582,14 +582,14 @@
* @brief 16 Bit ALS count output value.
*
* Lux value depends on Gain and integration settings and calibrated lux/count setting
- * \a VL6180x_AlsGetLux() \a VL6180x_AlsGetMeasurement()
+ * \a VL6180X_AlsGetLux() \a VL6180X_AlsGetMeasurement()
*/
#define RESULT_ALS_VAL 0x50
/**
* @def FW_ALS_RESULT_SCALER
* @brief Als scaler register Bits [3:0] analogue gain 1 to 16x
- * these register content is cached by API in \a VL6180xDevData_t::AlsScaler
+ * these register content is cached by API in \a VL6180XDevData_t::AlsScaler
* for lux computation acceleration
*/
#define FW_ALS_RESULT_SCALER 0x120
@@ -712,7 +712,7 @@
* @def RANGE_SCALER
* @brief RANGE scaling register
*
- * Never should user write directly onto that register directly \a VL6180x_UpscaleSetScaling()
+ * Never should user write directly onto that register directly \a VL6180X_UpscaleSetScaling()
*/
#define RANGE_SCALER 0x096
@@ -736,8 +736,8 @@
* User programmable I2C address (7-bit). Device address can be re-designated after power-up.
* @warning What programmed in the register 7-0 are bit 8-1 of i2c address on bus (bit 0 is rd/wr)
* so what prohamd is commonly whar ergfer as adrerss /2
- * @sa VL6180x_SetI2CAddress()
+ * @sa VL6180X_SetI2CAddress()
*/
#define I2C_SLAVE_DEVICE_ADDRESS 0x212
-#endif /* _VL6180x_DEF */
+#endif /* _VL6180X_DEF */
--- a/Components/VL6180X/vl6180x_platform.h Mon Mar 13 17:57:03 2017 +0100
+++ b/Components/VL6180X/vl6180x_platform.h Mon Mar 13 19:08:10 2017 +0000
@@ -22,20 +22,20 @@
/* vl6180x_platform.h STM32 Nucleo F401 single device sample code project */
-#ifndef VL6180x_PLATFORM
-#define VL6180x_PLATFORM
+#ifndef VL6180X_PLATFORM
+#define VL6180X_PLATFORM
#include "vl6180x_def.h"
-#define VL6180x_SINGLE_DEVICE_DRIVER 0
-#define VL6180x_RANGE_STATUS_ERRSTRING 1
+#define VL6180X_SINGLE_DEVICE_DRIVER 0
+#define VL6180X_RANGE_STATUS_ERRSTRING 1
#define VL6180X_SAFE_POLLING_ENTER 0
#define VL6180X_LOG_ENABLE 0
#define MY_LOG 1
-#define VL6180x_DEV_DATA_ATTR
+#define VL6180X_DEV_DATA_ATTR
#define ROMABLE_DATA
@@ -63,7 +63,7 @@
#define LOG_FUNCTION_END_FMT(status, fmt, ... )\
trace_printf("End %s @%d %d\t"fmt"\n" , __func__, LOG_GET_TIME(), (int)status, ##__VA_ARGS__)
-#define VL6180x_ErrLog(msg, ... )\
+#define VL6180X_ErrLog(msg, ... )\
do {\
trace_printf("ERR in %s line %d\n" msg, __func__, __LINE__, ##__VA_ARGS__);\
} while(0)
@@ -73,7 +73,7 @@
#define LOG_FUNCTION_START(...) (void)0
#define LOG_FUNCTION_END(...) (void)0
#define LOG_FUNCTION_END_FMT(...) (void)0
- #define VL6180x_ErrLog(... ) //OnErrLog() //(void)0
+ #define VL6180X_ErrLog(... ) //OnErrLog() //(void)0
#endif
#ifdef MY_LOG /* define printf as pc.printf in order to change the baudrate */
@@ -81,12 +81,12 @@
#define printf(...) pc.printf(__VA_ARGS__)
#endif
-#if VL6180x_SINGLE_DEVICE_DRIVER
- #error "VL6180x_SINGLE_DEVICE_DRIVER must be set"
+#if VL6180X_SINGLE_DEVICE_DRIVER
+ #error "VL6180X_SINGLE_DEVICE_DRIVER must be set"
#endif
struct MyVL6180Dev_t {
- struct VL6180xDevData_t Data;
+ struct VL6180XDevData_t Data;
uint8_t I2cAddr;
//uint8_t DevID;
