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Julien Tiron / Mbed 2 deprecated 1-DoorCloser_jor

Dependencies: VL6180x X_NUCLEO_COMMON X_NUCLEO_IHM01A1 mbed

Fork of 1-DoorCloser_jor by Jordan Ml

VL6180X_bis/vl6180x_class.cpp@2:f6f12530dbd9, 2016-04-02 (annotated)

Committer:: mohabendaoud
Date:: Sat Apr 02 14:21:53 2016 +0000
Revision:: 2:f6f12530dbd9
Parent:: VL6180X/vl6180x_class.cpp@0:1cb50d31c3b5

16h20

Who changed what in which revision?

User	Revision	Line number	New contents of line
julientiron	0:1cb50d31c3b5	1	/**
julientiron	0:1cb50d31c3b5	2	******************************************************************************
julientiron	0:1cb50d31c3b5	3	* @file vl6180x_class.cpp
julientiron	0:1cb50d31c3b5	4	* @author AST / EST
julientiron	0:1cb50d31c3b5	5	* @version V0.0.1
julientiron	0:1cb50d31c3b5	6	* @date 14-April-2015
julientiron	0:1cb50d31c3b5	7	* @brief Implementation file for the HTS221 driver class
julientiron	0:1cb50d31c3b5	8	******************************************************************************
julientiron	0:1cb50d31c3b5	9	* @attention
julientiron	0:1cb50d31c3b5	10	*
julientiron	0:1cb50d31c3b5	11	* <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
julientiron	0:1cb50d31c3b5	12	*
julientiron	0:1cb50d31c3b5	13	* Redistribution and use in source and binary forms, with or without modification,
julientiron	0:1cb50d31c3b5	14	* are permitted provided that the following conditions are met:
julientiron	0:1cb50d31c3b5	15	* 1. Redistributions of source code must retain the above copyright notice,
julientiron	0:1cb50d31c3b5	16	* this list of conditions and the following disclaimer.
julientiron	0:1cb50d31c3b5	17	* 2. Redistributions in binary form must reproduce the above copyright notice,
julientiron	0:1cb50d31c3b5	18	* this list of conditions and the following disclaimer in the documentation
julientiron	0:1cb50d31c3b5	19	* and/or other materials provided with the distribution.
julientiron	0:1cb50d31c3b5	20	* 3. Neither the name of STMicroelectronics nor the names of its contributors
julientiron	0:1cb50d31c3b5	21	* may be used to endorse or promote products derived from this software
julientiron	0:1cb50d31c3b5	22	* without specific prior written permission.
julientiron	0:1cb50d31c3b5	23	*
julientiron	0:1cb50d31c3b5	24	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
julientiron	0:1cb50d31c3b5	25	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
julientiron	0:1cb50d31c3b5	26	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
julientiron	0:1cb50d31c3b5	27	* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
julientiron	0:1cb50d31c3b5	28	* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
julientiron	0:1cb50d31c3b5	29	* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
julientiron	0:1cb50d31c3b5	30	* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
julientiron	0:1cb50d31c3b5	31	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
julientiron	0:1cb50d31c3b5	32	* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
julientiron	0:1cb50d31c3b5	33	* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
julientiron	0:1cb50d31c3b5	34	*
julientiron	0:1cb50d31c3b5	35	******************************************************************************
julientiron	0:1cb50d31c3b5	36	*/
julientiron	0:1cb50d31c3b5	37
julientiron	0:1cb50d31c3b5	38	/* Includes */
julientiron	0:1cb50d31c3b5	39	#include "vl6180x_class.h"
julientiron	0:1cb50d31c3b5	40
julientiron	0:1cb50d31c3b5	41
julientiron	0:1cb50d31c3b5	42	#ifndef VL6180x_RANGE_STATUS_ERRSTRING
julientiron	0:1cb50d31c3b5	43	#warning "VL6180x_RANGE_STATUS_ERRSTRING not defined ?"
julientiron	0:1cb50d31c3b5	44	/* TODO you may remove or comment these #warning and keep the default below to keep compatibility
julientiron	0:1cb50d31c3b5	45	or update your vl6180x_platform.h file */
julientiron	0:1cb50d31c3b5	46	/**
julientiron	0:1cb50d31c3b5	47	* force VL6180x_RANGE_STATUS_ERRSTRING to not supported when not part of any cfg file
julientiron	0:1cb50d31c3b5	48	*/
julientiron	0:1cb50d31c3b5	49	#define VL6180x_RANGE_STATUS_ERRSTRING 0
julientiron	0:1cb50d31c3b5	50	#endif
julientiron	0:1cb50d31c3b5	51
julientiron	0:1cb50d31c3b5	52	#ifndef VL6180X_SAFE_POLLING_ENTER
julientiron	0:1cb50d31c3b5	53	#warning "VL6180X_SAFE_POLLING_ENTER not defined, likely old vl6180x_cfg.h file ?"
julientiron	0:1cb50d31c3b5	54	/* TODO you may remove or comment these #warning and keep the default below to keep compatibility
julientiron	0:1cb50d31c3b5	55	or update your vl6180x_platform.h file */
julientiron	0:1cb50d31c3b5	56	/**
julientiron	0:1cb50d31c3b5	57	* force VL6180X_SAFE_POLLING_ENTER to off when not in cfg file
julientiron	0:1cb50d31c3b5	58	*/
julientiron	0:1cb50d31c3b5	59	#define VL6180X_SAFE_POLLING_ENTER 0 /* off by default as in api 2.0 */
julientiron	0:1cb50d31c3b5	60	#endif
julientiron	0:1cb50d31c3b5	61
julientiron	0:1cb50d31c3b5	62	#ifndef VL6180X_LOG_ENABLE
julientiron	0:1cb50d31c3b5	63	/**
julientiron	0:1cb50d31c3b5	64	* Force VL6180X_LOG_ENABLE to none as default
julientiron	0:1cb50d31c3b5	65	*/
julientiron	0:1cb50d31c3b5	66	#define VL6180X_LOG_ENABLE 0
julientiron	0:1cb50d31c3b5	67	#endif
julientiron	0:1cb50d31c3b5	68
julientiron	0:1cb50d31c3b5	69	#ifdef MY_LOG
julientiron	0:1cb50d31c3b5	70	Serial pc(USBTX, USBRX);
julientiron	0:1cb50d31c3b5	71	#endif
julientiron	0:1cb50d31c3b5	72
julientiron	0:1cb50d31c3b5	73	#if VL6180x_RANGE_STATUS_ERRSTRING
julientiron	0:1cb50d31c3b5	74	/**@def VL6180x_HAVE_RANGE_STATUS_ERRSTRING
julientiron	0:1cb50d31c3b5	75	* @brief is defined when @a #VL6180x_RANGE_STATUS_ERRSTRING is enable
julientiron	0:1cb50d31c3b5	76	*/
julientiron	0:1cb50d31c3b5	77	#define VL6180x_HAVE_RANGE_STATUS_ERRSTRING
julientiron	0:1cb50d31c3b5	78	#endif
julientiron	0:1cb50d31c3b5	79
julientiron	0:1cb50d31c3b5	80
julientiron	0:1cb50d31c3b5	81	/** @brief Get API version as "hex integer" 0xMMnnss
julientiron	0:1cb50d31c3b5	82	*/
julientiron	0:1cb50d31c3b5	83	#define VL6180x_ApiRevInt ((VL6180x_API_REV_MAJOR<<24)+(VL6180x_API_REV_MINOR<<16)+VL6180x_API_REV_SUB)
julientiron	0:1cb50d31c3b5	84
julientiron	0:1cb50d31c3b5	85	/** Get API version as string for exe "2.1.12" "
julientiron	0:1cb50d31c3b5	86	*/
julientiron	0:1cb50d31c3b5	87	#define VL6180x_ApiRevStr VL6180X_STR(VL6180x_API_REV_MAJOR) "." VL6180X_STR(VL6180x_API_REV_MINOR) "." VL6180X_STR(VL6180x_API_REV_SUB)
julientiron	0:1cb50d31c3b5	88
julientiron	0:1cb50d31c3b5	89	/** @defgroup api_init Init functions
julientiron	0:1cb50d31c3b5	90	* @brief API init functions
julientiron	0:1cb50d31c3b5	91	* @ingroup api_hl
julientiron	0:1cb50d31c3b5	92	* @{
julientiron	0:1cb50d31c3b5	93	*/
julientiron	0:1cb50d31c3b5	94
julientiron	0:1cb50d31c3b5	95
julientiron	0:1cb50d31c3b5	96	/**************** define for i2c configuration *****************************/
julientiron	0:1cb50d31c3b5	97
julientiron	0:1cb50d31c3b5	98	#define TEMP_BUF_SIZE 32
julientiron	0:1cb50d31c3b5	99
julientiron	0:1cb50d31c3b5	100	#define IsValidGPIOFunction(x) ((x)==GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT \|\| (x)==GPIOx_SELECT_OFF)
julientiron	0:1cb50d31c3b5	101	/**
julientiron	0:1cb50d31c3b5	102	* @brief Clear All interrupt causes (als+range+error)
julientiron	0:1cb50d31c3b5	103	*
julientiron	0:1cb50d31c3b5	104	* @param dev The device
julientiron	0:1cb50d31c3b5	105	* @return 0 On success
julientiron	0:1cb50d31c3b5	106	*/
julientiron	0:1cb50d31c3b5	107	#define VL6180x_ClearAllInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_ERROR\|INTERRUPT_CLEAR_RANGING\|INTERRUPT_CLEAR_ALS)
julientiron	0:1cb50d31c3b5	108	/**
julientiron	0:1cb50d31c3b5	109	* @brief Clear ALS interrupt
julientiron	0:1cb50d31c3b5	110	*
julientiron	0:1cb50d31c3b5	111	* @param dev The device
julientiron	0:1cb50d31c3b5	112	* @return 0 On success
julientiron	0:1cb50d31c3b5	113	*/
julientiron	0:1cb50d31c3b5	114	#define VL6180x_AlsClearInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_ALS)
julientiron	0:1cb50d31c3b5	115	/**
julientiron	0:1cb50d31c3b5	116	* @brief Clear range interrupt
julientiron	0:1cb50d31c3b5	117	*
julientiron	0:1cb50d31c3b5	118	* @param dev The device
julientiron	0:1cb50d31c3b5	119	* @return 0 On success
julientiron	0:1cb50d31c3b5	120	*/
julientiron	0:1cb50d31c3b5	121	#define VL6180x_RangeClearInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_RANGING)
julientiron	0:1cb50d31c3b5	122
julientiron	0:1cb50d31c3b5	123	/******************************************************************************/
julientiron	0:1cb50d31c3b5	124	/***************************** file api.c *********************************/
julientiron	0:1cb50d31c3b5	125
julientiron	0:1cb50d31c3b5	126	#define VL6180x_9to7Conv(x) (x)
julientiron	0:1cb50d31c3b5	127
julientiron	0:1cb50d31c3b5	128	/* TODO when set all "cached" value with "default init" are updated after init from register read back */
julientiron	0:1cb50d31c3b5	129	#define REFRESH_CACHED_DATA_AFTER_INIT 1
julientiron	0:1cb50d31c3b5	130
julientiron	0:1cb50d31c3b5	131
julientiron	0:1cb50d31c3b5	132	#define IsValidGPIOFunction(x) ((x)==GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT \|\| (x)==GPIOx_SELECT_OFF)
julientiron	0:1cb50d31c3b5	133
julientiron	0:1cb50d31c3b5	134
julientiron	0:1cb50d31c3b5	135	/** default value ECE factor Molecular */
julientiron	0:1cb50d31c3b5	136	#define DEF_ECE_FACTOR_M 85
julientiron	0:1cb50d31c3b5	137	/** default value ECE factor Denominator */
julientiron	0:1cb50d31c3b5	138	#define DEF_ECE_FACTOR_D 100
julientiron	0:1cb50d31c3b5	139	/** default value ALS integration time */
julientiron	0:1cb50d31c3b5	140	#define DEF_INT_PEFRIOD 100
julientiron	0:1cb50d31c3b5	141	/** default value ALS gain */
julientiron	0:1cb50d31c3b5	142	#define DEF_ALS_GAIN 1
julientiron	0:1cb50d31c3b5	143	/** default value ALS scaler */
julientiron	0:1cb50d31c3b5	144	#define DEF_ALS_SCALER 1
julientiron	0:1cb50d31c3b5	145	/** default value for DMAX Enbale */
julientiron	0:1cb50d31c3b5	146	#define DEF_DMAX_ENABLE 1
julientiron	0:1cb50d31c3b5	147	/** default ambient tuning factor %x1000 */
julientiron	0:1cb50d31c3b5	148	#define DEF_AMBIENT_TUNING 80
julientiron	0:1cb50d31c3b5	149
julientiron	0:1cb50d31c3b5	150	#if VL6180x_SINGLE_DEVICE_DRIVER
julientiron	0:1cb50d31c3b5	151	extern struct VL6180xDevData_t SingleVL6180xDevData;
julientiron	0:1cb50d31c3b5	152	#define VL6180xDevDataGet(dev, field) (SingleVL6180xDevData.field)
julientiron	0:1cb50d31c3b5	153	#define VL6180xDevDataSet(dev, field, data) SingleVL6180xDevData.field=(data)
julientiron	0:1cb50d31c3b5	154	#endif
julientiron	0:1cb50d31c3b5	155
julientiron	0:1cb50d31c3b5	156	#define LUXRES_FIX_PREC 8
julientiron	0:1cb50d31c3b5	157	#define GAIN_FIX_PREC 8 /* ! if not sme as LUX_PREC then :( adjust GetLux */
julientiron	0:1cb50d31c3b5	158	#define AN_GAIN_MULT (1<<GAIN_FIX_PREC)
julientiron	0:1cb50d31c3b5	159
julientiron	0:1cb50d31c3b5	160
julientiron	0:1cb50d31c3b5	161	//int32_t _GetAveTotalTime(VL6180xDev_t dev);
julientiron	0:1cb50d31c3b5	162	//int VL6180x_RangeSetEarlyConvergenceEestimateThreshold(VL6180xDev_t dev);
julientiron	0:1cb50d31c3b5	163
julientiron	0:1cb50d31c3b5	164	/**
julientiron	0:1cb50d31c3b5	165	* ScalerLookUP scaling factor-1 to register #RANGE_SCALER lookup
julientiron	0:1cb50d31c3b5	166	*/
julientiron	0:1cb50d31c3b5	167	static const uint16_t ScalerLookUP[] ROMABLE_DATA ={ 253, 127, 84}; /* lookup table for scaling->scalar 1x2x 3x */
julientiron	0:1cb50d31c3b5	168	/**
julientiron	0:1cb50d31c3b5	169	* scaling factor to Upper limit look up
julientiron	0:1cb50d31c3b5	170	*/
julientiron	0:1cb50d31c3b5	171	static const uint16_t UpperLimitLookUP[] ROMABLE_DATA ={ 185, 370, 580}; /* lookup table for scaling->limit 1x2x3x */
julientiron	0:1cb50d31c3b5	172	/**
julientiron	0:1cb50d31c3b5	173	* Als Code gain to fix point gain lookup
julientiron	0:1cb50d31c3b5	174	*/
julientiron	0:1cb50d31c3b5	175	static const uint16_t AlsGainLookUp[8] ROMABLE_DATA = {
julientiron	0:1cb50d31c3b5	176	(uint16_t)(20.0f * AN_GAIN_MULT),
julientiron	0:1cb50d31c3b5	177	(uint16_t)(10.0f * AN_GAIN_MULT),
julientiron	0:1cb50d31c3b5	178	(uint16_t)(5.0f * AN_GAIN_MULT),
julientiron	0:1cb50d31c3b5	179	(uint16_t)(2.5f * AN_GAIN_MULT),
julientiron	0:1cb50d31c3b5	180	(uint16_t)(1.67f * AN_GAIN_MULT),
julientiron	0:1cb50d31c3b5	181	(uint16_t)(1.25f * AN_GAIN_MULT),
julientiron	0:1cb50d31c3b5	182	(uint16_t)(1.0f * AN_GAIN_MULT),
julientiron	0:1cb50d31c3b5	183	(uint16_t)(40.0f * AN_GAIN_MULT),
julientiron	0:1cb50d31c3b5	184	};
julientiron	0:1cb50d31c3b5	185
julientiron	0:1cb50d31c3b5	186
julientiron	0:1cb50d31c3b5	187	#if VL6180x_RANGE_STATUS_ERRSTRING
julientiron	0:1cb50d31c3b5	188	const char * ROMABLE_DATA VL6180x_RangeStatusErrString[]={
julientiron	0:1cb50d31c3b5	189	"No Error",
julientiron	0:1cb50d31c3b5	190	"VCSEL Continuity Test",
julientiron	0:1cb50d31c3b5	191	"VCSEL Watchdog Test",
julientiron	0:1cb50d31c3b5	192	"VCSEL Watchdog",
julientiron	0:1cb50d31c3b5	193	"PLL1 Lock",
julientiron	0:1cb50d31c3b5	194	"PLL2 Lock",
julientiron	0:1cb50d31c3b5	195	"Early Convergence Estimate",
julientiron	0:1cb50d31c3b5	196	"Max Convergence",
julientiron	0:1cb50d31c3b5	197	"No Target Ignore",
julientiron	0:1cb50d31c3b5	198	"Not used 9",
julientiron	0:1cb50d31c3b5	199	"Not used 10",
julientiron	0:1cb50d31c3b5	200	"Max Signal To Noise Ratio",
julientiron	0:1cb50d31c3b5	201	"Raw Ranging Algo Underflow",
julientiron	0:1cb50d31c3b5	202	"Raw Ranging Algo Overflow",
julientiron	0:1cb50d31c3b5	203	"Ranging Algo Underflow",
julientiron	0:1cb50d31c3b5	204	"Ranging Algo Overflow",
julientiron	0:1cb50d31c3b5	205
julientiron	0:1cb50d31c3b5	206	"Filtered by post processing"
julientiron	0:1cb50d31c3b5	207	};
julientiron	0:1cb50d31c3b5	208
julientiron	0:1cb50d31c3b5	209	const char * VL6180x_RangeGetStatusErrString(uint8_t RangeErrCode){
julientiron	0:1cb50d31c3b5	210	if( RangeErrCode > sizeof(VL6180x_RangeStatusErrString)/sizeof(VL6180x_RangeStatusErrString[0]) )
julientiron	0:1cb50d31c3b5	211	return NULL;
julientiron	0:1cb50d31c3b5	212	return VL6180x_RangeStatusErrString[RangeErrCode];
julientiron	0:1cb50d31c3b5	213	}
julientiron	0:1cb50d31c3b5	214	#endif
julientiron	0:1cb50d31c3b5	215
julientiron	0:1cb50d31c3b5	216	#if VL6180x_UPSCALE_SUPPORT == 1
julientiron	0:1cb50d31c3b5	217	#define _GetUpscale(dev, ... ) 1
julientiron	0:1cb50d31c3b5	218	#define _SetUpscale(...) -1
julientiron	0:1cb50d31c3b5	219	#define DEF_UPSCALE 1
julientiron	0:1cb50d31c3b5	220	#elif VL6180x_UPSCALE_SUPPORT == 2
julientiron	0:1cb50d31c3b5	221	#define _GetUpscale(dev, ... ) 2
julientiron	0:1cb50d31c3b5	222	#define _SetUpscale(...)
