A library for the RFD77402 ToF distance-sensor. It's a port form the sparkfun-arduino-library.
RFD77402 ToF-sensor
I just ported the sourcecode provided by sparkfun (available on https://github.com/sparkfun/SparkFun_RFD77402_Arduino_Library) to the mbed-environment. So if you like it, please support them by e.g. buying a sparkfun-board, because in fact they did all the work :)
If you found any errors, please report them, I'm no professinal coder, so maybe there are some things I dindn't consider while porting the library.
The datasheet of the sensor is available at https://media.digikey.com/pdf/Data%20Sheets/RF%20Digital%20PDFs/RFD77402.pdf
The easiest way to use the sensor is e.g.:
RFD77402 MyDistance; //create an object-instance MyDistance.begin(i2c); //initialize the sensor MyDistance.takeMeasurement(); //tell sensor to take a measurement uint16_t distance = MyDistance.getDistance(); //get the last measurement result
RFD77402.cpp@0:661414c07859, 2017-11-21 (annotated)
- Committer:
- glx
- Date:
- Tue Nov 21 21:29:58 2017 +0000
- Revision:
- 0:661414c07859
Initial commit
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
glx | 0:661414c07859 | 1 | /* |
glx | 0:661414c07859 | 2 | This is a library written for the RFD77402 Time of Flight sensor. |
glx | 0:661414c07859 | 3 | SparkFun sells these at its website: www.sparkfun.com |
glx | 0:661414c07859 | 4 | Written by Nathan Seidle @ SparkFun Electronics, June 9th, 2017 |
glx | 0:661414c07859 | 5 | The VCSEL (vertical-cavity surface-emitting laser) Time of Flight sensor |
glx | 0:661414c07859 | 6 | can accurately measure from 10cm to 200cm (2m) with milimeter precision. |
glx | 0:661414c07859 | 7 | This library handles the initialization of the RFD77402 and bringing in of |
glx | 0:661414c07859 | 8 | various readings. |
glx | 0:661414c07859 | 9 | https://github.com/sparkfun/SparkFun_RFD77402_Arduino_Library |
glx | 0:661414c07859 | 10 | Do you like this library? Help support SparkFun. Buy a board! |
glx | 0:661414c07859 | 11 | Development environment specifics: |
glx | 0:661414c07859 | 12 | Arduino IDE 1.8.1 |
glx | 0:661414c07859 | 13 | This program is distributed in the hope that it will be useful, |
glx | 0:661414c07859 | 14 | but WITHOUT ANY WARRANTY; without even the implied warranty of |
glx | 0:661414c07859 | 15 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
glx | 0:661414c07859 | 16 | GNU General Public License for more details. |
glx | 0:661414c07859 | 17 | You should have received a copy of the GNU General Public License |
glx | 0:661414c07859 | 18 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
glx | 0:661414c07859 | 19 | |
glx | 0:661414c07859 | 20 | I just ported the sourcecode provided by sparkfun |
glx | 0:661414c07859 | 21 | (on https://github.com/sparkfun/SparkFun_RFD77402_Arduino_Library) to the |
glx | 0:661414c07859 | 22 | mbed-environment. So if you like it, please support them by e.g. buying a |
glx | 0:661414c07859 | 23 | sparkfun-board :) |
glx | 0:661414c07859 | 24 | */ |
glx | 0:661414c07859 | 25 | |
glx | 0:661414c07859 | 26 | #include "mbed.h" |
glx | 0:661414c07859 | 27 | #include "RFD77402.h" |
glx | 0:661414c07859 | 28 | |
glx | 0:661414c07859 | 29 | //Sets up the sensor for constant read |
glx | 0:661414c07859 | 30 | //Returns false if sensor does not respond |