@@ -94,9 +94,9 @@
unsigned Present:1;
unsigned Ready:1;
};
-typedef struct MyVL6180Dev_t *VL6180xDev_t;
+typedef struct MyVL6180Dev_t *VL6180XDev_t;
-#define VL6180xDevDataGet(dev, field) (dev->Data.field)
-#define VL6180xDevDataSet(dev, field, data) (dev->Data.field)=(data)
+#define VL6180XDevDataGet(dev, field) (dev->Data.field)
+#define VL6180XDevDataSet(dev, field, data) (dev->Data.field)=(data)
-#endif /* VL6180x_PLATFORM */
+#endif /* VL6180X_PLATFORM */
--- a/Components/VL6180X/vl6180x_types.h Mon Mar 13 17:57:03 2017 +0100 +++ b/Components/VL6180X/vl6180x_types.h Mon Mar 13 19:08:10 2017 +0000 @@ -26,8 +26,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ********************************************************************************/ -#ifndef VL6180x_TYPES_H_ -#define VL6180x_TYPES_H_ +#ifndef VL6180X_TYPES_H_ +#define VL6180X_TYPES_H_ #include <stdint.h> @@ -59,4 +59,4 @@ #endif /* _STDINT_H */ -#endif /* VL6180x_TYPES_H_ */ +#endif /* VL6180X_TYPES_H_ */
--- a/ST_INTERFACES.lib Mon Mar 13 17:57:03 2017 +0100 +++ b/ST_INTERFACES.lib Mon Mar 13 19:08:10 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/#8f70f7159316
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/XNucleo6180XA1.cpp Mon Mar 13 19:08:10 2017 +0000
@@ -0,0 +1,172 @@
+/**
+ ******************************************************************************
+ * @file XNucleo6180XA1.cpp
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 13-April-2015
+ * @brief Implementation file for the X_NUCLEO_VL6180XA1 singleton class
+ ******************************************************************************
+ * @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.
+ *
+ ******************************************************************************
+ */
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include "XNucleo6180XA1.h"
+
+
+/* Static variables ----------------------------------------------------------*/
+
+XNucleo6180XA1 *XNucleo6180XA1::_instance = NULL;
+
+
+/* Methods -------------------------------------------------------------------*/
+
+XNucleo6180XA1 *XNucleo6180XA1::instance(DevI2C *ext_i2c)
+{
+ if (_instance==NULL) {
+ _instance=new XNucleo6180XA1(ext_i2c);
+ } else {
+ VL6180X_ErrLog("Failed to create X_NUCLEO_6180XA1 instance\n\r");
+ }
+ return _instance;
+}
+
+XNucleo6180XA1 *XNucleo6180XA1::instance(DevI2C *ext_i2c,
+ PinName gpio1_top, PinName gpio1_bottom,
+ PinName gpio1_left, PinName gpio1_right)
+{
+ if (_instance==NULL) {
+ //_instance=new XNucleo6180XA1(ext_i2c);
+ _instance=new XNucleo6180XA1(ext_i2c, gpio1_top, gpio1_bottom, gpio1_left, gpio1_right);
+ } else {
+ VL6180X_ErrLog("Failed to create X_NUCLEO_6180XA1 instance\n\r");
+ }
+ return _instance;
+}
+
+int XNucleo6180XA1::init_board()
+{
+ int status, n_dev=0; uint8_t sensor_address;
+
+ if (sensor_top) {
+ sensor_top->off();
+ }
+ if (sensor_bottom) {
+ sensor_bottom->off();
+ }
+ if (sensor_left) {
+ sensor_left->off();
+ }
+ if (sensor_right) {
+ sensor_right->off();
+ }
+
+ sensor_address = NEW_SENSOR_TOP_ADDRESS;
+ status=sensor_top->init(&sensor_address);