julientiron	0:1cb50d31c3b5	223	#define DEF_UPSCALE 2
julientiron	0:1cb50d31c3b5	224	#elif VL6180x_UPSCALE_SUPPORT == 3
julientiron	0:1cb50d31c3b5	225	#define _GetUpscale(dev, ... ) 3
julientiron	0:1cb50d31c3b5	226	#define _SetUpscale(...)
julientiron	0:1cb50d31c3b5	227	#define DEF_UPSCALE 3
julientiron	0:1cb50d31c3b5	228	#else
julientiron	0:1cb50d31c3b5	229	#define DEF_UPSCALE (-(VL6180x_UPSCALE_SUPPORT))
julientiron	0:1cb50d31c3b5	230	#define _GetUpscale(dev, ... ) VL6180xDevDataGet(dev, UpscaleFactor)
julientiron	0:1cb50d31c3b5	231	#define _SetUpscale(dev, Scaling ) VL6180xDevDataSet(dev, UpscaleFactor, Scaling)
julientiron	0:1cb50d31c3b5	232	#endif
julientiron	0:1cb50d31c3b5	233
julientiron	0:1cb50d31c3b5	234
julientiron	0:1cb50d31c3b5	235	#if VL6180x_SINGLE_DEVICE_DRIVER
julientiron	0:1cb50d31c3b5	236	/**
julientiron	0:1cb50d31c3b5	237	* the unique driver data When single device driver is active
julientiron	0:1cb50d31c3b5	238	*/
julientiron	0:1cb50d31c3b5	239	struct VL6180xDevData_t VL6180x_DEV_DATA_ATTR SingleVL6180xDevData={
julientiron	0:1cb50d31c3b5	240	.EceFactorM = DEF_ECE_FACTOR_M,
julientiron	0:1cb50d31c3b5	241	.EceFactorD = DEF_ECE_FACTOR_D,
julientiron	0:1cb50d31c3b5	242	#ifdef VL6180x_HAVE_UPSCALE_DATA
julientiron	0:1cb50d31c3b5	243	.UpscaleFactor = DEF_UPSCALE,
julientiron	0:1cb50d31c3b5	244	#endif
julientiron	0:1cb50d31c3b5	245	#ifdef VL6180x_HAVE_ALS_DATA
julientiron	0:1cb50d31c3b5	246	.IntegrationPeriod = DEF_INT_PEFRIOD,
julientiron	0:1cb50d31c3b5	247	.AlsGainCode = DEF_ALS_GAIN,
julientiron	0:1cb50d31c3b5	248	.AlsScaler = DEF_ALS_SCALER,
julientiron	0:1cb50d31c3b5	249	#endif
julientiron	0:1cb50d31c3b5	250	#ifdef VL6180x_HAVE_DMAX_RANGING
julientiron	0:1cb50d31c3b5	251	.DMaxEnable = DEF_DMAX_ENABLE,
julientiron	0:1cb50d31c3b5	252	#endif
julientiron	0:1cb50d31c3b5	253	};
julientiron	0:1cb50d31c3b5	254	#endif /* VL6180x_SINGLE_DEVICE_DRIVER */
julientiron	0:1cb50d31c3b5	255
julientiron	0:1cb50d31c3b5	256	#define Fix7_2_KCPs(x) ((((uint32_t)(x))*1000)>>7)
julientiron	0:1cb50d31c3b5	257
julientiron	0:1cb50d31c3b5	258	#if VL6180x_WRAP_AROUND_FILTER_SUPPORT
julientiron	0:1cb50d31c3b5	259	static int _filter_Init(VL6180xDev_t dev);
julientiron	0:1cb50d31c3b5	260	#define _IsWrapArroundActive(dev) VL6180xDevDataGet(dev,WrapAroundFilterActive)
julientiron	0:1cb50d31c3b5	261	#else
julientiron	0:1cb50d31c3b5	262	#define _IsWrapArroundActive(dev) 0
julientiron	0:1cb50d31c3b5	263	#endif
julientiron	0:1cb50d31c3b5	264
julientiron	0:1cb50d31c3b5	265
julientiron	0:1cb50d31c3b5	266	#if VL6180x_HAVE_DMAX_RANGING
julientiron	0:1cb50d31c3b5	267	void _DMax_OneTimeInit(VL6180xDev_t dev);
julientiron	0:1cb50d31c3b5	268	// static int _DMax_InitData(VL6180xDev_t dev);
julientiron	0:1cb50d31c3b5	269	static int _DMax_Compute(VL6180xDev_t dev, VL6180x_RangeData_t *pRange);
julientiron	0:1cb50d31c3b5	270	#define _IsDMaxActive(dev) VL6180xDevDataGet(dev,DMaxEnable)
julientiron	0:1cb50d31c3b5	271	#else
julientiron	0:1cb50d31c3b5	272	#define _DMax_InitData(...) 0 /* success */
julientiron	0:1cb50d31c3b5	273	#define _DMax_OneTimeInit(...) (void)0
julientiron	0:1cb50d31c3b5	274	#define _IsDMaxActive(...) 0
julientiron	0:1cb50d31c3b5	275	#endif
julientiron	0:1cb50d31c3b5	276
julientiron	0:1cb50d31c3b5	277	//static int VL6180x_RangeStaticInit(VL6180xDev_t dev);
julientiron	0:1cb50d31c3b5	278	//static int VL6180x_UpscaleStaticInit(VL6180xDev_t dev);
julientiron	0:1cb50d31c3b5	279
julientiron	0:1cb50d31c3b5	280	int VL6180X::VL6180x_WaitDeviceBooted(VL6180xDev_t dev){
julientiron	0:1cb50d31c3b5	281	uint8_t FreshOutReset;
julientiron	0:1cb50d31c3b5	282	int status;
julientiron	0:1cb50d31c3b5	283	LOG_FUNCTION_START("");
julientiron	0:1cb50d31c3b5	284	do{
julientiron	0:1cb50d31c3b5	285	status = VL6180x_RdByte(dev,SYSTEM_FRESH_OUT_OF_RESET, &FreshOutReset);
julientiron	0:1cb50d31c3b5	286	}
julientiron	0:1cb50d31c3b5	287	while( FreshOutReset!=1 && status==0);
julientiron	0:1cb50d31c3b5	288	LOG_FUNCTION_END(status);
julientiron	0:1cb50d31c3b5	289	return status;
julientiron	0:1cb50d31c3b5	290	}
julientiron	0:1cb50d31c3b5	291
julientiron	0:1cb50d31c3b5	292	int VL6180X::VL6180x_InitData(VL6180xDev_t dev){
julientiron	0:1cb50d31c3b5	293	int status, dmax_status ;
julientiron	0:1cb50d31c3b5	294	int8_t offset;
julientiron	0:1cb50d31c3b5	295	uint8_t FreshOutReset;
julientiron	0:1cb50d31c3b5	296	uint32_t CalValue;
julientiron	0:1cb50d31c3b5	297	uint16_t u16;
julientiron	0:1cb50d31c3b5	298	uint32_t XTalkCompRate_KCps;
julientiron	0:1cb50d31c3b5	299
julientiron	0:1cb50d31c3b5	300	LOG_FUNCTION_START("");
julientiron	0:1cb50d31c3b5	301
julientiron	0:1cb50d31c3b5	302	VL6180xDevDataSet(dev, EceFactorM , DEF_ECE_FACTOR_M);
julientiron	0:1cb50d31c3b5	303	VL6180xDevDataSet(dev, EceFactorD , DEF_ECE_FACTOR_D);
julientiron	0:1cb50d31c3b5	304
julientiron	0:1cb50d31c3b5	305	#ifdef VL6180x_HAVE_UPSCALE_DATA
julientiron	0:1cb50d31c3b5	306	VL6180xDevDataSet(dev, UpscaleFactor , DEF_UPSCALE);
julientiron	0:1cb50d31c3b5	307	#endif
julientiron	0:1cb50d31c3b5	308
julientiron	0:1cb50d31c3b5	309	#ifdef VL6180x_HAVE_ALS_DATA
julientiron	0:1cb50d31c3b5	310	VL6180xDevDataSet(dev, IntegrationPeriod, DEF_INT_PEFRIOD);
julientiron	0:1cb50d31c3b5	311	VL6180xDevDataSet(dev, AlsGainCode, DEF_ALS_GAIN);
julientiron	0:1cb50d31c3b5	312	VL6180xDevDataSet(dev, AlsScaler, DEF_ALS_SCALER);
julientiron	0:1cb50d31c3b5	313	#endif
julientiron	0:1cb50d31c3b5	314
julientiron	0:1cb50d31c3b5	315	#ifdef VL6180x_HAVE_WRAP_AROUND_DATA
julientiron	0:1cb50d31c3b5	316	VL6180xDevDataSet(dev, WrapAroundFilterActive, (VL6180x_WRAP_AROUND_FILTER_SUPPORT >0));
julientiron	0:1cb50d31c3b5	317	VL6180xDevDataSet(dev, DMaxEnable, DEF_DMAX_ENABLE);
julientiron	0:1cb50d31c3b5	318	#endif
julientiron	0:1cb50d31c3b5	319
julientiron	0:1cb50d31c3b5	320	_DMax_OneTimeInit(dev);
julientiron	0:1cb50d31c3b5	321	do{
julientiron	0:1cb50d31c3b5	322
julientiron	0:1cb50d31c3b5	323	/* backup offset initial value from nvm these must be done prior any over call that use offset */
julientiron	0:1cb50d31c3b5	324	status = VL6180X::VL6180x_RdByte(dev,SYSRANGE_PART_TO_PART_RANGE_OFFSET, (uint8_t*)&offset);
julientiron	0:1cb50d31c3b5	325	if( status ){
julientiron	0:1cb50d31c3b5	326	VL6180x_ErrLog("SYSRANGE_PART_TO_PART_RANGE_OFFSET rd fail");
julientiron	0:1cb50d31c3b5	327	break;
julientiron	0:1cb50d31c3b5	328	}
julientiron	0:1cb50d31c3b5	329	VL6180xDevDataSet(dev, Part2PartOffsetNVM, offset);
julientiron	0:1cb50d31c3b5	330
julientiron	0:1cb50d31c3b5	331	status=VL6180x_RdDWord( dev, SYSRANGE_RANGE_IGNORE_THRESHOLD, &CalValue);
julientiron	0:1cb50d31c3b5	332	if( status ){
julientiron	0:1cb50d31c3b5	333	VL6180x_ErrLog("Part2PartAmbNVM rd fail");
julientiron	0:1cb50d31c3b5	334	break;
julientiron	0:1cb50d31c3b5	335	}
julientiron	0:1cb50d31c3b5	336	if( (CalValue&0xFFFF0000) == 0 ){
julientiron	0:1cb50d31c3b5	337	CalValue=0x00CE03F8;
julientiron	0:1cb50d31c3b5	338	}
julientiron	0:1cb50d31c3b5	339	VL6180xDevDataSet(dev, Part2PartAmbNVM, CalValue);
julientiron	0:1cb50d31c3b5	340
julientiron	0:1cb50d31c3b5	341	status = VL6180x_RdWord(dev, SYSRANGE_CROSSTALK_COMPENSATION_RATE ,&u16);
julientiron	0:1cb50d31c3b5	342	if( status){
julientiron	0:1cb50d31c3b5	343	VL6180x_ErrLog("SYSRANGE_CROSSTALK_COMPENSATION_RATE rd fail ");
julientiron	0:1cb50d31c3b5	344	break;
julientiron	0:1cb50d31c3b5	345	}
julientiron	0:1cb50d31c3b5	346	XTalkCompRate_KCps = Fix7_2_KCPs(u16);
julientiron	0:1cb50d31c3b5	347	VL6180xDevDataSet(dev, XTalkCompRate_KCps , XTalkCompRate_KCps );
julientiron	0:1cb50d31c3b5	348
julientiron	0:1cb50d31c3b5	349	dmax_status = _DMax_InitData(dev);
julientiron	0:1cb50d31c3b5	350	if( dmax_status < 0 ){
julientiron	0:1cb50d31c3b5	351	VL6180x_ErrLog("DMax init failure");
julientiron	0:1cb50d31c3b5	352	break;
julientiron	0:1cb50d31c3b5	353	}
julientiron	0:1cb50d31c3b5	354
julientiron	0:1cb50d31c3b5	355	/* Read or wait for fresh out of reset */
julientiron	0:1cb50d31c3b5	356	status = VL6180x_RdByte(dev,SYSTEM_FRESH_OUT_OF_RESET, &FreshOutReset);
julientiron	0:1cb50d31c3b5	357	if( status ) {
julientiron	0:1cb50d31c3b5	358	VL6180x_ErrLog("SYSTEM_FRESH_OUT_OF_RESET rd fail");
julientiron	0:1cb50d31c3b5	359	break;
julientiron	0:1cb50d31c3b5	360	}
julientiron	0:1cb50d31c3b5	361	if( FreshOutReset!= 1 \|\| dmax_status )
julientiron	0:1cb50d31c3b5	362	status = CALIBRATION_WARNING;
julientiron	0:1cb50d31c3b5	363
julientiron	0:1cb50d31c3b5	364	}
julientiron	0:1cb50d31c3b5	365	while(0);
julientiron	0:1cb50d31c3b5	366
julientiron	0:1cb50d31c3b5	367	LOG_FUNCTION_END(status);
julientiron	0:1cb50d31c3b5	368	return status;
julientiron	0:1cb50d31c3b5	369	}
julientiron	0:1cb50d31c3b5	370
julientiron	0:1cb50d31c3b5	371	int8_t VL6180X::VL6180x_GetOffsetCalibrationData(VL6180xDev_t dev)
julientiron	0:1cb50d31c3b5	372	{
julientiron	0:1cb50d31c3b5	373	int8_t offset;
julientiron	0:1cb50d31c3b5	374	LOG_FUNCTION_START("");
julientiron	0:1cb50d31c3b5	375	offset = VL6180xDevDataGet(dev, Part2PartOffsetNVM);
julientiron	0:1cb50d31c3b5	376	LOG_FUNCTION_END( offset );
julientiron	0:1cb50d31c3b5	377	return offset;
julientiron	0:1cb50d31c3b5	378	}
julientiron	0:1cb50d31c3b5	379
julientiron	0:1cb50d31c3b5	380	void VL6180X::VL6180x_SetOffsetCalibrationData(VL6180xDev_t dev, int8_t offset)
julientiron	0:1cb50d31c3b5	381	{
julientiron	0:1cb50d31c3b5	382	LOG_FUNCTION_START("%d", offset);
julientiron	0:1cb50d31c3b5	383	VL6180xDevDataSet(dev, Part2PartOffsetNVM, offset);
julientiron	0:1cb50d31c3b5	384	LOG_FUNCTION_END(0);
julientiron	0:1cb50d31c3b5	385	}
julientiron	0:1cb50d31c3b5	386
julientiron	0:1cb50d31c3b5	387	int VL6180X::VL6180x_SetXTalkCompensationRate(VL6180xDev_t dev, FixPoint97_t Rate)
julientiron	0:1cb50d31c3b5	388	{
julientiron	0:1cb50d31c3b5	389	int status;
julientiron	0:1cb50d31c3b5	390	LOG_FUNCTION_START("%d", Rate);
julientiron	0:1cb50d31c3b5	391	status = VL6180x_WrWord(dev, SYSRANGE_CROSSTALK_COMPENSATION_RATE, Rate);
julientiron	0:1cb50d31c3b5	392	if( status ==0 ){
julientiron	0:1cb50d31c3b5	393	uint32_t XTalkCompRate_KCps;
julientiron	0:1cb50d31c3b5	394	XTalkCompRate_KCps = Fix7_2_KCPs(Rate);
julientiron	0:1cb50d31c3b5	395	VL6180xDevDataSet(dev, XTalkCompRate_KCps , XTalkCompRate_KCps );
julientiron	0:1cb50d31c3b5	396	/* update dmax whenever xtalk rate changes */
julientiron	0:1cb50d31c3b5	397	status = _DMax_InitData(dev);
julientiron	0:1cb50d31c3b5	398	}
julientiron	0:1cb50d31c3b5	399	LOG_FUNCTION_END(status);
julientiron	0:1cb50d31c3b5	400	return status;
julientiron	0:1cb50d31c3b5	401	}
julientiron	0:1cb50d31c3b5	402
julientiron	0:1cb50d31c3b5	403	int VL6180X::VL6180x_SetI2CAddress(VL6180xDev_t dev, uint8_t NewAddress){
julientiron	0:1cb50d31c3b5	404	int status;
julientiron	0:1cb50d31c3b5	405	LOG_FUNCTION_START("");
julientiron	0:1cb50d31c3b5	406
julientiron	0:1cb50d31c3b5	407	status = VL6180x_WrByte(dev, I2C_SLAVE_DEVICE_ADDRESS, NewAddress);
julientiron	0:1cb50d31c3b5	408	if( status ){
julientiron	0:1cb50d31c3b5	409	VL6180x_ErrLog("new i2c addr Wr fail");
julientiron	0:1cb50d31c3b5	410	}
julientiron	0:1cb50d31c3b5	411	LOG_FUNCTION_END(status);
julientiron	0:1cb50d31c3b5	412	return status;
julientiron	0:1cb50d31c3b5	413	}
julientiron	0:1cb50d31c3b5	414
julientiron	0:1cb50d31c3b5	415
julientiron	0:1cb50d31c3b5	416	uint16_t VL6180X::VL6180x_GetUpperLimit(VL6180xDev_t dev) {
julientiron	0:1cb50d31c3b5	417	uint16_t limit;
julientiron	0:1cb50d31c3b5	418	int scaling;
julientiron	0:1cb50d31c3b5	419
julientiron	0:1cb50d31c3b5	420	LOG_FUNCTION_START("");
julientiron	0:1cb50d31c3b5	421
julientiron	0:1cb50d31c3b5	422	scaling = _GetUpscale(dev);
julientiron	0:1cb50d31c3b5	423	/* FIXME we do assume here _GetUpscale is valid if user call us prior to init we may overflow the LUT mem area */