glx | 0:661414c07859 | 31 | bool RFD77402::begin(I2C &i2cPort) |
glx | 0:661414c07859 | 32 | { |
glx | 0:661414c07859 | 33 | //Bring in the user's choices |
glx | 0:661414c07859 | 34 | _i2cPort = &i2cPort; //Grab which port the user wants us to use |
glx | 0:661414c07859 | 35 | |
glx | 0:661414c07859 | 36 | |
glx | 0:661414c07859 | 37 | if (getChipID() < 0xAD00) return (false); //Chip ID failed. Should be 0xAD01 or 0xAD02 |
glx | 0:661414c07859 | 38 | |
glx | 0:661414c07859 | 39 | //Put chip into standby |
glx | 0:661414c07859 | 40 | if (goToStandbyMode() == false) return (false); //Chip timed out before going to standby |
glx | 0:661414c07859 | 41 | |
glx | 0:661414c07859 | 42 | //Drive INT_PAD high |
glx | 0:661414c07859 | 43 | uint8_t setting = readRegister(RFD77402_ICSR); |
glx | 0:661414c07859 | 44 | setting |= (1 << 2); //Set the bit |
glx | 0:661414c07859 | 45 | writeRegister(RFD77402_ICSR, setting); |
glx | 0:661414c07859 | 46 | |
glx | 0:661414c07859 | 47 | //Configure I2C Interface |
glx | 0:661414c07859 | 48 | writeRegister(RFD77402_CONFIGURE_I2C, 0x65); //0b.0110.0101 = Address increment, auto increment, host debug, MCPU debug |
glx | 0:661414c07859 | 49 | |
glx | 0:661414c07859 | 50 | //Set initialization - Magic from datasheet. Write 0x05 to 0x15 location. |
glx | 0:661414c07859 | 51 | writeRegister16(RFD77402_CONFIGURE_PMU, 0x0500); //0b.0000.0101.0000.0000 //Patch_code_id_en, Patch_mem_en |
glx | 0:661414c07859 | 52 | |
glx | 0:661414c07859 | 53 | if (goToOffMode() == false) return (false); //MCPU never turned off |
glx | 0:661414c07859 | 54 | |
glx | 0:661414c07859 | 55 | //Read Module ID |
glx | 0:661414c07859 | 56 | //Skipped |
glx | 0:661414c07859 | 57 | |
glx | 0:661414c07859 | 58 | //Read Firmware ID |
glx | 0:661414c07859 | 59 | //Skipped |
glx | 0:661414c07859 | 60 | |
glx | 0:661414c07859 | 61 | //Set initialization - Magic from datasheet. Write 0x06 to 0x15 location. |
glx | 0:661414c07859 | 62 | writeRegister16(RFD77402_CONFIGURE_PMU, 0x0600); //MCPU_Init_state, Patch_mem_en |
glx | 0:661414c07859 | 63 | |
glx | 0:661414c07859 | 64 | if (goToOnMode() == false) return (false); //MCPU never turned on |
glx | 0:661414c07859 | 65 | |
glx | 0:661414c07859 | 66 | //ToF Configuration |
glx | 0:661414c07859 | 67 | //writeRegister16(RFD77402_CONFIGURE_A, 0xE100); //0b.1110.0001 = Peak is 0x0E, Threshold is 1. |
glx | 0:661414c07859 | 68 | setPeak(0x0E); //Suggested values from page 20 |
glx | 0:661414c07859 | 69 | setThreshold(0x01); |
glx | 0:661414c07859 | 70 | |
glx | 0:661414c07859 | 71 | writeRegister16(RFD77402_CONFIGURE_B, 0x10FF); //Set valid pixel. Set MSP430 default config. |
glx | 0:661414c07859 | 72 | writeRegister16(RFD77402_CONFIGURE_HW_0, 0x07D0); //Set saturation threshold = 2,000. |
glx | 0:661414c07859 | 73 | writeRegister16(RFD77402_CONFIGURE_HW_1, 0x5008); //Frequecy = 5. Low level threshold = 8. |
glx | 0:661414c07859 | 74 | writeRegister16(RFD77402_CONFIGURE_HW_2, 0xA041); //Integration time = 10 * (6500-20)/15)+20 = 4.340ms. Plus reserved magic. |
glx | 0:661414c07859 | 75 | writeRegister16(RFD77402_CONFIGURE_HW_3, 0x45D4); //Enable harmonic cancellation. Enable auto adjust of integration time. Plus reserved magic. |
glx | 0:661414c07859 | 76 | |