+ if (status) {
+ printf("Error: Mandatory top sensor fail, Init failed!\n\r");
+ if (sensor_top !=NULL) {
+ delete sensor_top;
+ sensor_top=NULL;
+ }
+ if (sensor_left !=NULL) {
+ delete sensor_left;
+ sensor_left=NULL;
+ }
+ if (sensor_bottom !=NULL) {
+ delete sensor_bottom;
+ sensor_bottom=NULL;
+ }
+ if (sensor_right !=NULL) {
+ delete sensor_right;
+ sensor_right=NULL;
+ }
+ n_dev=0;
+ return 1;
+ } else {
+ printf("Sensor top present\n\r");
+ n_dev++;
+ }
+
+ sensor_address = NEW_SENSOR_BOTTOM_ADDRESS;
+ status=1;
+ if (sensor_bottom) {
+ status=sensor_bottom->init(&sensor_address);
+ }
+ if (status)
+ {
+ printf("Sensor bottom not present\n\r");
+ if (sensor_bottom !=NULL) {
+ delete sensor_bottom;
+ sensor_bottom=NULL;
+ }
+ } else {
+ printf("Sensor bottom present\n\r");
+ n_dev++;
+ }
+
+ sensor_address = NEW_SENSOR_LEFT_ADDRESS;
+ status=1;
+ if (sensor_left) {
+ status=sensor_left->init(&sensor_address);
+ }
+ if (status) {
+ printf("Sensor left not present\n\r");
+ if (sensor_left !=NULL) {
+ delete sensor_left;
+ sensor_left=NULL;
+ }
+ } else {
+ printf("Sensor left present\n\r");
+ n_dev++;
+ }
+
+ sensor_address = NEW_SENSOR_RIGHT_ADDRESS;
+ status=1;
+ if (sensor_right) {
+ status=sensor_right->init(&sensor_address);
+ }
+ if (status) {
+ printf("Sensor right not present\n\r");
+ if (sensor_right!=NULL) {
+ delete sensor_right;
+ sensor_right=NULL;
+ }
+ } else {
+ printf("Sensor right present\n\r");
+ n_dev++;
+ }
+
+ if (n_dev==0) {
+ return 1;
+ } else {
+ return 0;
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/XNucleo6180XA1.h Mon Mar 13 19:08:10 2017 +0000
@@ -0,0 +1,236 @@
+/**
+ ******************************************************************************
+ * @file XNucleo6180XA1.h
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 13-April-2015
+ * @brief Header file for class X_NUCLEO_6180XA1 representing a X-NUCLEO-6180XA1
+ * expansion board
+ ******************************************************************************
+ * @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.
+ *
+ ******************************************************************************
+ */
+
+
+/* Define to prevent from recursive inclusion --------------------------------*/
+
+#ifndef __X_NUCLEO_6180XA1_H
+#define __X_NUCLEO_6180XA1_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include "mbed.h"
+#include "VL6180X.h"
+#include "Display.h"
+#include "STMPE1600.h"
+#include "DevI2C.h"
+#include "Switch.h"
+
+/** New device addresses */
+#define NEW_SENSOR_TOP_ADDRESS 0x10
+#define NEW_SENSOR_BOTTOM_ADDRESS 0x11
+#define NEW_SENSOR_LEFT_ADDRESS 0x12
+#define NEW_SENSOR_RIGHT_ADDRESS 0x13
+
+
+/* Classes--------------------------------------------------------------------*/
+
+/**
+ * Class representing the X-NUCLEO-VL6180XA1 expansion board singleton obj
+ */
+class XNucleo6180XA1
+{
+protected:
+ /** Constructor 1
+ * @brief x_nucleo_6180xa1 board Constructor. Default the INT gpio \
+ * configuration as the electrical schematic. Self sensing for optional \
+ * expansion sensors (L/B/R).