julientiron	0:1cb50d31c3b5	424	limit = UpperLimitLookUP[scaling - 1];
julientiron	0:1cb50d31c3b5	425
julientiron	0:1cb50d31c3b5	426	LOG_FUNCTION_END((int )limit);
julientiron	0:1cb50d31c3b5	427	return limit;
julientiron	0:1cb50d31c3b5	428	}
julientiron	0:1cb50d31c3b5	429
julientiron	0:1cb50d31c3b5	430
julientiron	0:1cb50d31c3b5	431
julientiron	0:1cb50d31c3b5	432	int VL6180X::VL6180x_StaticInit(VL6180xDev_t dev){
julientiron	0:1cb50d31c3b5	433	int status=0, init_status;
julientiron	0:1cb50d31c3b5	434	LOG_FUNCTION_START("");
julientiron	0:1cb50d31c3b5	435
julientiron	0:1cb50d31c3b5	436	/* TODO doc When using configurable scaling but using 1x as start condition
julientiron	0:1cb50d31c3b5	437	* load tunning upscale or not ??? */
julientiron	0:1cb50d31c3b5	438	if( _GetUpscale(dev) == 1 && !(VL6180x_UPSCALE_SUPPORT<0))
julientiron	0:1cb50d31c3b5	439	init_status=VL6180x_RangeStaticInit(dev);
julientiron	0:1cb50d31c3b5	440	else
julientiron	0:1cb50d31c3b5	441	init_status=VL6180x_UpscaleStaticInit(dev);
julientiron	0:1cb50d31c3b5	442
julientiron	0:1cb50d31c3b5	443	if( init_status <0 ){
julientiron	0:1cb50d31c3b5	444	VL6180x_ErrLog("StaticInit fail");
julientiron	0:1cb50d31c3b5	445	goto error;
julientiron	0:1cb50d31c3b5	446	}
julientiron	0:1cb50d31c3b5	447	else if(init_status > 0){
julientiron	0:1cb50d31c3b5	448	VL6180x_ErrLog("StaticInit warning");
julientiron	0:1cb50d31c3b5	449	}
julientiron	0:1cb50d31c3b5	450
julientiron	0:1cb50d31c3b5	451	#if REFRESH_CACHED_DATA_AFTER_INIT
julientiron	0:1cb50d31c3b5	452	/* update cached value after tuning applied */
julientiron	0:1cb50d31c3b5	453	do{
julientiron	0:1cb50d31c3b5	454	#ifdef VL6180x_HAVE_ALS_DATA
julientiron	0:1cb50d31c3b5	455	uint8_t data;
julientiron	0:1cb50d31c3b5	456	status= VL6180x_RdByte(dev, FW_ALS_RESULT_SCALER, &data);
julientiron	0:1cb50d31c3b5	457	if( status ) break;
julientiron	0:1cb50d31c3b5	458	VL6180xDevDataSet(dev, AlsScaler, data);
julientiron	0:1cb50d31c3b5	459
julientiron	0:1cb50d31c3b5	460	status= VL6180x_RdByte(dev, SYSALS_ANALOGUE_GAIN, &data);
julientiron	0:1cb50d31c3b5	461	if( status ) break;
julientiron	0:1cb50d31c3b5	462	VL6180x_AlsSetAnalogueGain(dev, data);
julientiron	0:1cb50d31c3b5	463	#endif
julientiron	0:1cb50d31c3b5	464	}
julientiron	0:1cb50d31c3b5	465	while(0);
julientiron	0:1cb50d31c3b5	466	#endif /* REFRESH_CACHED_DATA_AFTER_INIT */
julientiron	0:1cb50d31c3b5	467	if( status < 0 ){
julientiron	0:1cb50d31c3b5	468	VL6180x_ErrLog("StaticInit fail");
julientiron	0:1cb50d31c3b5	469	}
julientiron	0:1cb50d31c3b5	470	if( !status && init_status){
julientiron	0:1cb50d31c3b5	471	status = init_status;
julientiron	0:1cb50d31c3b5	472	}
julientiron	0:1cb50d31c3b5	473	error:
julientiron	0:1cb50d31c3b5	474	LOG_FUNCTION_END(status);
julientiron	0:1cb50d31c3b5	475	return status;
julientiron	0:1cb50d31c3b5	476	}
julientiron	0:1cb50d31c3b5	477
julientiron	0:1cb50d31c3b5	478
julientiron	0:1cb50d31c3b5	479	int VL6180X::VL6180x_SetGroupParamHold(VL6180xDev_t dev, int Hold)
julientiron	0:1cb50d31c3b5	480	{
julientiron	0:1cb50d31c3b5	481	int status;
julientiron	0:1cb50d31c3b5	482	uint8_t value;
julientiron	0:1cb50d31c3b5	483
julientiron	0:1cb50d31c3b5	484	LOG_FUNCTION_START("%d", Hold);
julientiron	0:1cb50d31c3b5	485	if( Hold )
julientiron	0:1cb50d31c3b5	486	value = 1;
julientiron	0:1cb50d31c3b5	487	else
julientiron	0:1cb50d31c3b5	488	value = 0;
julientiron	0:1cb50d31c3b5	489	status = VL6180x_WrByte(dev, SYSTEM_GROUPED_PARAMETER_HOLD, value);
julientiron	0:1cb50d31c3b5	490
julientiron	0:1cb50d31c3b5	491	LOG_FUNCTION_END(status);
julientiron	0:1cb50d31c3b5	492	return status;
julientiron	0:1cb50d31c3b5	493
julientiron	0:1cb50d31c3b5	494	}
julientiron	0:1cb50d31c3b5	495
julientiron	0:1cb50d31c3b5	496	int VL6180X::VL6180x_Prepare(VL6180xDev_t dev)
julientiron	0:1cb50d31c3b5	497	{
julientiron	0:1cb50d31c3b5	498	int status;
julientiron	0:1cb50d31c3b5	499	LOG_FUNCTION_START("");
julientiron	0:1cb50d31c3b5	500
julientiron	0:1cb50d31c3b5	501	do{
julientiron	0:1cb50d31c3b5	502	status=VL6180x_StaticInit(dev);
julientiron	0:1cb50d31c3b5	503	if( status<0) break;
julientiron	0:1cb50d31c3b5	504
julientiron	0:1cb50d31c3b5	505	/* set range InterruptMode to new sample */
julientiron	0:1cb50d31c3b5	506	status=VL6180x_RangeConfigInterrupt(dev, CONFIG_GPIO_INTERRUPT_DISABLED );
julientiron	0:1cb50d31c3b5	507	if( status)
julientiron	0:1cb50d31c3b5	508	break;
julientiron	0:1cb50d31c3b5	509
julientiron	0:1cb50d31c3b5	510	/* set default threshold */
julientiron	0:1cb50d31c3b5	511	status=VL6180x_RangeSetRawThresholds(dev, 10, 200);
julientiron	0:1cb50d31c3b5	512	if( status ){
julientiron	0:1cb50d31c3b5	513	VL6180x_ErrLog("VL6180x_RangeSetRawThresholds fail");
julientiron	0:1cb50d31c3b5	514	break;
julientiron	0:1cb50d31c3b5	515	}
julientiron	0:1cb50d31c3b5	516	#if VL6180x_ALS_SUPPORT
julientiron	0:1cb50d31c3b5	517	status =VL6180x_AlsSetIntegrationPeriod(dev, 100);
julientiron	0:1cb50d31c3b5	518	if( status ) break;
julientiron	0:1cb50d31c3b5	519	status = VL6180x_AlsSetInterMeasurementPeriod(dev, 200);
julientiron	0:1cb50d31c3b5	520	if( status ) break;
julientiron	0:1cb50d31c3b5	521	status = VL6180x_AlsSetAnalogueGain(dev, 0);
julientiron	0:1cb50d31c3b5	522	if( status ) break;
julientiron	0:1cb50d31c3b5	523	status = VL6180x_AlsSetThresholds(dev, 0, 0xFFFF);
julientiron	0:1cb50d31c3b5	524	if( status ) break;
julientiron	0:1cb50d31c3b5	525	/* set Als InterruptMode to new sample */
julientiron	0:1cb50d31c3b5	526	status=VL6180x_AlsConfigInterrupt(dev, CONFIG_GPIO_INTERRUPT_DISABLED);
julientiron	0:1cb50d31c3b5	527	if( status ) {
julientiron	0:1cb50d31c3b5	528	VL6180x_ErrLog("VL6180x_AlsConfigInterrupt fail");
julientiron	0:1cb50d31c3b5	529	break;
julientiron	0:1cb50d31c3b5	530	}
julientiron	0:1cb50d31c3b5	531	#endif
julientiron	0:1cb50d31c3b5	532	#if VL6180x_WRAP_AROUND_FILTER_SUPPORT
julientiron	0:1cb50d31c3b5	533	_filter_Init(dev);
julientiron	0:1cb50d31c3b5	534	#endif
julientiron	0:1cb50d31c3b5	535	/* make sure to reset any left previous condition that can hangs first poll */
julientiron	0:1cb50d31c3b5	536	status=VL6180x_ClearAllInterrupt(dev);
julientiron	0:1cb50d31c3b5	537	}
julientiron	0:1cb50d31c3b5	538	while(0);
julientiron	0:1cb50d31c3b5	539	LOG_FUNCTION_END(status);
julientiron	0:1cb50d31c3b5	540
julientiron	0:1cb50d31c3b5	541	return status;
julientiron	0:1cb50d31c3b5	542	}
julientiron	0:1cb50d31c3b5	543
julientiron	0:1cb50d31c3b5	544	#if VL6180x_ALS_SUPPORT
julientiron	0:1cb50d31c3b5	545	int VL6180X::VL6180x_AlsGetLux(VL6180xDev_t dev, lux_t *pLux)
julientiron	0:1cb50d31c3b5	546	{
julientiron	0:1cb50d31c3b5	547	int status;
julientiron	0:1cb50d31c3b5	548	uint16_t RawAls;
julientiron	0:1cb50d31c3b5	549	uint32_t luxValue = 0;
julientiron	0:1cb50d31c3b5	550	uint32_t IntPeriod;
julientiron	0:1cb50d31c3b5	551	uint32_t AlsAnGain;
julientiron	0:1cb50d31c3b5	552	uint32_t GainFix;
julientiron	0:1cb50d31c3b5	553	uint32_t AlsScaler;
julientiron	0:1cb50d31c3b5	554
julientiron	0:1cb50d31c3b5	555	#if LUXRES_FIX_PREC != GAIN_FIX_PREC
julientiron	0:1cb50d31c3b5	556	#error "LUXRES_FIX_PREC != GAIN_FIX_PREC review these code to be correct"
julientiron	0:1cb50d31c3b5	557	#endif
julientiron	0:1cb50d31c3b5	558	const uint32_t LuxResxIntIme =(uint32_t)(0.56f* DEF_INT_PEFRIOD *(1<<LUXRES_FIX_PREC));
julientiron	0:1cb50d31c3b5	559
julientiron	0:1cb50d31c3b5	560	LOG_FUNCTION_START("%p", pLux);
julientiron	0:1cb50d31c3b5	561
julientiron	0:1cb50d31c3b5	562	status = VL6180x_RdWord( dev, RESULT_ALS_VAL, &RawAls);
julientiron	0:1cb50d31c3b5	563	if( !status){
julientiron	0:1cb50d31c3b5	564	/* wer are yet here at no fix point */
julientiron	0:1cb50d31c3b5	565	IntPeriod=VL6180xDevDataGet(dev, IntegrationPeriod);
julientiron	0:1cb50d31c3b5	566	AlsScaler=VL6180xDevDataGet(dev, AlsScaler);
julientiron	0:1cb50d31c3b5	567	IntPeriod++; /* what stored is real time ms -1 and it can be 0 for or 0 or 1ms */
julientiron	0:1cb50d31c3b5	568	luxValue = (uint32_t)RawAls * LuxResxIntIme; /* max # 16+8bits + 6bit (0.56100) /
julientiron	0:1cb50d31c3b5	569	luxValue /= IntPeriod; /* max # 16+8bits + 6bit 16+8+1 to 9 bit */
julientiron	0:1cb50d31c3b5	570	/* between 29 - 21 bit */
julientiron	0:1cb50d31c3b5	571	AlsAnGain = VL6180xDevDataGet(dev, AlsGainCode);
julientiron	0:1cb50d31c3b5	572	GainFix = AlsGainLookUp[AlsAnGain];
julientiron	0:1cb50d31c3b5	573	luxValue = luxValue / (AlsScaler * GainFix);
julientiron	0:1cb50d31c3b5	574	*pLux=luxValue;
julientiron	0:1cb50d31c3b5	575	}
julientiron	0:1cb50d31c3b5	576
julientiron	0:1cb50d31c3b5	577	LOG_FUNCTION_END_FMT(status, "%x",(int)*pLux);
julientiron	0:1cb50d31c3b5	578	return status;
julientiron	0:1cb50d31c3b5	579	}
julientiron	0:1cb50d31c3b5	580
julientiron	0:1cb50d31c3b5	581	int VL6180X::VL6180x_AlsGetMeasurement(VL6180xDev_t dev, VL6180x_AlsData_t *pAlsData)
julientiron	0:1cb50d31c3b5	582	{
julientiron	0:1cb50d31c3b5	583	int status;
julientiron	0:1cb50d31c3b5	584	uint8_t ErrStatus;
julientiron	0:1cb50d31c3b5	585
julientiron	0:1cb50d31c3b5	586	LOG_FUNCTION_START("%p", pAlsData);
julientiron	0:1cb50d31c3b5	587
julientiron	0:1cb50d31c3b5	588	status = VL6180x_AlsGetLux(dev, &pAlsData->lux);
julientiron	0:1cb50d31c3b5	589	if( !status ){
julientiron	0:1cb50d31c3b5	590	status = VL6180x_RdByte(dev, RESULT_ALS_STATUS, & ErrStatus);
julientiron	0:1cb50d31c3b5	591	pAlsData->errorStatus = ErrStatus>>4;
julientiron	0:1cb50d31c3b5	592	}
julientiron	0:1cb50d31c3b5	593	LOG_FUNCTION_END_FMT(status,"%d %d", (int)pAlsData->lux, (int)pAlsData->errorStatus);
julientiron	0:1cb50d31c3b5	594
julientiron	0:1cb50d31c3b5	595	return status;
julientiron	0:1cb50d31c3b5	596	}
julientiron	0:1cb50d31c3b5	597
julientiron	0:1cb50d31c3b5	598
julientiron	0:1cb50d31c3b5	599	int VL6180X::VL6180x_AlsPollMeasurement(VL6180xDev_t dev, VL6180x_AlsData_t *pAlsData) {
julientiron	0:1cb50d31c3b5	600	int status;
julientiron	0:1cb50d31c3b5	601	int ClrStatus;
julientiron	0:1cb50d31c3b5	602	uint8_t IntStatus;
julientiron	0:1cb50d31c3b5	603
julientiron	0:1cb50d31c3b5	604	LOG_FUNCTION_START("%p", pAlsData);
julientiron	0:1cb50d31c3b5	605	#if VL6180X_SAFE_POLLING_ENTER
julientiron	0:1cb50d31c3b5	606	/* if device get stopped with left interrupt uncleared , it is required to clear them now or poll for new condition will never occur*/
julientiron	0:1cb50d31c3b5	607	status=VL6180x_AlsClearInterrupt(dev);
julientiron	0:1cb50d31c3b5	608	if(status){
julientiron	0:1cb50d31c3b5	609	VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
julientiron	0:1cb50d31c3b5	610	goto over;
julientiron	0:1cb50d31c3b5	611	}
julientiron	0:1cb50d31c3b5	612	#endif
julientiron	0:1cb50d31c3b5	613
julientiron	0:1cb50d31c3b5	614	status=VL6180x_AlsSetSystemMode(dev, MODE_START_STOP\|MODE_SINGLESHOT);
julientiron	0:1cb50d31c3b5	615	if( status){
julientiron	0:1cb50d31c3b5	616	VL6180x_ErrLog("VL6180x_AlsSetSystemMode fail");
julientiron	0:1cb50d31c3b5	617	goto over;
julientiron	0:1cb50d31c3b5	618	}
julientiron	0:1cb50d31c3b5	619
julientiron	0:1cb50d31c3b5	620	/* poll for new sample ready */
julientiron	0:1cb50d31c3b5	621	while (1 ) {
julientiron	0:1cb50d31c3b5	622	status = VL6180x_AlsGetInterruptStatus(dev, &IntStatus);
julientiron	0:1cb50d31c3b5	623	if (status) {
julientiron	0:1cb50d31c3b5	624	break;
julientiron	0:1cb50d31c3b5	625	}
julientiron	0:1cb50d31c3b5	626	if (IntStatus == RES_INT_STAT_GPIO_NEW_SAMPLE_READY) {
julientiron	0:1cb50d31c3b5	627	break; /* break on new data (status is 0) */
julientiron	0:1cb50d31c3b5	628	}
julientiron	0:1cb50d31c3b5	629	wait_ms(10);
julientiron	0:1cb50d31c3b5	630	};
julientiron	0:1cb50d31c3b5	631
julientiron	0:1cb50d31c3b5	632	if (!status) {
julientiron	0:1cb50d31c3b5	633	status = VL6180x_AlsGetMeasurement(dev, pAlsData);