glx | 0:661414c07859 | 77 | if (goToStandbyMode() == false) return (false); //Error - MCPU never went to standby |
glx | 0:661414c07859 | 78 | |
glx | 0:661414c07859 | 79 | //Whew! We made it through power on configuration |
glx | 0:661414c07859 | 80 | |
glx | 0:661414c07859 | 81 | //Get the calibration data via the 0x0006 mailbox command |
glx | 0:661414c07859 | 82 | //getCalibrationData(); //Skipped |
glx | 0:661414c07859 | 83 | |
glx | 0:661414c07859 | 84 | //Put device into Standby mode |
glx | 0:661414c07859 | 85 | if (goToStandbyMode() == false) return (false); //Error - MCPU never went to standby |
glx | 0:661414c07859 | 86 | |
glx | 0:661414c07859 | 87 | //Now assume user will want sensor in measurement mode |
glx | 0:661414c07859 | 88 | |
glx | 0:661414c07859 | 89 | //Set initialization - Magic from datasheet. Write 0x05 to 0x15 location. |
glx | 0:661414c07859 | 90 | writeRegister16(RFD77402_CONFIGURE_PMU, 0x0500); //Patch_code_id_en, Patch_mem_en |
glx | 0:661414c07859 | 91 | |
glx | 0:661414c07859 | 92 | if (goToOffMode() == false) return (false); //Error - MCPU never turned off |
glx | 0:661414c07859 | 93 | |
glx | 0:661414c07859 | 94 | //Write calibration data |
glx | 0:661414c07859 | 95 | //Skipped |
glx | 0:661414c07859 | 96 | |
glx | 0:661414c07859 | 97 | //Set initialization - Magic from datasheet. Write 0x06 to 0x15 location. |
glx | 0:661414c07859 | 98 | writeRegister16(RFD77402_CONFIGURE_PMU, 0x0600); //MCPU_Init_state, Patch_mem_en |
glx | 0:661414c07859 | 99 | |
glx | 0:661414c07859 | 100 | if (goToOnMode() == false) return (false); //Error - MCPU never turned on |
glx | 0:661414c07859 | 101 | |
glx | 0:661414c07859 | 102 | return (true); //Success! Sensor is ready for measurements |
glx | 0:661414c07859 | 103 | } |
glx | 0:661414c07859 | 104 | |
glx | 0:661414c07859 | 105 | //Takes a single measurement and sets the global variables with new data |
glx | 0:661414c07859 | 106 | //Returns zero if reading is good, otherwise return the errorCode from the result register. |
glx | 0:661414c07859 | 107 | uint8_t RFD77402::takeMeasurement(void) |
glx | 0:661414c07859 | 108 | { |
glx | 0:661414c07859 | 109 | if (goToMeasurementMode() == false) return (CODE_FAILED_TIMEOUT); //Error - Timeout |
glx | 0:661414c07859 | 110 | //New data is now available! |
glx | 0:661414c07859 | 111 | |
glx | 0:661414c07859 | 112 | //Read result |
glx | 0:661414c07859 | 113 | uint16_t resultRegister = readRegister16(RFD77402_RESULT); |
glx | 0:661414c07859 | 114 | |
glx | 0:661414c07859 | 115 | if (resultRegister & 0x7FFF) //Reading is valid |
glx | 0:661414c07859 | 116 | { |
glx | 0:661414c07859 | 117 | uint8_t errorCode = (resultRegister >> 13) & 0x03; |
glx | 0:661414c07859 | 118 | |
glx | 0:661414c07859 | 119 | if (errorCode == 0) |
glx | 0:661414c07859 | 120 | { |
glx | 0:661414c07859 | 121 | distance = (resultRegister >> 2) & 0x07FF; //Distance is good. Read it. |
glx | 0:661414c07859 | 122 | //Serial.println("Distance field valid"); |
glx | 0:661414c07859 | 123 | |
glx | 0:661414c07859 | 124 | //Read confidence register |
glx | 0:661414c07859 | 125 | uint16_t confidenceRegister = readRegister16(RFD77402_RESULT_CONFIDENCE); |
glx | 0:661414c07859 | 126 | validPixels = confidenceRegister & 0x0F; |
glx | 0:661414c07859 | 127 | confidenceValue = (confidenceRegister >> 4) & 0x07FF; |