+ * @param[in] &i2c device I2C to be used for communication
+ */
+ XNucleo6180XA1(DevI2C *ext_i2c) : dev_i2c(ext_i2c)
+ {
+ stmpe1600 = new STMPE1600(*ext_i2c);
+ stmpe1600->write_sys_ctrl (SOFT_RESET);
+ the_switch = new Switch (*stmpe1600, GPIO_11);
+ display = new Display(*stmpe1600);
+
+ _gpio0_top=new STMPE1600DigiOut(*dev_i2c, GPIO_12);
+ sensor_top=new VL6180X(*dev_i2c, *_gpio0_top, A3);
+
+ _gpio0_bottom=new STMPE1600DigiOut(*dev_i2c, GPIO_13);
+ sensor_bottom=new VL6180X(*dev_i2c, *_gpio0_bottom, A2);
+
+ _gpio0_left=new STMPE1600DigiOut(*dev_i2c, GPIO_14);
+ sensor_left=new VL6180X(*dev_i2c, *_gpio0_left, D13);
+
+ _gpio0_right=new STMPE1600DigiOut(*dev_i2c, GPIO_15);
+ sensor_right=new VL6180X(*dev_i2c, *_gpio0_right, D2);
+
+ if (init_board()) { // init failed
+ printf ("ERROR Init X-NUCLEO-6180XA1 Board\n\r");
+ }
+ }
+
+ /** Constructor 2
+ * @param[in] &i2c device I2C to be used for communication
+ * @param[in] PinName gpio1_top Mbed DigitalOut pin name to be used as a top sensor GPIO_1 INT
+ * @param[in] PinName gpio1_bottom Mbed DigitalOut pin name to be used as a bottom sensor GPIO_1 INT
+ * @param[in] PinName gpio1_left Mbed DigitalOut pin name to be used as a left sensor GPIO_1 INT
+ * @param[in] PinName gpio1_right Mbed DigitalOut pin name to be used as a right sensor GPIO_1 INT
+ */
+ XNucleo6180XA1(DevI2C *ext_i2c, PinName gpio1_top, PinName gpio1_bottom,
+ PinName gpio1_left, PinName gpio1_right) : dev_i2c(ext_i2c) {
+ stmpe1600 = new STMPE1600(*ext_i2c);
+ stmpe1600->write_sys_ctrl (SOFT_RESET);
+ the_switch = new Switch (*stmpe1600, GPIO_11);
+ display = new Display(*stmpe1600);
+
+ _gpio0_top=new STMPE1600DigiOut(*dev_i2c, GPIO_12);
+ sensor_top=new VL6180X(*dev_i2c, *_gpio0_top, gpio1_top);
+
+ _gpio0_bottom=new STMPE1600DigiOut(*dev_i2c, GPIO_13);
+ sensor_bottom=new VL6180X(*dev_i2c, *_gpio0_bottom, gpio1_bottom);
+
+ _gpio0_left=new STMPE1600DigiOut(*dev_i2c, GPIO_14);
+ sensor_left=new VL6180X(*dev_i2c, *_gpio0_left, gpio1_left);
+
+ _gpio0_right=new STMPE1600DigiOut(*dev_i2c, GPIO_15);
+ sensor_right=new VL6180X(*dev_i2c, *_gpio0_right, gpio1_right);
+ }
+
+ /**
+ * @brief Override default copy constructor as empty
+ * @param[in] &XNucleo6180XA1 singleton object reference
+ * @return
+ */
+ XNucleo6180XA1() {};
+
+ /**
+ * @brief Override default assignement operator to avoid multiple singletons
+ * @param[in] &XNucleo6180XA1 singleton object reference
+ * @return
+ */
+ void operator = (const XNucleo6180XA1&);
+
+public:
+ /**
+ * @brief Creates a singleton object instance
+ * @param[in] &i2c device I2C to be used for communication
+ * @return Pointer to the object instance
+ */
+ static XNucleo6180XA1 *instance(DevI2C *ext_i2c);
+