julientiron	0:1cb50d31c3b5	634	}
julientiron	0:1cb50d31c3b5	635
julientiron	0:1cb50d31c3b5	636	ClrStatus = VL6180x_AlsClearInterrupt(dev);
julientiron	0:1cb50d31c3b5	637	if (ClrStatus) {
julientiron	0:1cb50d31c3b5	638	VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
julientiron	0:1cb50d31c3b5	639	if (!status) {
julientiron	0:1cb50d31c3b5	640	status = ClrStatus; /* leave previous if already on error */
julientiron	0:1cb50d31c3b5	641	}
julientiron	0:1cb50d31c3b5	642	}
julientiron	0:1cb50d31c3b5	643	over:
julientiron	0:1cb50d31c3b5	644	LOG_FUNCTION_END(status);
julientiron	0:1cb50d31c3b5	645
julientiron	0:1cb50d31c3b5	646	return status;
julientiron	0:1cb50d31c3b5	647	}
julientiron	0:1cb50d31c3b5	648
julientiron	0:1cb50d31c3b5	649	int VL6180X::VL6180x_AlsGetInterruptStatus(VL6180xDev_t dev, uint8_t *pIntStatus) {
julientiron	0:1cb50d31c3b5	650	int status;
julientiron	0:1cb50d31c3b5	651	uint8_t IntStatus;
julientiron	0:1cb50d31c3b5	652	LOG_FUNCTION_START("%p", pIntStatus);
julientiron	0:1cb50d31c3b5	653
julientiron	0:1cb50d31c3b5	654	status = VL6180x_RdByte(dev, RESULT_INTERRUPT_STATUS_GPIO, &IntStatus);
julientiron	0:1cb50d31c3b5	655	*pIntStatus= (IntStatus>>3)&0x07;
julientiron	0:1cb50d31c3b5	656
julientiron	0:1cb50d31c3b5	657	LOG_FUNCTION_END_FMT(status, "%d", (int)*pIntStatus);
julientiron	0:1cb50d31c3b5	658	return status;
julientiron	0:1cb50d31c3b5	659	}
julientiron	0:1cb50d31c3b5	660
julientiron	0:1cb50d31c3b5	661	int VL6180X::VL6180x_AlsWaitDeviceReady(VL6180xDev_t dev, int MaxLoop ){
julientiron	0:1cb50d31c3b5	662	int status;
julientiron	0:1cb50d31c3b5	663	int n;
julientiron	0:1cb50d31c3b5	664	uint8_t u8;
julientiron	0:1cb50d31c3b5	665	LOG_FUNCTION_START("%d", (int)MaxLoop);
julientiron	0:1cb50d31c3b5	666	if( MaxLoop<1){
julientiron	0:1cb50d31c3b5	667	status=INVALID_PARAMS;
julientiron	0:1cb50d31c3b5	668	}
julientiron	0:1cb50d31c3b5	669	else{
julientiron	0:1cb50d31c3b5	670	for( n=0; n < MaxLoop ; n++){
julientiron	0:1cb50d31c3b5	671	status=VL6180x_RdByte(dev, RESULT_ALS_STATUS, &u8);
julientiron	0:1cb50d31c3b5	672	if( status)
julientiron	0:1cb50d31c3b5	673	break;
julientiron	0:1cb50d31c3b5	674	u8 = u8 & ALS_DEVICE_READY_MASK;
julientiron	0:1cb50d31c3b5	675	if( u8 )
julientiron	0:1cb50d31c3b5	676	break;
julientiron	0:1cb50d31c3b5	677
julientiron	0:1cb50d31c3b5	678	}
julientiron	0:1cb50d31c3b5	679	if( !status && !u8 ){
julientiron	0:1cb50d31c3b5	680	status = TIME_OUT;
julientiron	0:1cb50d31c3b5	681	}
julientiron	0:1cb50d31c3b5	682	}
julientiron	0:1cb50d31c3b5	683	LOG_FUNCTION_END(status);
julientiron	0:1cb50d31c3b5	684	return status;
julientiron	0:1cb50d31c3b5	685	}
julientiron	0:1cb50d31c3b5	686
julientiron	0:1cb50d31c3b5	687	int VL6180X::VL6180x_AlsSetSystemMode(VL6180xDev_t dev, uint8_t mode)
julientiron	0:1cb50d31c3b5	688	{
julientiron	0:1cb50d31c3b5	689	int status;
julientiron	0:1cb50d31c3b5	690	LOG_FUNCTION_START("%d", (int)mode);
julientiron	0:1cb50d31c3b5	691	/* FIXME if we are called back to back real fast we are not checking
julientiron	0:1cb50d31c3b5	692	* if previous mode "set" got absorbed => bit 0 must be 0 so that wr 1 work */
julientiron	0:1cb50d31c3b5	693	if( mode <= 3){
julientiron	0:1cb50d31c3b5	694	status=VL6180x_WrByte(dev, SYSALS_START, mode);
julientiron	0:1cb50d31c3b5	695	}
julientiron	0:1cb50d31c3b5	696	else{
julientiron	0:1cb50d31c3b5	697	status = INVALID_PARAMS;
julientiron	0:1cb50d31c3b5	698	}
julientiron	0:1cb50d31c3b5	699	LOG_FUNCTION_END(status);
julientiron	0:1cb50d31c3b5	700	return status;
julientiron	0:1cb50d31c3b5	701	}
julientiron	0:1cb50d31c3b5	702
julientiron	0:1cb50d31c3b5	703	int VL6180X::VL6180x_AlsConfigInterrupt(VL6180xDev_t dev, uint8_t ConfigGpioInt)
julientiron	0:1cb50d31c3b5	704	{
julientiron	0:1cb50d31c3b5	705	int status;
julientiron	0:1cb50d31c3b5	706
julientiron	0:1cb50d31c3b5	707	if( ConfigGpioInt<= CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY){
julientiron	0:1cb50d31c3b5	708	status = VL6180x_UpdateByte(dev, SYSTEM_INTERRUPT_CONFIG_GPIO, (uint8_t)(~CONFIG_GPIO_ALS_MASK), (ConfigGpioInt<<3));
julientiron	0:1cb50d31c3b5	709	}
julientiron	0:1cb50d31c3b5	710	else{
julientiron	0:1cb50d31c3b5	711	VL6180x_ErrLog("Invalid config mode param %d", (int)ConfigGpioInt);
julientiron	0:1cb50d31c3b5	712	status = INVALID_PARAMS;
julientiron	0:1cb50d31c3b5	713	}
julientiron	0:1cb50d31c3b5	714	LOG_FUNCTION_END(status);
julientiron	0:1cb50d31c3b5	715	return status;
julientiron	0:1cb50d31c3b5	716	}
julientiron	0:1cb50d31c3b5	717
julientiron	0:1cb50d31c3b5	718
julientiron	0:1cb50d31c3b5	719
julientiron	0:1cb50d31c3b5	720	int VL6180X::VL6180x_AlsSetThresholds(VL6180xDev_t dev, uint16_t low, uint16_t high) {
julientiron	0:1cb50d31c3b5	721	int status;
julientiron	0:1cb50d31c3b5	722
julientiron	0:1cb50d31c3b5	723	LOG_FUNCTION_START("%d %d", (int )low, (int)high);
julientiron	0:1cb50d31c3b5	724
julientiron	0:1cb50d31c3b5	725	status = VL6180x_WrWord(dev, SYSALS_THRESH_LOW, low);
julientiron	0:1cb50d31c3b5	726	if(!status ){
julientiron	0:1cb50d31c3b5	727	status = VL6180x_WrWord(dev, SYSALS_THRESH_HIGH, high);
julientiron	0:1cb50d31c3b5	728	}
julientiron	0:1cb50d31c3b5	729
julientiron	0:1cb50d31c3b5	730	LOG_FUNCTION_END(status) ;
julientiron	0:1cb50d31c3b5	731	return status;
julientiron	0:1cb50d31c3b5	732	}
julientiron	0:1cb50d31c3b5	733
julientiron	0:1cb50d31c3b5	734
julientiron	0:1cb50d31c3b5	735	int VL6180X::VL6180x_AlsSetAnalogueGain(VL6180xDev_t dev, uint8_t gain) {
julientiron	0:1cb50d31c3b5	736	int status;
julientiron	0:1cb50d31c3b5	737	uint8_t GainTotal;
julientiron	0:1cb50d31c3b5	738
julientiron	0:1cb50d31c3b5	739	LOG_FUNCTION_START("%d", (int )gain);
julientiron	0:1cb50d31c3b5	740	gain&=~0x40;
julientiron	0:1cb50d31c3b5	741	if (gain > 7) {
julientiron	0:1cb50d31c3b5	742	gain = 7;
julientiron	0:1cb50d31c3b5	743	}
julientiron	0:1cb50d31c3b5	744	GainTotal = gain\|0x40;
julientiron	0:1cb50d31c3b5	745
julientiron	0:1cb50d31c3b5	746	status = VL6180x_WrByte(dev, SYSALS_ANALOGUE_GAIN, GainTotal);
julientiron	0:1cb50d31c3b5	747	if( !status){
julientiron	0:1cb50d31c3b5	748	VL6180xDevDataSet(dev, AlsGainCode, gain);
julientiron	0:1cb50d31c3b5	749	}
julientiron	0:1cb50d31c3b5	750
julientiron	0:1cb50d31c3b5	751	LOG_FUNCTION_END_FMT(status, "%d %d", (int ) gain, (int )GainTotal);
julientiron	0:1cb50d31c3b5	752	return status;
julientiron	0:1cb50d31c3b5	753	}
julientiron	0:1cb50d31c3b5	754
julientiron	0:1cb50d31c3b5	755	int VL6180X::VL6180x_AlsSetInterMeasurementPeriod(VL6180xDev_t dev, uint16_t intermeasurement_period_ms)
julientiron	0:1cb50d31c3b5	756	{
julientiron	0:1cb50d31c3b5	757	int status;
julientiron	0:1cb50d31c3b5	758
julientiron	0:1cb50d31c3b5	759	LOG_FUNCTION_START("%d",(int)intermeasurement_period_ms);
julientiron	0:1cb50d31c3b5	760	/* clipping: range is 0-2550ms */
julientiron	0:1cb50d31c3b5	761	if (intermeasurement_period_ms >= 255 *10)
julientiron	0:1cb50d31c3b5	762	intermeasurement_period_ms = 255 *10;
julientiron	0:1cb50d31c3b5	763	status=VL6180x_WrByte(dev, SYSALS_INTERMEASUREMENT_PERIOD, (uint8_t)(intermeasurement_period_ms/10));
julientiron	0:1cb50d31c3b5	764
julientiron	0:1cb50d31c3b5	765	LOG_FUNCTION_END_FMT(status, "%d", (int) intermeasurement_period_ms);
julientiron	0:1cb50d31c3b5	766	return status;
julientiron	0:1cb50d31c3b5	767	}
julientiron	0:1cb50d31c3b5	768
julientiron	0:1cb50d31c3b5	769
julientiron	0:1cb50d31c3b5	770	int VL6180X::VL6180x_AlsSetIntegrationPeriod(VL6180xDev_t dev, uint16_t period_ms)
julientiron	0:1cb50d31c3b5	771	{
julientiron	0:1cb50d31c3b5	772	int status;
julientiron	0:1cb50d31c3b5	773	uint16_t SetIntegrationPeriod;
julientiron	0:1cb50d31c3b5	774
julientiron	0:1cb50d31c3b5	775	LOG_FUNCTION_START("%d", (int)period_ms);
julientiron	0:1cb50d31c3b5	776
julientiron	0:1cb50d31c3b5	777	if( period_ms>=1 )
julientiron	0:1cb50d31c3b5	778	SetIntegrationPeriod = period_ms - 1;
julientiron	0:1cb50d31c3b5	779	else
julientiron	0:1cb50d31c3b5	780	SetIntegrationPeriod = period_ms;
julientiron	0:1cb50d31c3b5	781
julientiron	0:1cb50d31c3b5	782	if (SetIntegrationPeriod > 464) {
julientiron	0:1cb50d31c3b5	783	SetIntegrationPeriod = 464;
julientiron	0:1cb50d31c3b5	784	}
julientiron	0:1cb50d31c3b5	785	else if (SetIntegrationPeriod == 255) {
julientiron	0:1cb50d31c3b5	786	SetIntegrationPeriod++; /* can't write 255 since this causes the device to lock out.*/
julientiron	0:1cb50d31c3b5	787	}
julientiron	0:1cb50d31c3b5	788
julientiron	0:1cb50d31c3b5	789	status =VL6180x_WrWord(dev, SYSALS_INTEGRATION_PERIOD, SetIntegrationPeriod);
julientiron	0:1cb50d31c3b5	790	if( !status ){
julientiron	0:1cb50d31c3b5	791	VL6180xDevDataSet(dev, IntegrationPeriod, SetIntegrationPeriod) ;
julientiron	0:1cb50d31c3b5	792	}
julientiron	0:1cb50d31c3b5	793	LOG_FUNCTION_END_FMT(status, "%d", (int)SetIntegrationPeriod);
julientiron	0:1cb50d31c3b5	794	return status;
julientiron	0:1cb50d31c3b5	795	}
julientiron	0:1cb50d31c3b5	796
julientiron	0:1cb50d31c3b5	797	#endif /* HAVE_ALS_SUPPORT */
julientiron	0:1cb50d31c3b5	798
julientiron	0:1cb50d31c3b5	799
julientiron	0:1cb50d31c3b5	800	int VL6180X::VL6180x_RangePollMeasurement(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData)
julientiron	0:1cb50d31c3b5	801	{
julientiron	0:1cb50d31c3b5	802	int status;
julientiron	0:1cb50d31c3b5	803	int ClrStatus;
julientiron	0:1cb50d31c3b5	804	IntrStatus_t IntStatus;
julientiron	0:1cb50d31c3b5	805
julientiron	0:1cb50d31c3b5	806	LOG_FUNCTION_START("");
julientiron	0:1cb50d31c3b5	807	/* start single range measurement */
julientiron	0:1cb50d31c3b5	808
julientiron	0:1cb50d31c3b5	809
julientiron	0:1cb50d31c3b5	810	#if VL6180X_SAFE_POLLING_ENTER
julientiron	0:1cb50d31c3b5	811	/* if device get stopped with left interrupt uncleared , it is required to clear them now or poll for new condition will never occur*/
julientiron	0:1cb50d31c3b5	812	status=VL6180x_RangeClearInterrupt(dev);
julientiron	0:1cb50d31c3b5	813	if(status){
julientiron	0:1cb50d31c3b5	814	VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
julientiron	0:1cb50d31c3b5	815	goto done;
julientiron	0:1cb50d31c3b5	816	}
julientiron	0:1cb50d31c3b5	817	#endif
julientiron	0:1cb50d31c3b5	818	/* //![single_shot_snipet] */
julientiron	0:1cb50d31c3b5	819	status=VL6180x_RangeSetSystemMode(dev, MODE_START_STOP\|MODE_SINGLESHOT);
julientiron	0:1cb50d31c3b5	820	if( status ){
julientiron	0:1cb50d31c3b5	821	VL6180x_ErrLog("VL6180x_RangeSetSystemMode fail");
julientiron	0:1cb50d31c3b5	822	goto done;
julientiron	0:1cb50d31c3b5	823	}
julientiron	0:1cb50d31c3b5	824
julientiron	0:1cb50d31c3b5	825	/* poll for new sample ready */
julientiron	0:1cb50d31c3b5	826	while(1 ){
julientiron	0:1cb50d31c3b5	827	status=VL6180x_RangeGetInterruptStatus(dev, &IntStatus.val);
julientiron	0:1cb50d31c3b5	828	if( status ){
julientiron	0:1cb50d31c3b5	829	break;
julientiron	0:1cb50d31c3b5	830	}
julientiron	0:1cb50d31c3b5	831	if( IntStatus.status.Error !=0 ){
julientiron	0:1cb50d31c3b5	832	VL6180x_ErrLog("GPIO int Error report %d",(int)IntStatus.val);
julientiron	0:1cb50d31c3b5	833	status = RANGE_ERROR;
julientiron	0:1cb50d31c3b5	834	break;
julientiron	0:1cb50d31c3b5	835	}
julientiron	0:1cb50d31c3b5	836	else
julientiron	0:1cb50d31c3b5	837	if( IntStatus.status.Range == RES_INT_STAT_GPIO_NEW_SAMPLE_READY){
julientiron	0:1cb50d31c3b5	838	break;
julientiron	0:1cb50d31c3b5	839	}
julientiron	0:1cb50d31c3b5	840	wait_ms(10);
julientiron	0:1cb50d31c3b5	841	}
julientiron	0:1cb50d31c3b5	842	/* //![single_shot_snipet] */
julientiron	0:1cb50d31c3b5	843
julientiron	0:1cb50d31c3b5	844	if ( !status ){
julientiron	0:1cb50d31c3b5	845	status = VL6180x_RangeGetMeasurement(dev, pRangeData);
julientiron	0:1cb50d31c3b5	846	}
julientiron	0:1cb50d31c3b5	847