glx | 0:661414c07859 | 128 | } |
glx | 0:661414c07859 | 129 | |
glx | 0:661414c07859 | 130 | return (errorCode); |
glx | 0:661414c07859 | 131 | |
glx | 0:661414c07859 | 132 | } |
glx | 0:661414c07859 | 133 | else |
glx | 0:661414c07859 | 134 | { |
glx | 0:661414c07859 | 135 | //Reading is not vald |
glx | 0:661414c07859 | 136 | return (CODE_FAILED_NOT_NEW); //Error code for reading is not new |
glx | 0:661414c07859 | 137 | } |
glx | 0:661414c07859 | 138 | |
glx | 0:661414c07859 | 139 | } |
glx | 0:661414c07859 | 140 | |
glx | 0:661414c07859 | 141 | //Returns the local variable to the caller |
glx | 0:661414c07859 | 142 | uint16_t RFD77402::getDistance() |
glx | 0:661414c07859 | 143 | { |
glx | 0:661414c07859 | 144 | return (distance); |
glx | 0:661414c07859 | 145 | } |
glx | 0:661414c07859 | 146 | |
glx | 0:661414c07859 | 147 | //Returns the number of valid pixels found when taking measurement |
glx | 0:661414c07859 | 148 | uint8_t RFD77402::getValidPixels() |
glx | 0:661414c07859 | 149 | { |
glx | 0:661414c07859 | 150 | return (validPixels); |
glx | 0:661414c07859 | 151 | } |
glx | 0:661414c07859 | 152 | |
glx | 0:661414c07859 | 153 | //Returns the qualitative value representing how confident the sensor is about its reported distance |
glx | 0:661414c07859 | 154 | uint16_t RFD77402::getConfidenceValue() |
glx | 0:661414c07859 | 155 | { |
glx | 0:661414c07859 | 156 | return (confidenceValue); |
glx | 0:661414c07859 | 157 | } |
glx | 0:661414c07859 | 158 | |
glx | 0:661414c07859 | 159 | //Read the command opcode and covert to mode |
glx | 0:661414c07859 | 160 | uint8_t RFD77402::getMode() |
glx | 0:661414c07859 | 161 | { |
glx | 0:661414c07859 | 162 | return (readRegister(RFD77402_COMMAND) & 0x3F); |
glx | 0:661414c07859 | 163 | } |
glx | 0:661414c07859 | 164 | |
glx | 0:661414c07859 | 165 | //Tell MCPU to go to standby mode |
glx | 0:661414c07859 | 166 | //Return true if successful |
glx | 0:661414c07859 | 167 | bool RFD77402::goToStandbyMode() |
glx | 0:661414c07859 | 168 | { |
glx | 0:661414c07859 | 169 | //Set Low Power Standby |
glx | 0:661414c07859 | 170 | writeRegister(RFD77402_COMMAND, 0x90); //0b.1001.0000 = Go to standby mode. Set valid command. |
glx | 0:661414c07859 | 171 | |
glx | 0:661414c07859 | 172 | //Check MCPU_ON Status |
glx | 0:661414c07859 | 173 | for (uint8_t x = 0 ; x < 10 ; x++) |
glx | 0:661414c07859 | 174 | { |
glx | 0:661414c07859 | 175 | if ( (readRegister16(RFD77402_DEVICE_STATUS) & 0x001F) == 0x0000) return (true); //MCPU is now in standby |
glx | 0:661414c07859 | 176 | wait_ms(10); //Suggested timeout for status checks from datasheet |
glx | 0:661414c07859 | 177 | } |
glx | 0:661414c07859 | 178 | |
glx | 0:661414c07859 | 179 | return (false); //Error - MCPU never went to standby |
glx | 0:661414c07859 | 180 | } |
glx | 0:661414c07859 | 181 | |
glx | 0:661414c07859 | 182 | //Tell MCPU to go to off state |
glx | 0:661414c07859 | 183 | //Return true if successful |
glx | 0:661414c07859 | 184 | bool RFD77402::goToOffMode() |
glx | 0:661414c07859 | 185 | { |
glx | 0:661414c07859 | 186 | //Set MCPU_OFF |
glx | 0:661414c07859 | 187 | writeRegister(RFD77402_COMMAND, 0x91); //0b.1001.0001 = Go MCPU off state. Set valid command. |
glx | 0:661414c07859 | 188 | |