+ /**
+ * @brief Creates a singleton object instance
+ * @param[in] &i2c device I2C to be used for communication
+ * @param[in] PinName gpio1_top the pin connected to top sensor INT
+ * @param[in] PinName gpio1_bottem the pin connected to bottom sensor INT
+ * @param[in] PinName gpio1_left the pin connected to left sensor INT
+ * @param[in] PinName gpio1_right the pin connected to right sensor INT
+ * @return Pointer to the object instance
+ */
+ static XNucleo6180XA1 *instance(DevI2C *ext_i2c, PinName gpio1_top, PinName gpio1_bottom,
+ PinName gpio1_left, PinName gpio1_right);
+
+ /**
+ * @brief Initialize the board and sensors with deft values
+ * @return 0 on success
+ */
+ int init_board();
+
+ /**
+ * @brief Read the on board red slider switch
+ * @return 0 or 1 according to switch position
+ */
+ bool rd_switch () {
+ return the_switch->rd_switch();
+ }
+
+ /**
+ * @brief Check the presence of sensor top. To be called after init_board
+ * @return true is present, false if absent
+ */
+ bool is_sensor_top_present() {
+ if (sensor_top) {
+ return true;
+ }
+ return false;
+ }
+
+ /**
+ * @brief Check the presence of sensor bottom. To be called after init_board
+ * @return true is present, false if absent
+ */
+ bool is_sensor_bottom_present() {
+ if (sensor_bottom) {
+ return true;
+ }
+ return false;
+ }
+
+ /**
+ * @brief Check the presence of sensor left. To be called after init_board
+ * @return true is present, false if absent
+ */
+ bool is_sensor_left_present() {
+ if (sensor_left) {
+ return true;
+ }
+ return false;
+ }
+
+ /**
+ * @brief Check the presence of sensor right. To be called after init_board
+ * @return true is present, false if absent
+ */
+ bool is_sensor_right_present() {
+ if (sensor_right) {
+ return true;
+ }
+ return false;
+ }
+
+ DevI2C *dev_i2c;
+ VL6180X *sensor_top;
+ VL6180X *sensor_bottom;
+ VL6180X *sensor_left;
+ VL6180X *sensor_right;
+ STMPE1600 *stmpe1600;
+ Switch *the_switch;
+ Display *display;
+
+private:
+ STMPE1600DigiOut *_gpio0_top;
+ STMPE1600DigiOut *_gpio0_bottom;
+ STMPE1600DigiOut *_gpio0_left;
+ STMPE1600DigiOut *_gpio0_right;
+ static XNucleo6180XA1 *_instance;
+};
+
+#endif /* __X_NUCLEO_6180XA1_H */
--- a/XNucleo6180xa1.cpp Mon Mar 13 17:57:03 2017 +0100
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,172 +0,0 @@
-/**
- ******************************************************************************
- * @file XNucleo6180xa1.cpp
- * @author AST / EST
- * @version V0.0.1
- * @date 13-April-2015
- * @brief Implementation file for the X_NUCLEO_VL6180XA1 singleton class
- ******************************************************************************
- * @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.