julientiron	0:1cb50d31c3b5	848	/* clear range interrupt source */
julientiron	0:1cb50d31c3b5	849	ClrStatus = VL6180x_RangeClearInterrupt(dev);
julientiron	0:1cb50d31c3b5	850	if( ClrStatus ){
julientiron	0:1cb50d31c3b5	851	VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
julientiron	0:1cb50d31c3b5	852	/* leave initial status if already in error */
julientiron	0:1cb50d31c3b5	853	if( !status ){
julientiron	0:1cb50d31c3b5	854	status=ClrStatus;
julientiron	0:1cb50d31c3b5	855	}
julientiron	0:1cb50d31c3b5	856	}
julientiron	0:1cb50d31c3b5	857	done:
julientiron	0:1cb50d31c3b5	858	LOG_FUNCTION_END(status);
julientiron	0:1cb50d31c3b5	859	return status;
julientiron	0:1cb50d31c3b5	860	}
julientiron	0:1cb50d31c3b5	861
julientiron	0:1cb50d31c3b5	862
julientiron	0:1cb50d31c3b5	863
julientiron	0:1cb50d31c3b5	864	int VL6180X::VL6180x_RangeGetMeasurement(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData)
julientiron	0:1cb50d31c3b5	865	{
julientiron	0:1cb50d31c3b5	866	int status;
julientiron	0:1cb50d31c3b5	867	uint16_t RawRate;
julientiron	0:1cb50d31c3b5	868	uint8_t RawStatus;
julientiron	0:1cb50d31c3b5	869
julientiron	0:1cb50d31c3b5	870	LOG_FUNCTION_START("");
julientiron	0:1cb50d31c3b5	871
julientiron	0:1cb50d31c3b5	872	status = VL6180x_RangeGetResult(dev, &pRangeData->range_mm);
julientiron	0:1cb50d31c3b5	873	if( !status ){
julientiron	0:1cb50d31c3b5	874	status = VL6180x_RdWord(dev,RESULT_RANGE_SIGNAL_RATE, &RawRate );
julientiron	0:1cb50d31c3b5	875	if( !status ){
julientiron	0:1cb50d31c3b5	876	pRangeData->signalRate_mcps = VL6180x_9to7Conv(RawRate);
julientiron	0:1cb50d31c3b5	877	status = VL6180x_RdByte(dev, RESULT_RANGE_STATUS, &RawStatus);
julientiron	0:1cb50d31c3b5	878	if( !status ){
julientiron	0:1cb50d31c3b5	879	pRangeData->errorStatus = RawStatus >>4;
julientiron	0:1cb50d31c3b5	880	}
julientiron	0:1cb50d31c3b5	881	else{
julientiron	0:1cb50d31c3b5	882	VL6180x_ErrLog("Rd RESULT_RANGE_STATUS fail");
julientiron	0:1cb50d31c3b5	883	}
julientiron	0:1cb50d31c3b5	884	#if VL6180x_WRAP_AROUND_FILTER_SUPPORT \|\| VL6180x_HAVE_DMAX_RANGING
julientiron	0:1cb50d31c3b5	885	status = _GetRateResult(dev, pRangeData);
julientiron	0:1cb50d31c3b5	886	if( status )
julientiron	0:1cb50d31c3b5	887	goto error;
julientiron	0:1cb50d31c3b5	888	#endif
julientiron	0:1cb50d31c3b5	889	#if VL6180x_WRAP_AROUND_FILTER_SUPPORT
julientiron	0:1cb50d31c3b5	890	/* if enabled run filter */
julientiron	0:1cb50d31c3b5	891	if( _IsWrapArroundActive(dev) ){
julientiron	0:1cb50d31c3b5	892	status=_filter_GetResult(dev, pRangeData);
julientiron	0:1cb50d31c3b5	893	if( !status){
julientiron	0:1cb50d31c3b5	894	/* patch the range status and measure if it is filtered */
julientiron	0:1cb50d31c3b5	895	if( pRangeData->range_mm != pRangeData->FilteredData.range_mm) {
julientiron	0:1cb50d31c3b5	896	pRangeData->errorStatus=RangingFiltered;
julientiron	0:1cb50d31c3b5	897	pRangeData->range_mm = pRangeData->FilteredData.range_mm;
julientiron	0:1cb50d31c3b5	898	}
julientiron	0:1cb50d31c3b5	899	}
julientiron	0:1cb50d31c3b5	900	}
julientiron	0:1cb50d31c3b5	901	#endif
julientiron	0:1cb50d31c3b5	902
julientiron	0:1cb50d31c3b5	903	#if VL6180x_HAVE_DMAX_RANGING
julientiron	0:1cb50d31c3b5	904	if(_IsDMaxActive(dev) ){
julientiron	0:1cb50d31c3b5	905	_DMax_Compute(dev, pRangeData);
julientiron	0:1cb50d31c3b5	906	}
julientiron	0:1cb50d31c3b5	907	#endif
julientiron	0:1cb50d31c3b5	908	}
julientiron	0:1cb50d31c3b5	909	else{
julientiron	0:1cb50d31c3b5	910	VL6180x_ErrLog("Rd RESULT_RANGE_SIGNAL_RATE fail");
julientiron	0:1cb50d31c3b5	911	}
julientiron	0:1cb50d31c3b5	912	}
julientiron	0:1cb50d31c3b5	913	else{
julientiron	0:1cb50d31c3b5	914	VL6180x_ErrLog("VL6180x_GetRangeResult fail");
julientiron	0:1cb50d31c3b5	915	}
julientiron	0:1cb50d31c3b5	916	error:
julientiron	0:1cb50d31c3b5	917	LOG_FUNCTION_END_FMT(status, "%d %d %d", (int)pRangeData->range_mm, (int)pRangeData->signalRate_mcps, (int)pRangeData->errorStatus) ;
julientiron	0:1cb50d31c3b5	918	return status;
julientiron	0:1cb50d31c3b5	919	}
julientiron	0:1cb50d31c3b5	920
julientiron	0:1cb50d31c3b5	921
julientiron	0:1cb50d31c3b5	922	int VL6180X::VL6180x_RangeGetMeasurementIfReady(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData)
julientiron	0:1cb50d31c3b5	923	{
julientiron	0:1cb50d31c3b5	924	int status;
julientiron	0:1cb50d31c3b5	925	IntrStatus_t IntStatus;
julientiron	0:1cb50d31c3b5	926
julientiron	0:1cb50d31c3b5	927	LOG_FUNCTION_START();
julientiron	0:1cb50d31c3b5	928
julientiron	0:1cb50d31c3b5	929	status = VL6180x_RangeGetInterruptStatus(dev, &IntStatus.val);
julientiron	0:1cb50d31c3b5	930	if( status ==0 ){
julientiron	0:1cb50d31c3b5	931	if( IntStatus.status.Error !=0 ){
julientiron	0:1cb50d31c3b5	932	VL6180x_ErrLog("GPIO int Error report %d",(int)IntStatus.val);
julientiron	0:1cb50d31c3b5	933	status = RANGE_ERROR;
julientiron	0:1cb50d31c3b5	934	}
julientiron	0:1cb50d31c3b5	935	else
julientiron	0:1cb50d31c3b5	936	if( IntStatus.status.Range == RES_INT_STAT_GPIO_NEW_SAMPLE_READY){
julientiron	0:1cb50d31c3b5	937	status = VL6180x_RangeGetMeasurement(dev,pRangeData );
julientiron	0:1cb50d31c3b5	938	if( status == 0){
julientiron	0:1cb50d31c3b5	939	/* clear range interrupt source */
julientiron	0:1cb50d31c3b5	940	status = VL6180x_RangeClearInterrupt(dev);
julientiron	0:1cb50d31c3b5	941	if( status ){
julientiron	0:1cb50d31c3b5	942	VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
julientiron	0:1cb50d31c3b5	943	}
julientiron	0:1cb50d31c3b5	944	}
julientiron	0:1cb50d31c3b5	945	}
julientiron	0:1cb50d31c3b5	946	else{
julientiron	0:1cb50d31c3b5	947	status = NOT_READY;
julientiron	0:1cb50d31c3b5	948	}
julientiron	0:1cb50d31c3b5	949	}
julientiron	0:1cb50d31c3b5	950	else{
julientiron	0:1cb50d31c3b5	951	VL6180x_ErrLog("fail to get interrupt status");
julientiron	0:1cb50d31c3b5	952	}
julientiron	0:1cb50d31c3b5	953	LOG_FUNCTION_END(status) ;
julientiron	0:1cb50d31c3b5	954	return status;
julientiron	0:1cb50d31c3b5	955	}
julientiron	0:1cb50d31c3b5	956
julientiron	0:1cb50d31c3b5	957	int VL6180X::VL6180x_FilterSetState(VL6180xDev_t dev, int state){
julientiron	0:1cb50d31c3b5	958	int status;
julientiron	0:1cb50d31c3b5	959	LOG_FUNCTION_START("%d", state);
julientiron	0:1cb50d31c3b5	960	#if VL6180x_WRAP_AROUND_FILTER_SUPPORT
julientiron	0:1cb50d31c3b5	961	VL6180xDevDataSet(dev,WrapAroundFilterActive, state);
julientiron	0:1cb50d31c3b5	962	status = 0;
julientiron	0:1cb50d31c3b5	963	#else
julientiron	0:1cb50d31c3b5	964	status = NOT_SUPPORTED;
julientiron	0:1cb50d31c3b5	965	#endif
julientiron	0:1cb50d31c3b5	966	LOG_FUNCTION_END(status);
julientiron	0:1cb50d31c3b5	967	return status;
julientiron	0:1cb50d31c3b5	968	}
julientiron	0:1cb50d31c3b5	969
julientiron	0:1cb50d31c3b5	970	int VL6180X::VL6180x_FilterGetState(VL6180xDev_t dev){
julientiron	0:1cb50d31c3b5	971	int status;
julientiron	0:1cb50d31c3b5	972	LOG_FUNCTION_START("");
julientiron	0:1cb50d31c3b5	973	#if VL6180x_WRAP_AROUND_FILTER_SUPPORT
julientiron	0:1cb50d31c3b5	974	status = VL6180xDevDataGet(dev,WrapAroundFilterActive);
julientiron	0:1cb50d31c3b5	975	#else
julientiron	0:1cb50d31c3b5	976	status = 0;
julientiron	0:1cb50d31c3b5	977	#endif
julientiron	0:1cb50d31c3b5	978	LOG_FUNCTION_END(status);
julientiron	0:1cb50d31c3b5	979	return status;
julientiron	0:1cb50d31c3b5	980	}
julientiron	0:1cb50d31c3b5	981
julientiron	0:1cb50d31c3b5	982	int VL6180X::VL6180x_RangeGetResult(VL6180xDev_t dev, int32_t *pRange_mm) {
julientiron	0:1cb50d31c3b5	983	int status;
julientiron	0:1cb50d31c3b5	984	uint8_t RawRange;
julientiron	0:1cb50d31c3b5	985	int32_t Upscale;
julientiron	0:1cb50d31c3b5	986
julientiron	0:1cb50d31c3b5	987	LOG_FUNCTION_START("%p",pRange_mm);
julientiron	0:1cb50d31c3b5	988
julientiron	0:1cb50d31c3b5	989	status = VL6180x_RdByte(dev, RESULT_RANGE_VAL, &RawRange);
julientiron	0:1cb50d31c3b5	990	if( !status ){
julientiron	0:1cb50d31c3b5	991	Upscale = _GetUpscale(dev);
julientiron	0:1cb50d31c3b5	992	pRange_mm= Upscale(int32_t)RawRange;
julientiron	0:1cb50d31c3b5	993	}
julientiron	0:1cb50d31c3b5	994	LOG_FUNCTION_END_FMT(status, "%d", (int)*pRange_mm);
julientiron	0:1cb50d31c3b5	995	return status;
julientiron	0:1cb50d31c3b5	996	}
julientiron	0:1cb50d31c3b5	997
julientiron	0:1cb50d31c3b5	998	int VL6180X::VL6180x_RangeSetRawThresholds(VL6180xDev_t dev, uint8_t low, uint8_t high)
julientiron	0:1cb50d31c3b5	999	{
julientiron	0:1cb50d31c3b5	1000	int status;
julientiron	0:1cb50d31c3b5	1001	LOG_FUNCTION_START("%d %d", (int) low, (int)high);
julientiron	0:1cb50d31c3b5	1002	/* TODO we can optimize here grouping high/low in a word but that's cpu endianness dependent */
julientiron	0:1cb50d31c3b5	1003	status=VL6180x_WrByte(dev, SYSRANGE_THRESH_HIGH,high);
julientiron	0:1cb50d31c3b5	1004	if( !status){
julientiron	0:1cb50d31c3b5	1005	status=VL6180x_WrByte(dev, SYSRANGE_THRESH_LOW, low);
julientiron	0:1cb50d31c3b5	1006	}
julientiron	0:1cb50d31c3b5	1007
julientiron	0:1cb50d31c3b5	1008	LOG_FUNCTION_END(status);
julientiron	0:1cb50d31c3b5	1009	return status;
julientiron	0:1cb50d31c3b5	1010	}
julientiron	0:1cb50d31c3b5	1011
julientiron	0:1cb50d31c3b5	1012	int VL6180X::VL6180x_RangeSetThresholds(VL6180xDev_t dev, uint16_t low, uint16_t high, int UseSafeParamHold)
julientiron	0:1cb50d31c3b5	1013	{
julientiron	0:1cb50d31c3b5	1014	int status;
julientiron	0:1cb50d31c3b5	1015	int scale;
julientiron	0:1cb50d31c3b5	1016	LOG_FUNCTION_START("%d %d", (int) low, (int)high);
julientiron	0:1cb50d31c3b5	1017	scale=_GetUpscale(dev,UpscaleFactor);
julientiron	0:1cb50d31c3b5	1018	if( low>scale255 \|\| high >scale255){
julientiron	0:1cb50d31c3b5	1019	status = INVALID_PARAMS;
julientiron	0:1cb50d31c3b5	1020	}
julientiron	0:1cb50d31c3b5	1021	else{
julientiron	0:1cb50d31c3b5	1022	do{
julientiron	0:1cb50d31c3b5	1023	if( UseSafeParamHold ){
julientiron	0:1cb50d31c3b5	1024	status=VL6180x_SetGroupParamHold(dev, 1);
julientiron	0:1cb50d31c3b5	1025	if( status )
julientiron	0:1cb50d31c3b5	1026	break;
julientiron	0:1cb50d31c3b5	1027	}
julientiron	0:1cb50d31c3b5	1028	status=VL6180x_RangeSetRawThresholds(dev, (uint8_t)(low/scale), (uint8_t)(high/scale));
julientiron	0:1cb50d31c3b5	1029	if( status ){
julientiron	0:1cb50d31c3b5	1030	VL6180x_ErrLog("VL6180x_RangeSetRawThresholds fail");
julientiron	0:1cb50d31c3b5	1031	}
julientiron	0:1cb50d31c3b5	1032	if( UseSafeParamHold ){
julientiron	0:1cb50d31c3b5	1033	int HoldStatus;
julientiron	0:1cb50d31c3b5	1034	/* tryt to unset param hold vene if previous fail */
julientiron	0:1cb50d31c3b5	1035	HoldStatus=VL6180x_SetGroupParamHold(dev, 0);
julientiron	0:1cb50d31c3b5	1036	if( !status)
julientiron	0:1cb50d31c3b5	1037	status=HoldStatus;
julientiron	0:1cb50d31c3b5	1038	}
julientiron	0:1cb50d31c3b5	1039	}
julientiron	0:1cb50d31c3b5	1040	while(0);
julientiron	0:1cb50d31c3b5	1041	}
julientiron	0:1cb50d31c3b5	1042
julientiron	0:1cb50d31c3b5	1043	LOG_FUNCTION_END(status);
julientiron	0:1cb50d31c3b5	1044	return status;
julientiron	0:1cb50d31c3b5	1045	}
julientiron	0:1cb50d31c3b5	1046
julientiron	0:1cb50d31c3b5	1047
julientiron	0:1cb50d31c3b5	1048	int VL6180X::VL6180x_RangeGetThresholds(VL6180xDev_t dev, uint16_t low, uint16_t high)
julientiron	0:1cb50d31c3b5	1049	{
julientiron	0:1cb50d31c3b5	1050	int status;
julientiron	0:1cb50d31c3b5	1051	uint8_t RawLow, RawHigh;
julientiron	0:1cb50d31c3b5	1052	int scale;
julientiron	0:1cb50d31c3b5	1053
julientiron	0:1cb50d31c3b5	1054	LOG_FUNCTION_START("%p %p", low , high);
julientiron	0:1cb50d31c3b5	1055
julientiron	0:1cb50d31c3b5	1056	scale=_GetUpscale(dev,UpscaleFactor);
julientiron	0:1cb50d31c3b5	1057	do{
julientiron	0:1cb50d31c3b5	1058	if( high != NULL ){
julientiron	0:1cb50d31c3b5	1059	status=VL6180x_RdByte(dev, SYSRANGE_THRESH_HIGH,&RawHigh);