glx | 0:661414c07859 | 189 | //Check MCPU_OFF Status |
glx | 0:661414c07859 | 190 | for (uint8_t x = 0 ; x < 10 ; x++) |
glx | 0:661414c07859 | 191 | { |
glx | 0:661414c07859 | 192 | if ( (readRegister16(RFD77402_DEVICE_STATUS) & 0x001F) == 0x0010) return (true); //MCPU is now off |
glx | 0:661414c07859 | 193 | wait_ms(10); //Suggested timeout for status checks from datasheet |
glx | 0:661414c07859 | 194 | } |
glx | 0:661414c07859 | 195 | |
glx | 0:661414c07859 | 196 | return (false); //Error - MCPU never turned off |
glx | 0:661414c07859 | 197 | } |
glx | 0:661414c07859 | 198 | |
glx | 0:661414c07859 | 199 | //Tell MCPU to go to on state |
glx | 0:661414c07859 | 200 | //Return true if successful |
glx | 0:661414c07859 | 201 | bool RFD77402::goToOnMode() |
glx | 0:661414c07859 | 202 | { |
glx | 0:661414c07859 | 203 | //Set MCPU_ON |
glx | 0:661414c07859 | 204 | writeRegister(RFD77402_COMMAND, 0x92); //0b.1001.0010 = Wake up MCPU to ON mode. Set valid command. |
glx | 0:661414c07859 | 205 | |
glx | 0:661414c07859 | 206 | //Check MCPU_ON Status |
glx | 0:661414c07859 | 207 | for (uint8_t x = 0 ; x < 10 ; x++) |
glx | 0:661414c07859 | 208 | { |
glx | 0:661414c07859 | 209 | if ( (readRegister16(RFD77402_DEVICE_STATUS) & 0x001F) == 0x0018) return (true); //MCPU is now on |
glx | 0:661414c07859 | 210 | wait_ms(10); //Suggested timeout for status checks from datasheet |
glx | 0:661414c07859 | 211 | } |
glx | 0:661414c07859 | 212 | |
glx | 0:661414c07859 | 213 | return (false); //Error - MCPU never turned on |
glx | 0:661414c07859 | 214 | } |
glx | 0:661414c07859 | 215 | |
glx | 0:661414c07859 | 216 | //Tell MCPU to go to measurement mode |
glx | 0:661414c07859 | 217 | //Takes a measurement. If measurement data is ready, return true |
glx | 0:661414c07859 | 218 | bool RFD77402::goToMeasurementMode() |
glx | 0:661414c07859 | 219 | { |
glx | 0:661414c07859 | 220 | //Single measure command |
glx | 0:661414c07859 | 221 | writeRegister(RFD77402_COMMAND, 0x81); //0b.1000.0001 = Single measurement. Set valid command. |
glx | 0:661414c07859 | 222 | |
glx | 0:661414c07859 | 223 | //Read ICSR Register - Check to see if measurement data is ready |
glx | 0:661414c07859 | 224 | for (uint8_t x = 0 ; x < 10 ; x++) |
glx | 0:661414c07859 | 225 | { |
glx | 0:661414c07859 | 226 | if ( (readRegister(RFD77402_ICSR) & (1 << 4)) != 0) return (true); //Data is ready! |
glx | 0:661414c07859 | 227 | wait_ms(10); //Suggested timeout for status checks from datasheet |
glx | 0:661414c07859 | 228 | } |
glx | 0:661414c07859 | 229 | |
glx | 0:661414c07859 | 230 | return (false); //Error - Timeout |
glx | 0:661414c07859 | 231 | } |
glx | 0:661414c07859 | 232 | |
glx | 0:661414c07859 | 233 | //Returns the VCSEL peak 4-bit value |
glx | 0:661414c07859 | 234 | uint8_t RFD77402::getPeak(void) |
glx | 0:661414c07859 | 235 | { |
glx | 0:661414c07859 | 236 | uint16_t configValue = readRegister16(RFD77402_CONFIGURE_A); |
glx | 0:661414c07859 | 237 | return ((configValue >> 12) & 0x0F); |
glx | 0:661414c07859 | 238 | } |
glx | 0:661414c07859 | 239 | |
glx | 0:661414c07859 | 240 | //Sets the VCSEL peak 4-bit value |
glx | 0:661414c07859 | 241 | void RFD77402::setPeak(uint8_t peakValue) |
glx | 0:661414c07859 | 242 | { |
glx | 0:661414c07859 | 243 | uint16_t configValue = readRegister16(RFD77402_CONFIGURE_A); //Read |