- *
- ******************************************************************************
- */
-
-
-/* Includes ------------------------------------------------------------------*/
-
-#include "XNucleo6180xa1.h"
-
-
-/* Static variables ----------------------------------------------------------*/
-
-XNucleo6180xa1 *XNucleo6180xa1::_instance = NULL;
-
-
-/* Methods -------------------------------------------------------------------*/
-
-XNucleo6180xa1 *XNucleo6180xa1::instance(DevI2C *ext_i2c)
-{
- if (_instance==NULL) {
- _instance=new X_NUCLEO_6180XA1(ext_i2c);
- } else {
- VL6180x_ErrLog("Failed to create X_NUCLEO_6180XA1 instance\n\r");
- }
- return _instance;
-}
-
-XNucleo6180xa1 *XNucleo6180xa1::instance(DevI2C *ext_i2c,
- PinName gpio1_top, PinName gpio1_bottom,
- PinName gpio1_left, PinName gpio1_right)
-{
- if (_instance==NULL) {
- //_instance=new X_NUCLEO_6180XA1(ext_i2c);
- _instance=new X_NUCLEO_6180XA1(ext_i2c, gpio1_top, gpio1_bottom, gpio1_left, gpio1_right);
- } else {
- VL6180x_ErrLog("Failed to create X_NUCLEO_6180XA1 instance\n\r");
- }
- return _instance;
-}
-
-int XNucleo6180xa1::init_board()
-{
- int status, n_dev=0; uint8_t sensor_address;
-
- if (sensor_top) {
- sensor_top->VL6180x_Off();
- }
- if (sensor_bottom) {
- sensor_bottom->VL6180x_Off();
- }
- if (sensor_left) {
- sensor_left->VL6180x_Off();
- }
- if (sensor_right) {
- sensor_right->VL6180x_Off();
- }
-
- sensor_address = NEW_SENSOR_TOP_ADDRESS;
- status=sensor_top->init(&sensor_address);
- if (status) {
- printf("Error: Mandatory top sensor fail, Init failed!\n\r");
- if (sensor_top !=NULL) {
- delete sensor_top;
- sensor_top=NULL;
- }
- if (sensor_left !=NULL) {
- delete sensor_left;
- sensor_left=NULL;
- }
- if (sensor_bottom !=NULL) {
- delete sensor_bottom;
- sensor_bottom=NULL;
- }
- if (sensor_right !=NULL) {
- delete sensor_right;
- sensor_right=NULL;
- }
- n_dev=0;
- return 1;
- } else {
- printf("Sensor top present\n\r");
- n_dev++;
- }
-
- sensor_address = NEW_SENSOR_BOTTOM_ADDRESS;
- status=1;
- if (sensor_bottom) {
- status=sensor_bottom->init(&sensor_address);
- }
- if (status)
- {
- printf("Sensor bottom not present\n\r");
- if (sensor_bottom !=NULL) {
- delete sensor_bottom;
- sensor_bottom=NULL;
- }
- } else {
- printf("Sensor bottom present\n\r");
- n_dev++;
- }
-
- sensor_address = NEW_SENSOR_LEFT_ADDRESS;
- status=1;
- if (sensor_left) {
- status=sensor_left->init(&sensor_address);
- }
- if (status) {
- printf("Sensor left not present\n\r");
- if (sensor_left !=NULL) {
- delete sensor_left;
- sensor_left=NULL;
- }
- } else {
- printf("Sensor left present\n\r");
- n_dev++;
- }
-
- sensor_address = NEW_SENSOR_RIGHT_ADDRESS;
- status=1;
- if (sensor_right) {
- status=sensor_right->init(&sensor_address);
- }
- if (status) {
- printf("Sensor right not present\n\r");
- if (sensor_right!=NULL) {
- delete sensor_right;
- sensor_right=NULL;
- }
- } else {
- printf("Sensor right present\n\r");
- n_dev++;
- }
-
- if (n_dev==0) {
- return 1;
- } else {
- return 0;
- }
-}
--- a/XNucleo6180xa1.h Mon Mar 13 17:57:03 2017 +0100
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,236 +0,0 @@
-/**
- ******************************************************************************
- * @file XNucleo6180xa1.h
- * @author AST / EST
- * @version V0.0.1
- * @date 13-April-2015
- * @brief Header file for class X_NUCLEO_6180XA1 representing a X-NUCLEO-6180XA1
- * expansion board
- ******************************************************************************
- * @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.