julientiron	0:1cb50d31c3b5	1060	if( status ){
julientiron	0:1cb50d31c3b5	1061	VL6180x_ErrLog("rd SYSRANGE_THRESH_HIGH fail");
julientiron	0:1cb50d31c3b5	1062	break;
julientiron	0:1cb50d31c3b5	1063	}
julientiron	0:1cb50d31c3b5	1064	high=(uint16_t)RawHighscale;
julientiron	0:1cb50d31c3b5	1065	}
julientiron	0:1cb50d31c3b5	1066	if( low != NULL ) {
julientiron	0:1cb50d31c3b5	1067	status=VL6180x_RdByte(dev, SYSRANGE_THRESH_LOW, &RawLow);
julientiron	0:1cb50d31c3b5	1068	if( status ){
julientiron	0:1cb50d31c3b5	1069	VL6180x_ErrLog("rd SYSRANGE_THRESH_LOW fail");
julientiron	0:1cb50d31c3b5	1070	break;
julientiron	0:1cb50d31c3b5	1071	}
julientiron	0:1cb50d31c3b5	1072	low=(uint16_t)RawLowscale;
julientiron	0:1cb50d31c3b5	1073	}
julientiron	0:1cb50d31c3b5	1074	}
julientiron	0:1cb50d31c3b5	1075	while(0);
julientiron	0:1cb50d31c3b5	1076	LOG_FUNCTION_END_FMT(status, "%d %d",(int)low ,(int)high);
julientiron	0:1cb50d31c3b5	1077	return status;
julientiron	0:1cb50d31c3b5	1078	}
julientiron	0:1cb50d31c3b5	1079
julientiron	0:1cb50d31c3b5	1080
julientiron	0:1cb50d31c3b5	1081	int VL6180X::VL6180x_RangeGetInterruptStatus(VL6180xDev_t dev, uint8_t *pIntStatus) {
julientiron	0:1cb50d31c3b5	1082	int status;
julientiron	0:1cb50d31c3b5	1083	uint8_t IntStatus;
julientiron	0:1cb50d31c3b5	1084	LOG_FUNCTION_START("%p", pIntStatus);
julientiron	0:1cb50d31c3b5	1085	/* FIXME we are grouping "error" with over status the user must check implicitly for it
julientiron	0:1cb50d31c3b5	1086	* not just new sample or over status , that will nevr show up in case of error*/
julientiron	0:1cb50d31c3b5	1087	status = VL6180x_RdByte(dev, RESULT_INTERRUPT_STATUS_GPIO, &IntStatus);
julientiron	0:1cb50d31c3b5	1088	*pIntStatus= IntStatus&0xC7;
julientiron	0:1cb50d31c3b5	1089
julientiron	0:1cb50d31c3b5	1090	LOG_FUNCTION_END_FMT(status, "%d", (int)*pIntStatus);
julientiron	0:1cb50d31c3b5	1091	return status;
julientiron	0:1cb50d31c3b5	1092	}
julientiron	0:1cb50d31c3b5	1093
julientiron	0:1cb50d31c3b5	1094
julientiron	0:1cb50d31c3b5	1095	int VL6180X::VL6180x_GetInterruptStatus(VL6180xDev_t dev, uint8_t *IntStatus)
julientiron	0:1cb50d31c3b5	1096	{
julientiron	0:1cb50d31c3b5	1097	int status;
julientiron	0:1cb50d31c3b5	1098	LOG_FUNCTION_START("%p" , IntStatus);
julientiron	0:1cb50d31c3b5	1099	status = VL6180x_RdByte(dev, RESULT_INTERRUPT_STATUS_GPIO, IntStatus);
julientiron	0:1cb50d31c3b5	1100	LOG_FUNCTION_END_FMT(status, "%d", (int)*IntStatus);
julientiron	0:1cb50d31c3b5	1101	return status;
julientiron	0:1cb50d31c3b5	1102	}
julientiron	0:1cb50d31c3b5	1103
julientiron	0:1cb50d31c3b5	1104	int VL6180X::VL6180x_ClearInterrupt(VL6180xDev_t dev, uint8_t IntClear )
julientiron	0:1cb50d31c3b5	1105	{
julientiron	0:1cb50d31c3b5	1106	int status;
julientiron	0:1cb50d31c3b5	1107	LOG_FUNCTION_START("%d" ,(int)IntClear);
julientiron	0:1cb50d31c3b5	1108	if( IntClear <= 7 ){
julientiron	0:1cb50d31c3b5	1109	status=VL6180x_WrByte( dev, SYSTEM_INTERRUPT_CLEAR, IntClear);
julientiron	0:1cb50d31c3b5	1110	}
julientiron	0:1cb50d31c3b5	1111	else{
julientiron	0:1cb50d31c3b5	1112	status = INVALID_PARAMS;
julientiron	0:1cb50d31c3b5	1113	}
julientiron	0:1cb50d31c3b5	1114	LOG_FUNCTION_END(status);
julientiron	0:1cb50d31c3b5	1115	return status;
julientiron	0:1cb50d31c3b5	1116	}
julientiron	0:1cb50d31c3b5	1117
julientiron	0:1cb50d31c3b5	1118
julientiron	0:1cb50d31c3b5	1119	int VL6180X::VL6180x_RangeStaticInit(VL6180xDev_t dev)
julientiron	0:1cb50d31c3b5	1120	{
julientiron	0:1cb50d31c3b5	1121	int status;
julientiron	0:1cb50d31c3b5	1122	LOG_FUNCTION_START("");
julientiron	0:1cb50d31c3b5	1123
julientiron	0:1cb50d31c3b5	1124	/* REGISTER_TUNING_SR03_270514_CustomerView.txt */
julientiron	0:1cb50d31c3b5	1125	VL6180x_WrByte( dev, 0x0207, 0x01);
julientiron	0:1cb50d31c3b5	1126	VL6180x_WrByte( dev, 0x0208, 0x01);
julientiron	0:1cb50d31c3b5	1127	VL6180x_WrByte( dev, 0x0096, 0x00);
julientiron	0:1cb50d31c3b5	1128	VL6180x_WrByte( dev, 0x0097, 0xfd);
julientiron	0:1cb50d31c3b5	1129	VL6180x_WrByte( dev, 0x00e3, 0x00);
julientiron	0:1cb50d31c3b5	1130	VL6180x_WrByte( dev, 0x00e4, 0x04);
julientiron	0:1cb50d31c3b5	1131	VL6180x_WrByte( dev, 0x00e5, 0x02);
julientiron	0:1cb50d31c3b5	1132	VL6180x_WrByte( dev, 0x00e6, 0x01);
julientiron	0:1cb50d31c3b5	1133	VL6180x_WrByte( dev, 0x00e7, 0x03);
julientiron	0:1cb50d31c3b5	1134	VL6180x_WrByte( dev, 0x00f5, 0x02);
julientiron	0:1cb50d31c3b5	1135	VL6180x_WrByte( dev, 0x00d9, 0x05);
julientiron	0:1cb50d31c3b5	1136	VL6180x_WrByte( dev, 0x00db, 0xce);
julientiron	0:1cb50d31c3b5	1137	VL6180x_WrByte( dev, 0x00dc, 0x03);
julientiron	0:1cb50d31c3b5	1138	VL6180x_WrByte( dev, 0x00dd, 0xf8);
julientiron	0:1cb50d31c3b5	1139	VL6180x_WrByte( dev, 0x009f, 0x00);
julientiron	0:1cb50d31c3b5	1140	VL6180x_WrByte( dev, 0x00a3, 0x3c);
julientiron	0:1cb50d31c3b5	1141	VL6180x_WrByte( dev, 0x00b7, 0x00);
julientiron	0:1cb50d31c3b5	1142	VL6180x_WrByte( dev, 0x00bb, 0x3c);
julientiron	0:1cb50d31c3b5	1143	VL6180x_WrByte( dev, 0x00b2, 0x09);
julientiron	0:1cb50d31c3b5	1144	VL6180x_WrByte( dev, 0x00ca, 0x09);
julientiron	0:1cb50d31c3b5	1145	VL6180x_WrByte( dev, 0x0198, 0x01);
julientiron	0:1cb50d31c3b5	1146	VL6180x_WrByte( dev, 0x01b0, 0x17);
julientiron	0:1cb50d31c3b5	1147	VL6180x_WrByte( dev, 0x01ad, 0x00);
julientiron	0:1cb50d31c3b5	1148	VL6180x_WrByte( dev, 0x00ff, 0x05);
julientiron	0:1cb50d31c3b5	1149	VL6180x_WrByte( dev, 0x0100, 0x05);
julientiron	0:1cb50d31c3b5	1150	VL6180x_WrByte( dev, 0x0199, 0x05);
julientiron	0:1cb50d31c3b5	1151	VL6180x_WrByte( dev, 0x01a6, 0x1b);
julientiron	0:1cb50d31c3b5	1152	VL6180x_WrByte( dev, 0x01ac, 0x3e);
julientiron	0:1cb50d31c3b5	1153	VL6180x_WrByte( dev, 0x01a7, 0x1f);
julientiron	0:1cb50d31c3b5	1154	VL6180x_WrByte( dev, 0x0030, 0x00);
julientiron	0:1cb50d31c3b5	1155
julientiron	0:1cb50d31c3b5	1156	/* Recommended : Public registers - See data sheet for more detail */
julientiron	0:1cb50d31c3b5	1157	VL6180x_WrByte( dev, SYSTEM_MODE_GPIO1, 0x10); /* Enables polling for New Sample ready when measurement completes */
julientiron	0:1cb50d31c3b5	1158	VL6180x_WrByte( dev, READOUT_AVERAGING_SAMPLE_PERIOD, 0x30); /* Set the averaging sample period (compromise between lower noise and increased execution time) */
julientiron	0:1cb50d31c3b5	1159	VL6180x_WrByte( dev, SYSALS_ANALOGUE_GAIN, 0x46); /* Sets the light and dark gain (upper nibble). Dark gain should not be changed.*/
julientiron	0:1cb50d31c3b5	1160	VL6180x_WrByte( dev, SYSRANGE_VHV_REPEAT_RATE, 0xFF); /* sets the # of range measurements after which auto calibration of system is performed */
julientiron	0:1cb50d31c3b5	1161	VL6180x_WrByte( dev, SYSALS_INTEGRATION_PERIOD, 0x63); /* Set ALS integration time to 100ms */
julientiron	0:1cb50d31c3b5	1162	VL6180x_WrByte( dev, SYSRANGE_VHV_RECALIBRATE, 0x01); /* perform a single temperature calibration of the ranging sensor */
julientiron	0:1cb50d31c3b5	1163
julientiron	0:1cb50d31c3b5	1164	/* Optional: Public registers - See data sheet for more detail */
julientiron	0:1cb50d31c3b5	1165	VL6180x_WrByte( dev, SYSRANGE_INTERMEASUREMENT_PERIOD, 0x09); /* Set default ranging inter-measurement period to 100ms */
julientiron	0:1cb50d31c3b5	1166	VL6180x_WrByte( dev, SYSALS_INTERMEASUREMENT_PERIOD, 0x31); /* Set default ALS inter-measurement period to 500ms */
julientiron	0:1cb50d31c3b5	1167	VL6180x_WrByte( dev, SYSTEM_INTERRUPT_CONFIG_GPIO, 0x24); /* Configures interrupt on New sample ready */
julientiron	0:1cb50d31c3b5	1168
julientiron	0:1cb50d31c3b5	1169
julientiron	0:1cb50d31c3b5	1170	status=VL6180x_RangeSetMaxConvergenceTime(dev, 50); /* Calculate ece value on initialization (use max conv) */
julientiron	0:1cb50d31c3b5	1171	LOG_FUNCTION_END(status);
julientiron	0:1cb50d31c3b5	1172
julientiron	0:1cb50d31c3b5	1173	return status;
julientiron	0:1cb50d31c3b5	1174	}
julientiron	0:1cb50d31c3b5	1175
julientiron	0:1cb50d31c3b5	1176	#if VL6180x_UPSCALE_SUPPORT != 1
julientiron	0:1cb50d31c3b5	1177
julientiron	0:1cb50d31c3b5	1178	int VL6180X::_UpscaleInitPatch0(VL6180xDev_t dev){
julientiron	0:1cb50d31c3b5	1179	int status;
julientiron	0:1cb50d31c3b5	1180	uint32_t CalValue=0;
julientiron	0:1cb50d31c3b5	1181	CalValue= VL6180xDevDataGet(dev, Part2PartAmbNVM);
julientiron	0:1cb50d31c3b5	1182	status=VL6180x_WrDWord( dev, 0xDA, CalValue);
julientiron	0:1cb50d31c3b5	1183	return status;
julientiron	0:1cb50d31c3b5	1184	}
julientiron	0:1cb50d31c3b5	1185
julientiron	0:1cb50d31c3b5	1186	/* only include up-scaling register setting when up-scale support is configured in */
julientiron	0:1cb50d31c3b5	1187	int VL6180X::VL6180x_UpscaleRegInit(VL6180xDev_t dev)
julientiron	0:1cb50d31c3b5	1188	{
julientiron	0:1cb50d31c3b5	1189	/* apply REGISTER_TUNING_ER02_100614_CustomerView.txt */
julientiron	0:1cb50d31c3b5	1190	VL6180x_WrByte( dev, 0x0207, 0x01);
julientiron	0:1cb50d31c3b5	1191	VL6180x_WrByte( dev, 0x0208, 0x01);
julientiron	0:1cb50d31c3b5	1192	VL6180x_WrByte( dev, 0x0096, 0x00);
julientiron	0:1cb50d31c3b5	1193	VL6180x_WrByte( dev, 0x0097, 0x54);
julientiron	0:1cb50d31c3b5	1194	VL6180x_WrByte( dev, 0x00e3, 0x00);
julientiron	0:1cb50d31c3b5	1195	VL6180x_WrByte( dev, 0x00e4, 0x04);
julientiron	0:1cb50d31c3b5	1196	VL6180x_WrByte( dev, 0x00e5, 0x02);
julientiron	0:1cb50d31c3b5	1197	VL6180x_WrByte( dev, 0x00e6, 0x01);
julientiron	0:1cb50d31c3b5	1198	VL6180x_WrByte( dev, 0x00e7, 0x03);
julientiron	0:1cb50d31c3b5	1199	VL6180x_WrByte( dev, 0x00f5, 0x02);
julientiron	0:1cb50d31c3b5	1200	VL6180x_WrByte( dev, 0x00d9, 0x05);
julientiron	0:1cb50d31c3b5	1201
julientiron	0:1cb50d31c3b5	1202	_UpscaleInitPatch0(dev);
julientiron	0:1cb50d31c3b5	1203
julientiron	0:1cb50d31c3b5	1204	VL6180x_WrByte( dev, 0x009f, 0x00);
julientiron	0:1cb50d31c3b5	1205	VL6180x_WrByte( dev, 0x00a3, 0x28);
julientiron	0:1cb50d31c3b5	1206	VL6180x_WrByte( dev, 0x00b7, 0x00);
julientiron	0:1cb50d31c3b5	1207	VL6180x_WrByte( dev, 0x00bb, 0x28);
julientiron	0:1cb50d31c3b5	1208	VL6180x_WrByte( dev, 0x00b2, 0x09);
julientiron	0:1cb50d31c3b5	1209	VL6180x_WrByte( dev, 0x00ca, 0x09);
julientiron	0:1cb50d31c3b5	1210	VL6180x_WrByte( dev, 0x0198, 0x01);
julientiron	0:1cb50d31c3b5	1211	VL6180x_WrByte( dev, 0x01b0, 0x17);
julientiron	0:1cb50d31c3b5	1212	VL6180x_WrByte( dev, 0x01ad, 0x00);
julientiron	0:1cb50d31c3b5	1213	VL6180x_WrByte( dev, 0x00ff, 0x05);
julientiron	0:1cb50d31c3b5	1214	VL6180x_WrByte( dev, 0x0100, 0x05);
julientiron	0:1cb50d31c3b5	1215	VL6180x_WrByte( dev, 0x0199, 0x05);
julientiron	0:1cb50d31c3b5	1216	VL6180x_WrByte( dev, 0x01a6, 0x1b);
julientiron	0:1cb50d31c3b5	1217	VL6180x_WrByte( dev, 0x01ac, 0x3e);
julientiron	0:1cb50d31c3b5	1218	VL6180x_WrByte( dev, 0x01a7, 0x1f);
julientiron	0:1cb50d31c3b5	1219	VL6180x_WrByte( dev, 0x0030, 0x00);
julientiron	0:1cb50d31c3b5	1220	VL6180x_WrByte( dev, SYSTEM_MODE_GPIO1, 0x10);
julientiron	0:1cb50d31c3b5	1221	VL6180x_WrByte( dev, READOUT_AVERAGING_SAMPLE_PERIOD, 0x30);
julientiron	0:1cb50d31c3b5	1222	VL6180x_WrByte( dev, SYSALS_ANALOGUE_GAIN, 0x46);
julientiron	0:1cb50d31c3b5	1223	VL6180x_WrByte( dev, SYSRANGE_VHV_REPEAT_RATE, 0xFF);
julientiron	0:1cb50d31c3b5	1224	VL6180x_WrByte( dev, SYSALS_INTEGRATION_PERIOD, 0x63);
julientiron	0:1cb50d31c3b5	1225	VL6180x_WrByte( dev, SYSRANGE_VHV_RECALIBRATE, 0x01);
julientiron	0:1cb50d31c3b5	1226	VL6180x_WrByte( dev, SYSRANGE_MAX_AMBIENT_LEVEL_MULT, 0xff);
julientiron	0:1cb50d31c3b5	1227	VL6180x_WrByte( dev, SYSRANGE_INTERMEASUREMENT_PERIOD, 0x09);
julientiron	0:1cb50d31c3b5	1228	VL6180x_WrByte( dev, SYSALS_INTERMEASUREMENT_PERIOD, 0x31);
julientiron	0:1cb50d31c3b5	1229	VL6180x_WrByte( dev, SYSTEM_INTERRUPT_CONFIG_GPIO, 0x24);
julientiron	0:1cb50d31c3b5	1230	#if VL6180x_EXTENDED_RANGE
julientiron	0:1cb50d31c3b5	1231	VL6180x_RangeSetMaxConvergenceTime(dev, 63);