glx | 0:661414c07859 | 244 | configValue &= ~0xF000;// Zero out the peak configuration bits |
glx | 0:661414c07859 | 245 | configValue |= (uint16_t)peakValue << 12; //Mask in user's settings |
glx | 0:661414c07859 | 246 | writeRegister16(RFD77402_CONFIGURE_A, configValue); //Write in this new value |
glx | 0:661414c07859 | 247 | } |
glx | 0:661414c07859 | 248 | |
glx | 0:661414c07859 | 249 | //Returns the VCSEL Threshold 4-bit value |
glx | 0:661414c07859 | 250 | uint8_t RFD77402::getThreshold(void) |
glx | 0:661414c07859 | 251 | { |
glx | 0:661414c07859 | 252 | uint16_t configValue = readRegister16(RFD77402_CONFIGURE_A); |
glx | 0:661414c07859 | 253 | return ((configValue >> 8) & 0x0F); |
glx | 0:661414c07859 | 254 | } |
glx | 0:661414c07859 | 255 | |
glx | 0:661414c07859 | 256 | //Sets the VCSEL Threshold 4-bit value |
glx | 0:661414c07859 | 257 | void RFD77402::setThreshold(uint8_t thresholdValue) |
glx | 0:661414c07859 | 258 | { |
glx | 0:661414c07859 | 259 | uint16_t configValue = readRegister16(RFD77402_CONFIGURE_A); //Read |
glx | 0:661414c07859 | 260 | configValue &= ~0x0F00;// Zero out the threshold configuration bits |
glx | 0:661414c07859 | 261 | configValue |= thresholdValue << 8; //Mask in user's settings |
glx | 0:661414c07859 | 262 | writeRegister16(RFD77402_CONFIGURE_A, configValue); //Write in this new value |
glx | 0:661414c07859 | 263 | } |
glx | 0:661414c07859 | 264 | |
glx | 0:661414c07859 | 265 | //Returns the VCSEL Frequency 4-bit value |
glx | 0:661414c07859 | 266 | uint8_t RFD77402::getFrequency(void) |
glx | 0:661414c07859 | 267 | { |
glx | 0:661414c07859 | 268 | uint16_t configValue = readRegister16(RFD77402_CONFIGURE_HW_1); |
glx | 0:661414c07859 | 269 | return ((configValue >> 12) & 0x0F); |
glx | 0:661414c07859 | 270 | } |
glx | 0:661414c07859 | 271 | |
glx | 0:661414c07859 | 272 | //Sets the VCSEL Frequency 4-bit value |
glx | 0:661414c07859 | 273 | void RFD77402::setFrequency(uint8_t thresholdValue) |
glx | 0:661414c07859 | 274 | { |
glx | 0:661414c07859 | 275 | uint16_t configValue = readRegister16(RFD77402_CONFIGURE_HW_1); //Read |
glx | 0:661414c07859 | 276 | configValue &= ~0xF000;// Zero out the threshold configuration bits |
glx | 0:661414c07859 | 277 | configValue |= thresholdValue << 12; //Mask in user's settings |
glx | 0:661414c07859 | 278 | writeRegister16(RFD77402_CONFIGURE_HW_1, configValue); //Write in this new value |
glx | 0:661414c07859 | 279 | } |
glx | 0:661414c07859 | 280 | |
glx | 0:661414c07859 | 281 | //Gets whatever is in the 'MCPU to Host' mailbox |
glx | 0:661414c07859 | 282 | //Check ICSR bit 5 before reading |
glx | 0:661414c07859 | 283 | uint16_t RFD77402::getMailbox(void) |
glx | 0:661414c07859 | 284 | { |
glx | 0:661414c07859 | 285 | return (readRegister16(RFD77402_MCPU_TO_HOST_MAILBOX)); |
glx | 0:661414c07859 | 286 | } |
glx | 0:661414c07859 | 287 | |
glx | 0:661414c07859 | 288 | //Software reset the device |
glx | 0:661414c07859 | 289 | void RFD77402::reset(void) |
glx | 0:661414c07859 | 290 | { |
glx | 0:661414c07859 | 291 | writeRegister(RFD77402_COMMAND, 1<<6); |
glx | 0:661414c07859 | 292 | wait_ms(100); |
glx | 0:661414c07859 | 293 | } |
glx | 0:661414c07859 | 294 | |
glx | 0:661414c07859 | 295 | //Returns the chip ID |