- *
- ******************************************************************************
- */
-
-
-/* Define to prevent from recursive inclusion --------------------------------*/
-
-#ifndef __X_NUCLEO_6180XA1_H
-#define __X_NUCLEO_6180XA1_H
-
-
-/* Includes ------------------------------------------------------------------*/
-
-#include "mbed.h"
-#include "vl6180x_class.h"
-#include "Display_class.h"
-#include "stmpe1600_class.h"
-#include "DevI2C.h"
-#include "Switch_class.h"
-
-/** New device addresses */
-#define NEW_SENSOR_TOP_ADDRESS 0x10
-#define NEW_SENSOR_BOTTOM_ADDRESS 0x11
-#define NEW_SENSOR_LEFT_ADDRESS 0x12
-#define NEW_SENSOR_RIGHT_ADDRESS 0x13
-
-
-/* Classes--------------------------------------------------------------------*/
-
-/**
- * Class representing the X-NUCLEO-VL6180XA1 expansion board singleton obj
- */
-class XNucleo6180xa1
-{
-protected:
- /** Constructor 1
- * @brief x_nucleo_6180xa1 board Constructor. Default the INT gpio \
- * configuration as the electrical schematic. Self sensing for optional \
- * expansion sensors (L/B/R).
- * @param[in] &i2c device I2C to be used for communication
- */
- XNucleo6180xa1(DevI2C *ext_i2c) : dev_i2c(ext_i2c)
- {
- stmpe1600 = new STMPE1600(*ext_i2c);
- stmpe1600->writeSYS_CTRL (SOFT_RESET);
- Switch = new SWITCH (*stmpe1600, GPIO_11);
- display = new Display(*stmpe1600);
-
- _gpio0_top=new STMPE1600DigiOut(*dev_i2c, GPIO_12);
- sensor_top=new VL6180X(*dev_i2c, *_gpio0_top, A3);
-
- _gpio0_bottom=new STMPE1600DigiOut(*dev_i2c, GPIO_13);
- sensor_bottom=new VL6180X(*dev_i2c, *_gpio0_bottom, A2);
-
- _gpio0_left=new STMPE1600DigiOut(*dev_i2c, GPIO_14);
- sensor_left=new VL6180X(*dev_i2c, *_gpio0_left, D13);
-
- _gpio0_right=new STMPE1600DigiOut(*dev_i2c, GPIO_15);
- sensor_right=new VL6180X(*dev_i2c, *_gpio0_right, D2);
-
- if (init_board()) { // init failed
- printf ("ERROR Init X-NUCLEO-6180XA1 Board\n\r");
- }
- }
-
- /** Constructor 2
- * @param[in] &i2c device I2C to be used for communication
- * @param[in] PinName gpio1_top Mbed DigitalOut pin name to be used as a top sensor GPIO_1 INT
- * @param[in] PinName gpio1_bottom Mbed DigitalOut pin name to be used as a bottom sensor GPIO_1 INT
- * @param[in] PinName gpio1_left Mbed DigitalOut pin name to be used as a left sensor GPIO_1 INT
- * @param[in] PinName gpio1_right Mbed DigitalOut pin name to be used as a right sensor GPIO_1 INT
- */
- XNucleo6180xa1(DevI2C *ext_i2c, PinName gpio1_top, PinName gpio1_bottom,
- PinName gpio1_left, PinName gpio1_right) : dev_i2c(ext_i2c) {
- stmpe1600 = new STMPE1600(*ext_i2c);
- stmpe1600->writeSYS_CTRL (SOFT_RESET);
- Switch = new SWITCH (*stmpe1600, GPIO_11);
- display = new Display(*stmpe1600);
-
- _gpio0_top=new STMPE1600DigiOut(*dev_i2c, GPIO_12);
- sensor_top=new VL6180X(*dev_i2c, *_gpio0_top, gpio1_top);
-
- _gpio0_bottom=new STMPE1600DigiOut(*dev_i2c, GPIO_13);
- sensor_bottom=new VL6180X(*dev_i2c, *_gpio0_bottom, gpio1_bottom);
-
- _gpio0_left=new STMPE1600DigiOut(*dev_i2c, GPIO_14);