julientiron	0:1cb50d31c3b5	1232	#else
julientiron	0:1cb50d31c3b5	1233	VL6180x_RangeSetMaxConvergenceTime(dev, 50);
julientiron	0:1cb50d31c3b5	1234	#endif
julientiron	0:1cb50d31c3b5	1235	return 0;
julientiron	0:1cb50d31c3b5	1236	}
julientiron	0:1cb50d31c3b5	1237	#else
julientiron	0:1cb50d31c3b5	1238	#define VL6180x_UpscaleRegInit(...) -1
julientiron	0:1cb50d31c3b5	1239	#endif
julientiron	0:1cb50d31c3b5	1240
julientiron	0:1cb50d31c3b5	1241	int VL6180X::VL6180x_UpscaleSetScaling(VL6180xDev_t dev, uint8_t scaling)
julientiron	0:1cb50d31c3b5	1242	{
julientiron	0:1cb50d31c3b5	1243	int status;
julientiron	0:1cb50d31c3b5	1244	uint16_t Scaler;
julientiron	0:1cb50d31c3b5	1245	int8_t Offset;
julientiron	0:1cb50d31c3b5	1246
julientiron	0:1cb50d31c3b5	1247	LOG_FUNCTION_START("%d",(int) scaling);
julientiron	0:1cb50d31c3b5	1248
julientiron	0:1cb50d31c3b5	1249	#ifdef VL6180x_HAVE_UPSCALE_DATA
julientiron	0:1cb50d31c3b5	1250	#define min_scaling 1
julientiron	0:1cb50d31c3b5	1251	#define max_scaling sizeof(ScalerLookUP)/sizeof(ScalerLookUP[0])
julientiron	0:1cb50d31c3b5	1252	#else
julientiron	0:1cb50d31c3b5	1253	/* we are in fixed config so only allow configured factor */
julientiron	0:1cb50d31c3b5	1254	#define min_scaling VL6180x_UPSCALE_SUPPORT
julientiron	0:1cb50d31c3b5	1255	#define max_scaling VL6180x_UPSCALE_SUPPORT
julientiron	0:1cb50d31c3b5	1256	#endif
julientiron	0:1cb50d31c3b5	1257
julientiron	0:1cb50d31c3b5	1258	if( scaling>=min_scaling && scaling<= max_scaling ){
julientiron	0:1cb50d31c3b5	1259
julientiron	0:1cb50d31c3b5	1260	Scaler = ScalerLookUP[scaling-1];
julientiron	0:1cb50d31c3b5	1261	status = VL6180x_WrWord(dev, RANGE_SCALER, Scaler);
julientiron	0:1cb50d31c3b5	1262	_SetUpscale(dev, scaling );
julientiron	0:1cb50d31c3b5	1263
julientiron	0:1cb50d31c3b5	1264	/* Apply scaling on part-2-part offset */
julientiron	0:1cb50d31c3b5	1265	Offset = VL6180xDevDataGet(dev, Part2PartOffsetNVM)/scaling;
julientiron	0:1cb50d31c3b5	1266	status = VL6180x_WrByte(dev, SYSRANGE_PART_TO_PART_RANGE_OFFSET, Offset);
julientiron	0:1cb50d31c3b5	1267	#if ! VL6180x_EXTENDED_RANGE
julientiron	0:1cb50d31c3b5	1268	if( status ==0 ){
julientiron	0:1cb50d31c3b5	1269	status = VL6180x_RangeSetEceState(dev, scaling == 1); /* enable ece only at 1x scaling */
julientiron	0:1cb50d31c3b5	1270	}
julientiron	0:1cb50d31c3b5	1271	if( status == 0 && !VL6180x_EXTENDED_RANGE && scaling!=1 ){
julientiron	0:1cb50d31c3b5	1272	status = NOT_GUARANTEED ;
julientiron	0:1cb50d31c3b5	1273	}
julientiron	0:1cb50d31c3b5	1274	#endif
julientiron	0:1cb50d31c3b5	1275	}
julientiron	0:1cb50d31c3b5	1276	else{
julientiron	0:1cb50d31c3b5	1277	status = INVALID_PARAMS;
julientiron	0:1cb50d31c3b5	1278	}
julientiron	0:1cb50d31c3b5	1279	#undef min_scaling
julientiron	0:1cb50d31c3b5	1280	#undef max_scaling
julientiron	0:1cb50d31c3b5	1281	LOG_FUNCTION_END(status);
julientiron	0:1cb50d31c3b5	1282	return status;
julientiron	0:1cb50d31c3b5	1283	}
julientiron	0:1cb50d31c3b5	1284
julientiron	0:1cb50d31c3b5	1285
julientiron	0:1cb50d31c3b5	1286	int VL6180X::VL6180x_UpscaleGetScaling(VL6180xDev_t dev)
julientiron	0:1cb50d31c3b5	1287	{
julientiron	0:1cb50d31c3b5	1288	int status;
julientiron	0:1cb50d31c3b5	1289	LOG_FUNCTION_START("");
julientiron	0:1cb50d31c3b5	1290	status=_GetUpscale(dev );
julientiron	0:1cb50d31c3b5	1291	LOG_FUNCTION_END(status);
julientiron	0:1cb50d31c3b5	1292
julientiron	0:1cb50d31c3b5	1293	return status;
julientiron	0:1cb50d31c3b5	1294	}
julientiron	0:1cb50d31c3b5	1295
julientiron	0:1cb50d31c3b5	1296
julientiron	0:1cb50d31c3b5	1297	int VL6180X::VL6180x_UpscaleStaticInit(VL6180xDev_t dev)
julientiron	0:1cb50d31c3b5	1298	{
julientiron	0:1cb50d31c3b5	1299	/* todo make these a fail macro in case only 1x is suppoted */
julientiron	0:1cb50d31c3b5	1300	int status;
julientiron	0:1cb50d31c3b5	1301
julientiron	0:1cb50d31c3b5	1302	LOG_FUNCTION_START("");
julientiron	0:1cb50d31c3b5	1303	do{
julientiron	0:1cb50d31c3b5	1304	status=VL6180x_UpscaleRegInit(dev);
julientiron	0:1cb50d31c3b5	1305	if( status){
julientiron	0:1cb50d31c3b5	1306	VL6180x_ErrLog("regInit fail");
julientiron	0:1cb50d31c3b5	1307	break;
julientiron	0:1cb50d31c3b5	1308	}
julientiron	0:1cb50d31c3b5	1309	#if VL6180x_EXTENDED_RANGE
julientiron	0:1cb50d31c3b5	1310	status = VL6180x_RangeSetEceState(dev, 0);
julientiron	0:1cb50d31c3b5	1311	if( status){
julientiron	0:1cb50d31c3b5	1312	VL6180x_ErrLog("VL6180x_RangeSetEceState fail");
julientiron	0:1cb50d31c3b5	1313	break;
julientiron	0:1cb50d31c3b5	1314	}
julientiron	0:1cb50d31c3b5	1315	#endif
julientiron	0:1cb50d31c3b5	1316	} while(0);
julientiron	0:1cb50d31c3b5	1317	if( !status){
julientiron	0:1cb50d31c3b5	1318	/* must write the scaler at least once to the device to ensure the scaler is in a known state. */
julientiron	0:1cb50d31c3b5	1319	status=VL6180x_UpscaleSetScaling(dev, _GetUpscale(dev));
julientiron	0:1cb50d31c3b5	1320	VL6180x_WrByte( dev, SYSTEM_FRESH_OUT_OF_RESET, 0x00); /* change fresh out of set status to 0 */
julientiron	0:1cb50d31c3b5	1321	}
julientiron	0:1cb50d31c3b5	1322	LOG_FUNCTION_END(status);
julientiron	0:1cb50d31c3b5	1323	return status;
julientiron	0:1cb50d31c3b5	1324	}
julientiron	0:1cb50d31c3b5	1325
julientiron	0:1cb50d31c3b5	1326
julientiron	0:1cb50d31c3b5	1327	int VL6180X::VL6180x_SetGPIOxPolarity(VL6180xDev_t dev, int pin, int active_high)
julientiron	0:1cb50d31c3b5	1328	{
julientiron	0:1cb50d31c3b5	1329	int status;
julientiron	0:1cb50d31c3b5	1330	LOG_FUNCTION_START("%d %d",(int) pin, (int)active_high);
julientiron	0:1cb50d31c3b5	1331
julientiron	0:1cb50d31c3b5	1332	if( pin ==0 \|\| pin ==1 ){
julientiron	0:1cb50d31c3b5	1333	uint16_t RegIndex;
julientiron	0:1cb50d31c3b5	1334	uint8_t DataSet;
julientiron	0:1cb50d31c3b5	1335	if( pin==0 )
julientiron	0:1cb50d31c3b5	1336	RegIndex= SYSTEM_MODE_GPIO0;
julientiron	0:1cb50d31c3b5	1337	else
julientiron	0:1cb50d31c3b5	1338	RegIndex= SYSTEM_MODE_GPIO1;
julientiron	0:1cb50d31c3b5	1339
julientiron	0:1cb50d31c3b5	1340	if (active_high )
julientiron	0:1cb50d31c3b5	1341	DataSet = GPIOx_POLARITY_SELECT_MASK;
julientiron	0:1cb50d31c3b5	1342	else
julientiron	0:1cb50d31c3b5	1343	DataSet = 0;
julientiron	0:1cb50d31c3b5	1344
julientiron	0:1cb50d31c3b5	1345	status = VL6180x_UpdateByte(dev, RegIndex, (uint8_t)~GPIOx_POLARITY_SELECT_MASK, DataSet);
julientiron	0:1cb50d31c3b5	1346	}
julientiron	0:1cb50d31c3b5	1347	else{
julientiron	0:1cb50d31c3b5	1348	VL6180x_ErrLog("Invalid pin param %d", (int)pin);
julientiron	0:1cb50d31c3b5	1349	status = INVALID_PARAMS;
julientiron	0:1cb50d31c3b5	1350	}
julientiron	0:1cb50d31c3b5	1351
julientiron	0:1cb50d31c3b5	1352	LOG_FUNCTION_END(status);
julientiron	0:1cb50d31c3b5	1353
julientiron	0:1cb50d31c3b5	1354	return status;
julientiron	0:1cb50d31c3b5	1355	}
julientiron	0:1cb50d31c3b5	1356
julientiron	0:1cb50d31c3b5	1357	int VL6180X::VL6180x_SetGPIOxFunctionality(VL6180xDev_t dev, int pin, uint8_t functionality)
julientiron	0:1cb50d31c3b5	1358	{
julientiron	0:1cb50d31c3b5	1359	int status;
julientiron	0:1cb50d31c3b5	1360
julientiron	0:1cb50d31c3b5	1361	LOG_FUNCTION_START("%d %d",(int) pin, (int)functionality);
julientiron	0:1cb50d31c3b5	1362
julientiron	0:1cb50d31c3b5	1363	if( ((pin ==0) \|\| (pin ==1)) && IsValidGPIOFunction(functionality) ){
julientiron	0:1cb50d31c3b5	1364	uint16_t RegIndex;
julientiron	0:1cb50d31c3b5	1365
julientiron	0:1cb50d31c3b5	1366	if( pin==0 )
julientiron	0:1cb50d31c3b5	1367	RegIndex= SYSTEM_MODE_GPIO0;
julientiron	0:1cb50d31c3b5	1368	else
julientiron	0:1cb50d31c3b5	1369	RegIndex= SYSTEM_MODE_GPIO1;
julientiron	0:1cb50d31c3b5	1370
julientiron	0:1cb50d31c3b5	1371	status = VL6180x_UpdateByte(dev, RegIndex, (uint8_t)~GPIOx_FUNCTIONALITY_SELECT_MASK, functionality<<GPIOx_FUNCTIONALITY_SELECT_SHIFT);
julientiron	0:1cb50d31c3b5	1372	if( status){
julientiron	0:1cb50d31c3b5	1373	VL6180x_ErrLog("Update SYSTEM_MODE_GPIO%d fail", (int)pin);
julientiron	0:1cb50d31c3b5	1374	}
julientiron	0:1cb50d31c3b5	1375	}
julientiron	0:1cb50d31c3b5	1376	else{
julientiron	0:1cb50d31c3b5	1377	VL6180x_ErrLog("Invalid pin %d or function %d", (int)pin, (int) functionality);
julientiron	0:1cb50d31c3b5	1378	status = INVALID_PARAMS;
julientiron	0:1cb50d31c3b5	1379	}
julientiron	0:1cb50d31c3b5	1380
julientiron	0:1cb50d31c3b5	1381	LOG_FUNCTION_END(status);
julientiron	0:1cb50d31c3b5	1382	return status;
julientiron	0:1cb50d31c3b5	1383	}
julientiron	0:1cb50d31c3b5	1384
julientiron	0:1cb50d31c3b5	1385
julientiron	0:1cb50d31c3b5	1386	int VL6180X::VL6180x_SetupGPIOx(VL6180xDev_t dev, int pin, uint8_t IntFunction, int ActiveHigh)
julientiron	0:1cb50d31c3b5	1387	{
julientiron	0:1cb50d31c3b5	1388	int status;
julientiron	0:1cb50d31c3b5	1389
julientiron	0:1cb50d31c3b5	1390	LOG_FUNCTION_START("%d %d",(int) pin, (int)IntFunction);
julientiron	0:1cb50d31c3b5	1391
julientiron	0:1cb50d31c3b5	1392	if( ((pin ==0) \|\| (pin ==1)) && IsValidGPIOFunction(IntFunction) ){
julientiron	0:1cb50d31c3b5	1393	uint16_t RegIndex;
julientiron	0:1cb50d31c3b5	1394	uint8_t value=0;
julientiron	0:1cb50d31c3b5	1395
julientiron	0:1cb50d31c3b5	1396	if( pin==0 )
julientiron	0:1cb50d31c3b5	1397	RegIndex= SYSTEM_MODE_GPIO0;
julientiron	0:1cb50d31c3b5	1398	else
julientiron	0:1cb50d31c3b5	1399	RegIndex= SYSTEM_MODE_GPIO1;
julientiron	0:1cb50d31c3b5	1400
julientiron	0:1cb50d31c3b5	1401	if( ActiveHigh )
julientiron	0:1cb50d31c3b5	1402	value\|=GPIOx_POLARITY_SELECT_MASK;
julientiron	0:1cb50d31c3b5	1403
julientiron	0:1cb50d31c3b5	1404	value \|= IntFunction<<GPIOx_FUNCTIONALITY_SELECT_SHIFT;
julientiron	0:1cb50d31c3b5	1405	status = VL6180x_WrByte(dev, RegIndex, value);
julientiron	0:1cb50d31c3b5	1406	if( status ){
julientiron	0:1cb50d31c3b5	1407	VL6180x_ErrLog("SYSTEM_MODE_GPIO%d wr fail", (int)pin-SYSTEM_MODE_GPIO0);
julientiron	0:1cb50d31c3b5	1408	}
julientiron	0:1cb50d31c3b5	1409	}
julientiron	0:1cb50d31c3b5	1410	else{
julientiron	0:1cb50d31c3b5	1411	VL6180x_ErrLog("Invalid pin %d or function %d", (int)pin, (int) IntFunction);
julientiron	0:1cb50d31c3b5	1412	status = INVALID_PARAMS;
julientiron	0:1cb50d31c3b5	1413	}
julientiron	0:1cb50d31c3b5	1414
julientiron	0:1cb50d31c3b5	1415	LOG_FUNCTION_END(status);
julientiron	0:1cb50d31c3b5	1416	return status;
julientiron	0:1cb50d31c3b5	1417	}
julientiron	0:1cb50d31c3b5	1418
julientiron	0:1cb50d31c3b5	1419
julientiron	0:1cb50d31c3b5	1420	int VL6180X::VL6180x_DisableGPIOxOut(VL6180xDev_t dev, int pin) {
julientiron	0:1cb50d31c3b5	1421	int status;
julientiron	0:1cb50d31c3b5	1422
julientiron	0:1cb50d31c3b5	1423	LOG_FUNCTION_START("%d",(int)pin);
julientiron	0:1cb50d31c3b5	1424
julientiron	0:1cb50d31c3b5	1425	status=VL6180x_SetGPIOxFunctionality(dev, pin, GPIOx_SELECT_OFF);
julientiron	0:1cb50d31c3b5	1426
julientiron	0:1cb50d31c3b5	1427	LOG_FUNCTION_END(status);
julientiron	0:1cb50d31c3b5	1428	return status;
julientiron	0:1cb50d31c3b5	1429	}
julientiron	0:1cb50d31c3b5	1430
julientiron	0:1cb50d31c3b5	1431
julientiron	0:1cb50d31c3b5	1432	int VL6180X::VL6180x_SetupGPIO1(VL6180xDev_t dev, uint8_t IntFunction, int ActiveHigh)
julientiron	0:1cb50d31c3b5	1433	{
julientiron	0:1cb50d31c3b5	1434	int status;
julientiron	0:1cb50d31c3b5	1435	LOG_FUNCTION_START("%d %d",(int)IntFunction, (int)ActiveHigh );
julientiron	0:1cb50d31c3b5	1436	status=VL6180x_SetupGPIOx(dev, 1 , IntFunction, ActiveHigh);
julientiron	0:1cb50d31c3b5	1437	LOG_FUNCTION_END(status);
julientiron	0:1cb50d31c3b5	1438	return status;
julientiron	0:1cb50d31c3b5	1439	}
julientiron	0:1cb50d31c3b5	1440
julientiron	0:1cb50d31c3b5	1441	int VL6180X::VL6180x_RangeConfigInterrupt(VL6180xDev_t dev, uint8_t ConfigGpioInt)
julientiron	0:1cb50d31c3b5	1442	{
julientiron	0:1cb50d31c3b5	1443	int status;
julientiron	0:1cb50d31c3b5	1444