glx | 0:661414c07859 | 296 | //Should be 0xAD01 or higher |
glx | 0:661414c07859 | 297 | uint16_t RFD77402::getChipID() |
glx | 0:661414c07859 | 298 | { |
glx | 0:661414c07859 | 299 | return(readRegister16(RFD77402_MOD_CHIP_ID)); |
glx | 0:661414c07859 | 300 | } |
glx | 0:661414c07859 | 301 | |
glx | 0:661414c07859 | 302 | //Retreive 2*27 bytes from MCPU for computation of calibration parameters |
glx | 0:661414c07859 | 303 | //This is 9.2.2 from datasheet |
glx | 0:661414c07859 | 304 | //Reads 54 bytes into the calibration[] array |
glx | 0:661414c07859 | 305 | //Returns true if new cal data is loaded |
glx | 0:661414c07859 | 306 | bool RFD77402::getCalibrationData(void) |
glx | 0:661414c07859 | 307 | { |
glx | 0:661414c07859 | 308 | if (goToOnMode() == false) return (false); //Error - sensor timed out before getting to On Mode |
glx | 0:661414c07859 | 309 | |
glx | 0:661414c07859 | 310 | //Check ICSR Register and read Mailbox until it is empty |
glx | 0:661414c07859 | 311 | uint8_t messages = 0; |
glx | 0:661414c07859 | 312 | while (1) |
glx | 0:661414c07859 | 313 | { |
glx | 0:661414c07859 | 314 | if ( (readRegister(RFD77402_ICSR) & (1 << 5)) == 0) break; //Mailbox interrupt is cleared |
glx | 0:661414c07859 | 315 | |
glx | 0:661414c07859 | 316 | //Mailbox interrupt (Bit 5) is set so read the M2H mailbox register |
glx | 0:661414c07859 | 317 | getMailbox(); //Throw it out. Just read to clear the register. |
glx | 0:661414c07859 | 318 | |
glx | 0:661414c07859 | 319 | if (messages++ > 27) return (false); //Error - Too many messages |
glx | 0:661414c07859 | 320 | |
glx | 0:661414c07859 | 321 | wait_ms(10); //Suggested timeout for status checks from datasheet |
glx | 0:661414c07859 | 322 | } |
glx | 0:661414c07859 | 323 | |
glx | 0:661414c07859 | 324 | //Issue mailbox command |
glx | 0:661414c07859 | 325 | writeRegister16(RFD77402_HOST_TO_MCPU_MAILBOX, 0x0006); //Send 0x0006 mailbox command |
glx | 0:661414c07859 | 326 | |
glx | 0:661414c07859 | 327 | //Check to see if Mailbox can be read |
glx | 0:661414c07859 | 328 | //Read 54 bytes of payload into the calibration[54] array |
glx | 0:661414c07859 | 329 | for (uint8_t message = 0 ; message < 27 ; message++) |
glx | 0:661414c07859 | 330 | { |
glx | 0:661414c07859 | 331 | //Wait for bit to be set |
glx | 0:661414c07859 | 332 | uint8_t x = 0; |
glx | 0:661414c07859 | 333 | while (1) |
glx | 0:661414c07859 | 334 | { |
glx | 0:661414c07859 | 335 | uint8_t icsr = readRegister(RFD77402_ICSR); |
glx | 0:661414c07859 | 336 | if ( (icsr & (1 << 5)) != 0) break; //New message in available |
glx | 0:661414c07859 | 337 | |
glx | 0:661414c07859 | 338 | if (x++ > 10) return (false); //Error - Timeout |
glx | 0:661414c07859 | 339 | |
glx | 0:661414c07859 | 340 | wait_ms(10); //Suggested timeout for status checks from datasheet |
glx | 0:661414c07859 | 341 | } |
glx | 0:661414c07859 | 342 | |
glx | 0:661414c07859 | 343 | uint16_t incoming = getMailbox(); //Get 16-bit message |
glx | 0:661414c07859 | 344 | |
glx | 0:661414c07859 | 345 | //Put message into larger calibrationData array |
glx | 0:661414c07859 | 346 | calibrationData[message * 2] = incoming >> 8; |
glx | 0:661414c07859 | 347 | calibrationData[message * 2 + 1] = incoming & 0xFF; |
glx | 0:661414c07859 | 348 | } |
glx | 0:661414c07859 | 349 | |