- sensor_left=new VL6180X(*dev_i2c, *_gpio0_left, gpio1_left);
-
- _gpio0_right=new STMPE1600DigiOut(*dev_i2c, GPIO_15);
- sensor_right=new VL6180X(*dev_i2c, *_gpio0_right, gpio1_right);
- }
-
- /**
- * @brief Override default copy constructor as empty
- * @param[in] &XNucleo6180xa1 singleton object reference
- * @return
- */
- XNucleo6180xa1() {};
-
- /**
- * @brief Override default assignement operator to avoid multiple singletons
- * @param[in] &XNucleo6180xa1 singleton object reference
- * @return
- */
- void operator = (const XNucleo6180xa1&);
-
-public:
- /**
- * @brief Creates a singleton object instance
- * @param[in] &i2c device I2C to be used for communication
- * @return Pointer to the object instance
- */
- static XNucleo6180xa1 *instance(DevI2C *ext_i2c);
-
- /**
- * @brief Creates a singleton object instance
- * @param[in] &i2c device I2C to be used for communication
- * @param[in] PinName gpio1_top the pin connected to top sensor INT
- * @param[in] PinName gpio1_bottem the pin connected to bottom sensor INT
- * @param[in] PinName gpio1_left the pin connected to left sensor INT
- * @param[in] PinName gpio1_right the pin connected to right sensor INT
- * @return Pointer to the object instance
- */
- static XNucleo6180xa1 *instance(DevI2C *ext_i2c, PinName gpio1_top, PinName gpio1_bottom,
- PinName gpio1_left, PinName gpio1_right);
-
- /**
- * @brief Initialize the board and sensors with deft values
- * @return 0 on success
- */
- int init_board();
-
- /**
- * @brief Read the on board red slider switch
- * @return 0 or 1 according to switch position
- */
- bool rd_switch () {
- return the_switch->rd_switch();
- }
-
- /**
- * @brief Check the presence of sensor top. To be called after init_board
- * @return true is present, false if absent
- */
- bool is_sensor_top_present() {
- if (sensor_top) {
- return true;
- }
- return false;
- }
-
- /**
- * @brief Check the presence of sensor bottom. To be called after init_board
- * @return true is present, false if absent
- */
- bool is_sensor_bottom_present() {
- if (sensor_bottom) {
- return true;
- }
- return false;
- }
-
- /**
- * @brief Check the presence of sensor left. To be called after init_board
- * @return true is present, false if absent
- */
- bool is_sensor_left_present() {
- if (sensor_left) {
- return true;
- }
- return false;
- }
-
- /**
- * @brief Check the presence of sensor right. To be called after init_board
- * @return true is present, false if absent
- */
- bool is_sensor_right_present() {
- if (sensor_right) {
- return true;
- }
- return false;
- }
-
- DevI2C *dev_i2c;
- VL6180X *sensor_top;
- VL6180X *sensor_bottom;
- VL6180X *sensor_left;
- VL6180X *sensor_right;
- STMPE1600 *stmpe1600;
- SWITCH *the_witch;
- Display *display;
-
-private:
- STMPE1600DigiOut *_gpio0_top;
- STMPE1600DigiOut *_gpio0_bottom;
- STMPE1600DigiOut *_gpio0_left;
- STMPE1600DigiOut *_gpio0_right;
- static XNucleo6180xa1 *_instance;
-};
-
-#endif /* __X_NUCLEO_6180XA1_H */