glx | 0:661414c07859 | 350 | /*Serial.println("Calibration data:"); |
glx | 0:661414c07859 | 351 | for (int x = 0 ; x < 54 ; x++) |
glx | 0:661414c07859 | 352 | { |
glx | 0:661414c07859 | 353 | Serial.print("["); |
glx | 0:661414c07859 | 354 | Serial.print(x); |
glx | 0:661414c07859 | 355 | Serial.print("]=0x"); |
glx | 0:661414c07859 | 356 | if (calibrationData[x] < 0x10) Serial.print("0"); //Pretty print |
glx | 0:661414c07859 | 357 | Serial.println(calibrationData[x], HEX); |
glx | 0:661414c07859 | 358 | }*/ |
glx | 0:661414c07859 | 359 | } |
glx | 0:661414c07859 | 360 | |
glx | 0:661414c07859 | 361 | |
glx | 0:661414c07859 | 362 | |
glx | 0:661414c07859 | 363 | //Reads two bytes from a given location from the RFD77402 |
glx | 0:661414c07859 | 364 | uint16_t RFD77402::readRegister16(char addr) |
glx | 0:661414c07859 | 365 | { |
glx | 0:661414c07859 | 366 | char cmd[2] = { 0 }; |
glx | 0:661414c07859 | 367 | cmd[0] = addr; |
glx | 0:661414c07859 | 368 | |
glx | 0:661414c07859 | 369 | _i2cPort->write(RFD77402_ADDR, cmd, 1); |
glx | 0:661414c07859 | 370 | _i2cPort->read(RFD77402_ADDR, cmd, 2); |
glx | 0:661414c07859 | 371 | |
glx | 0:661414c07859 | 372 | //if (_i2cPort->available() != 2) return (0xFFFF); //Error |
glx | 0:661414c07859 | 373 | |
glx | 0:661414c07859 | 374 | //uint8_t lower = _i2cPort->read(); |
glx | 0:661414c07859 | 375 | //uint8_t higher = _i2cPort->read(); |
glx | 0:661414c07859 | 376 | |
glx | 0:661414c07859 | 377 | return ((uint16_t)cmd[1] << 8 | cmd[0]); |
glx | 0:661414c07859 | 378 | } |
glx | 0:661414c07859 | 379 | |
glx | 0:661414c07859 | 380 | //Reads from a given location from the RFD77402 |
glx | 0:661414c07859 | 381 | uint8_t RFD77402::readRegister(char addr) |
glx | 0:661414c07859 | 382 | { |
glx | 0:661414c07859 | 383 | char cmd[1] = { 0 }; |
glx | 0:661414c07859 | 384 | cmd[0] = addr; |
glx | 0:661414c07859 | 385 | |
glx | 0:661414c07859 | 386 | _i2cPort->write(RFD77402_ADDR, cmd, 1); |
glx | 0:661414c07859 | 387 | _i2cPort->read(RFD77402_ADDR, cmd, 1); |
glx | 0:661414c07859 | 388 | return cmd[0]; |
glx | 0:661414c07859 | 389 | |
glx | 0:661414c07859 | 390 | //return (0xFF); //Error |
glx | 0:661414c07859 | 391 | } |
glx | 0:661414c07859 | 392 | |
glx | 0:661414c07859 | 393 | //Write a 16 bit value to a spot in the RFD77402 |
glx | 0:661414c07859 | 394 | void RFD77402::writeRegister16(char addr, uint16_t val) |
glx | 0:661414c07859 | 395 | { |
glx | 0:661414c07859 | 396 | char cmd[3] = { 0 }; |
glx | 0:661414c07859 | 397 | cmd[0] = addr; |
glx | 0:661414c07859 | 398 | |
glx | 0:661414c07859 | 399 | cmd[1] = (val & 0xFF); //Lower byte |
glx | 0:661414c07859 | 400 | cmd[2] = (val >> 8); //Uper byte |
glx | 0:661414c07859 | 401 | _i2cPort->write(RFD77402_ADDR, cmd, 3); |
glx | 0:661414c07859 | 402 | } |
glx | 0:661414c07859 | 403 | |
glx | 0:661414c07859 | 404 | //Write a value to a spot in the RFD77402 |
glx | 0:661414c07859 | 405 | void RFD77402::writeRegister(char addr, char val) |
glx | 0:661414c07859 | 406 | { |
glx | 0:661414c07859 | 407 | char cmd[2] = { 0 }; |
glx | 0:661414c07859 | 408 | cmd[0] = addr; |
glx | 0:661414c07859 | 409 | |
glx | 0:661414c07859 | 410 | cmd[1] = val; //Lower byte |
glx | 0:661414c07859 | 411 | _i2cPort->write(RFD77402_ADDR, cmd, 2); |
glx | 0:661414c07859 | 412 | } |