julientiron	0:1cb50d31c3b5	1445	if( ConfigGpioInt<= CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY){
julientiron	0:1cb50d31c3b5	1446	status = VL6180x_UpdateByte(dev, SYSTEM_INTERRUPT_CONFIG_GPIO, (uint8_t)(~CONFIG_GPIO_RANGE_MASK), ConfigGpioInt);
julientiron	0:1cb50d31c3b5	1447	}
julientiron	0:1cb50d31c3b5	1448	else{
julientiron	0:1cb50d31c3b5	1449	VL6180x_ErrLog("Invalid config mode param %d", (int)ConfigGpioInt);
julientiron	0:1cb50d31c3b5	1450	status = INVALID_PARAMS;
julientiron	0:1cb50d31c3b5	1451	}
julientiron	0:1cb50d31c3b5	1452	LOG_FUNCTION_END(status);
julientiron	0:1cb50d31c3b5	1453	return status;
julientiron	0:1cb50d31c3b5	1454	}
julientiron	0:1cb50d31c3b5	1455
julientiron	0:1cb50d31c3b5	1456
julientiron	0:1cb50d31c3b5	1457	int VL6180X::VL6180x_RangeSetEceFactor(VL6180xDev_t dev, uint16_t FactorM, uint16_t FactorD){
julientiron	0:1cb50d31c3b5	1458	int status;
julientiron	0:1cb50d31c3b5	1459	uint8_t u8;
julientiron	0:1cb50d31c3b5	1460
julientiron	0:1cb50d31c3b5	1461	LOG_FUNCTION_START("%d %d", (int)FactorM, (int)FactorD );
julientiron	0:1cb50d31c3b5	1462	do{
julientiron	0:1cb50d31c3b5	1463	/* D cannot be 0 M must be <=D and >= 0 */
julientiron	0:1cb50d31c3b5	1464	if( FactorM <= FactorD && FactorD> 0){
julientiron	0:1cb50d31c3b5	1465	VL6180xDevDataSet(dev, EceFactorM, FactorM);
julientiron	0:1cb50d31c3b5	1466	VL6180xDevDataSet(dev, EceFactorD, FactorD);
julientiron	0:1cb50d31c3b5	1467	/* read and re-apply max conv time to get new ece factor set */
julientiron	0:1cb50d31c3b5	1468	status = VL6180x_RdByte(dev, SYSRANGE_MAX_CONVERGENCE_TIME, &u8);
julientiron	0:1cb50d31c3b5	1469	if( status){
julientiron	0:1cb50d31c3b5	1470	VL6180x_ErrLog("SYSRANGE_MAX_CONVERGENCE_TIME rd fail ");
julientiron	0:1cb50d31c3b5	1471	break;
julientiron	0:1cb50d31c3b5	1472	}
julientiron	0:1cb50d31c3b5	1473	status = VL6180x_RangeSetMaxConvergenceTime(dev, u8);
julientiron	0:1cb50d31c3b5	1474	if( status <0 ){
julientiron	0:1cb50d31c3b5	1475	VL6180x_ErrLog("fail to apply time after ece m/d change");
julientiron	0:1cb50d31c3b5	1476	break;
julientiron	0:1cb50d31c3b5	1477	}
julientiron	0:1cb50d31c3b5	1478	}
julientiron	0:1cb50d31c3b5	1479	else{
julientiron	0:1cb50d31c3b5	1480	VL6180x_ErrLog("invalid factor %d/%d", (int)FactorM, (int)FactorD );
julientiron	0:1cb50d31c3b5	1481	status = INVALID_PARAMS;
julientiron	0:1cb50d31c3b5	1482	}
julientiron	0:1cb50d31c3b5	1483	}
julientiron	0:1cb50d31c3b5	1484	while(0);
julientiron	0:1cb50d31c3b5	1485	LOG_FUNCTION_END(status);
julientiron	0:1cb50d31c3b5	1486	return status;
julientiron	0:1cb50d31c3b5	1487	}
julientiron	0:1cb50d31c3b5	1488
julientiron	0:1cb50d31c3b5	1489	int VL6180X::VL6180x_RangeSetEceState(VL6180xDev_t dev, int enable ){
julientiron	0:1cb50d31c3b5	1490	int status;
julientiron	0:1cb50d31c3b5	1491	uint8_t or_mask;
julientiron	0:1cb50d31c3b5	1492
julientiron	0:1cb50d31c3b5	1493	LOG_FUNCTION_START("%d", (int)enable);
julientiron	0:1cb50d31c3b5	1494	if( enable )
julientiron	0:1cb50d31c3b5	1495	or_mask = RANGE_CHECK_ECE_ENABLE_MASK;
julientiron	0:1cb50d31c3b5	1496	else
julientiron	0:1cb50d31c3b5	1497	or_mask = 0;
julientiron	0:1cb50d31c3b5	1498
julientiron	0:1cb50d31c3b5	1499	status =VL6180x_UpdateByte(dev, SYSRANGE_RANGE_CHECK_ENABLES, ~RANGE_CHECK_ECE_ENABLE_MASK, or_mask);
julientiron	0:1cb50d31c3b5	1500	LOG_FUNCTION_END(status);
julientiron	0:1cb50d31c3b5	1501	return status;
julientiron	0:1cb50d31c3b5	1502	}
julientiron	0:1cb50d31c3b5	1503
julientiron	0:1cb50d31c3b5	1504
julientiron	0:1cb50d31c3b5	1505	int VL6180X::VL6180x_RangeSetMaxConvergenceTime(VL6180xDev_t dev, uint8_t MaxConTime_msec)
julientiron	0:1cb50d31c3b5	1506	{
julientiron	0:1cb50d31c3b5	1507	int status = 0;
julientiron	0:1cb50d31c3b5	1508	LOG_FUNCTION_START("%d",(int)MaxConTime_msec);
julientiron	0:1cb50d31c3b5	1509	do{
julientiron	0:1cb50d31c3b5	1510	status=VL6180x_WrByte(dev, SYSRANGE_MAX_CONVERGENCE_TIME, MaxConTime_msec);
julientiron	0:1cb50d31c3b5	1511	if( status ){
julientiron	0:1cb50d31c3b5	1512	break;
julientiron	0:1cb50d31c3b5	1513	}
julientiron	0:1cb50d31c3b5	1514	status=VL6180x_RangeSetEarlyConvergenceEestimateThreshold(dev);
julientiron	0:1cb50d31c3b5	1515	if( status){
julientiron	0:1cb50d31c3b5	1516	break;
julientiron	0:1cb50d31c3b5	1517	}
julientiron	0:1cb50d31c3b5	1518	status = _DMax_InitData(dev);
julientiron	0:1cb50d31c3b5	1519	}
julientiron	0:1cb50d31c3b5	1520	while(0);
julientiron	0:1cb50d31c3b5	1521	LOG_FUNCTION_END(status);
julientiron	0:1cb50d31c3b5	1522	return status;
julientiron	0:1cb50d31c3b5	1523	}
julientiron	0:1cb50d31c3b5	1524
julientiron	0:1cb50d31c3b5	1525	int VL6180X::VL6180x_RangeSetInterMeasPeriod(VL6180xDev_t dev, uint32_t InterMeasTime_msec){
julientiron	0:1cb50d31c3b5	1526	uint8_t SetTime;
julientiron	0:1cb50d31c3b5	1527	int status;
julientiron	0:1cb50d31c3b5	1528
julientiron	0:1cb50d31c3b5	1529	LOG_FUNCTION_START("%d",(int)InterMeasTime_msec);
julientiron	0:1cb50d31c3b5	1530	do {
julientiron	0:1cb50d31c3b5	1531	if( InterMeasTime_msec > 2550 ){
julientiron	0:1cb50d31c3b5	1532	status = INVALID_PARAMS;
julientiron	0:1cb50d31c3b5	1533	break;
julientiron	0:1cb50d31c3b5	1534	}
julientiron	0:1cb50d31c3b5	1535	/* doc in not 100% clear and confusing about the limit practically all value are OK but 0
julientiron	0:1cb50d31c3b5	1536	* that can hang device in continuous mode */
julientiron	0:1cb50d31c3b5	1537	if( InterMeasTime_msec < 10 ) {
julientiron	0:1cb50d31c3b5	1538	InterMeasTime_msec=10;
julientiron	0:1cb50d31c3b5	1539	}
julientiron	0:1cb50d31c3b5	1540	SetTime=(uint8_t)(InterMeasTime_msec/10);
julientiron	0:1cb50d31c3b5	1541	status=VL6180x_WrByte(dev, SYSRANGE_INTERMEASUREMENT_PERIOD, SetTime);
julientiron	0:1cb50d31c3b5	1542	if( status ){
julientiron	0:1cb50d31c3b5	1543	VL6180x_ErrLog("SYSRANGE_INTERMEASUREMENT_PERIOD wr fail");
julientiron	0:1cb50d31c3b5	1544	}
julientiron	0:1cb50d31c3b5	1545	else
julientiron	0:1cb50d31c3b5	1546	if( SetTime != InterMeasTime_msec /10 ) {
julientiron	0:1cb50d31c3b5	1547	status = MIN_CLIPED; /* on success change status to clip if it did */
julientiron	0:1cb50d31c3b5	1548	}
julientiron	0:1cb50d31c3b5	1549	}while(0);
julientiron	0:1cb50d31c3b5	1550	LOG_FUNCTION_END(status);
julientiron	0:1cb50d31c3b5	1551	return status;
julientiron	0:1cb50d31c3b5	1552	}
julientiron	0:1cb50d31c3b5	1553
julientiron	0:1cb50d31c3b5	1554
julientiron	0:1cb50d31c3b5	1555	int VL6180X::VL6180x_RangeGetDeviceReady(VL6180xDev_t dev, int * Ready){
julientiron	0:1cb50d31c3b5	1556	int status;
julientiron	0:1cb50d31c3b5	1557	uint8_t u8;
julientiron	0:1cb50d31c3b5	1558	LOG_FUNCTION_START("%p", (int)Ready);
julientiron	0:1cb50d31c3b5	1559	status=VL6180x_RdByte(dev, RESULT_RANGE_STATUS, &u8);
julientiron	0:1cb50d31c3b5	1560	if( !status)
julientiron	0:1cb50d31c3b5	1561	*Ready = u8&RANGE_DEVICE_READY_MASK;
julientiron	0:1cb50d31c3b5	1562	LOG_FUNCTION_END_FMT(status,"%d", *Ready);
julientiron	0:1cb50d31c3b5	1563	return status;
julientiron	0:1cb50d31c3b5	1564	}
julientiron	0:1cb50d31c3b5	1565
julientiron	0:1cb50d31c3b5	1566
julientiron	0:1cb50d31c3b5	1567	int VL6180X::VL6180x_RangeWaitDeviceReady(VL6180xDev_t dev, int MaxLoop ){
julientiron	0:1cb50d31c3b5	1568	int status; /* if user specify an invalid <=0 loop count we'll return error */
julientiron	0:1cb50d31c3b5	1569	int n;
julientiron	0:1cb50d31c3b5	1570	uint8_t u8;
julientiron	0:1cb50d31c3b5	1571	LOG_FUNCTION_START("%d", (int)MaxLoop);
julientiron	0:1cb50d31c3b5	1572	if( MaxLoop<1){
julientiron	0:1cb50d31c3b5	1573	status=INVALID_PARAMS;
julientiron	0:1cb50d31c3b5	1574	}
julientiron	0:1cb50d31c3b5	1575	else{
julientiron	0:1cb50d31c3b5	1576	for( n=0; n < MaxLoop ; n++){
julientiron	0:1cb50d31c3b5	1577	status=VL6180x_RdByte(dev, RESULT_RANGE_STATUS, &u8);
julientiron	0:1cb50d31c3b5	1578	if( status)
julientiron	0:1cb50d31c3b5	1579	break;
julientiron	0:1cb50d31c3b5	1580	u8 = u8 & RANGE_DEVICE_READY_MASK;
julientiron	0:1cb50d31c3b5	1581	if( u8 )
julientiron	0:1cb50d31c3b5	1582	break;
julientiron	0:1cb50d31c3b5	1583
julientiron	0:1cb50d31c3b5	1584	}
julientiron	0:1cb50d31c3b5	1585	if( !status && !u8 ){
julientiron	0:1cb50d31c3b5	1586	status = TIME_OUT;
julientiron	0:1cb50d31c3b5	1587	}
julientiron	0:1cb50d31c3b5	1588	}
julientiron	0:1cb50d31c3b5	1589	LOG_FUNCTION_END(status);
julientiron	0:1cb50d31c3b5	1590	return status;
julientiron	0:1cb50d31c3b5	1591	}
julientiron	0:1cb50d31c3b5	1592
julientiron	0:1cb50d31c3b5	1593	int VL6180X::VL6180x_RangeSetSystemMode(VL6180xDev_t dev, uint8_t mode)
julientiron	0:1cb50d31c3b5	1594	{
julientiron	0:1cb50d31c3b5	1595	int status;
julientiron	0:1cb50d31c3b5	1596	LOG_FUNCTION_START("%d", (int)mode);
julientiron	0:1cb50d31c3b5	1597	/* FIXME we are not checking device is ready via @a VL6180x_RangeWaitDeviceReady
julientiron	0:1cb50d31c3b5	1598	* so if called back to back real fast we are not checking
julientiron	0:1cb50d31c3b5	1599	* if previous mode "set" got absorbed => bit 0 must be 0 so that it work
julientiron	0:1cb50d31c3b5	1600	*/
julientiron	0:1cb50d31c3b5	1601	if( mode <= 3){
julientiron	0:1cb50d31c3b5	1602	status=VL6180x_WrByte(dev, SYSRANGE_START, mode);
julientiron	0:1cb50d31c3b5	1603	if( status ){
julientiron	0:1cb50d31c3b5	1604	VL6180x_ErrLog("SYSRANGE_START wr fail");
julientiron	0:1cb50d31c3b5	1605	}
julientiron	0:1cb50d31c3b5	1606	}
julientiron	0:1cb50d31c3b5	1607	else{
julientiron	0:1cb50d31c3b5	1608	status = INVALID_PARAMS;
julientiron	0:1cb50d31c3b5	1609	}
julientiron	0:1cb50d31c3b5	1610	LOG_FUNCTION_END(status);
julientiron	0:1cb50d31c3b5	1611	return status;
julientiron	0:1cb50d31c3b5	1612	}
julientiron	0:1cb50d31c3b5	1613
julientiron	0:1cb50d31c3b5	1614
julientiron	0:1cb50d31c3b5	1615	int VL6180X::VL6180x_RangeStartContinuousMode(VL6180xDev_t dev)
julientiron	0:1cb50d31c3b5	1616	{
julientiron	0:1cb50d31c3b5	1617	int status;
julientiron	0:1cb50d31c3b5	1618	LOG_FUNCTION_START("");
julientiron	0:1cb50d31c3b5	1619	status= VL6180x_RangeSetSystemMode(dev, MODE_START_STOP \| MODE_CONTINUOUS);
julientiron	0:1cb50d31c3b5	1620	LOG_FUNCTION_END(status);
julientiron	0:1cb50d31c3b5	1621	return status;
julientiron	0:1cb50d31c3b5	1622	}
julientiron	0:1cb50d31c3b5	1623
julientiron	0:1cb50d31c3b5	1624	int VL6180X::VL6180x_RangeStartSingleShot(VL6180xDev_t dev) {
julientiron	0:1cb50d31c3b5	1625	int status;
julientiron	0:1cb50d31c3b5	1626	LOG_FUNCTION_START("");
julientiron	0:1cb50d31c3b5	1627	status = VL6180x_RangeSetSystemMode(dev, MODE_START_STOP\|MODE_SINGLESHOT);
julientiron	0:1cb50d31c3b5	1628	LOG_FUNCTION_END(status);
julientiron	0:1cb50d31c3b5	1629	return status;
julientiron	0:1cb50d31c3b5	1630	}
julientiron	0:1cb50d31c3b5	1631
julientiron	0:1cb50d31c3b5	1632
julientiron	0:1cb50d31c3b5	1633	int VL6180X::VL6180x_RangeSetEarlyConvergenceEestimateThreshold(VL6180xDev_t dev)
julientiron	0:1cb50d31c3b5	1634	{
julientiron	0:1cb50d31c3b5	1635	int status;
julientiron	0:1cb50d31c3b5	1636
julientiron	0:1cb50d31c3b5	1637	const uint32_t cMicroSecPerMilliSec = 1000;
julientiron	0:1cb50d31c3b5	1638	const uint32_t cEceSampleTime_us = 500;
julientiron	0:1cb50d31c3b5	1639	uint32_t ece_factor_m = VL6180xDevDataGet(dev, EceFactorM);
julientiron	0:1cb50d31c3b5	1640	uint32_t ece_factor_d = VL6180xDevDataGet(dev, EceFactorD);
julientiron	0:1cb50d31c3b5	1641	uint32_t convergTime_us;
julientiron	0:1cb50d31c3b5	1642	uint32_t fineThresh;
julientiron	0:1cb50d31c3b5	1643	uint32_t eceThresh;
julientiron	0:1cb50d31c3b5	1644	uint8_t u8;
julientiron	0:1cb50d31c3b5	1645	uint32_t maxConv_ms;
julientiron	0:1cb50d31c3b5	1646	int32_t AveTime;
julientiron	0:1cb50d31c3b5	1647
julientiron	0:1cb50d31c3b5	1648	LOG_FUNCTION_START("");
julientiron	0:1cb50d31c3b5	1649
julientiron	0:1cb50d31c3b5	1650	do{
julientiron	0:1cb50d31c3b5	1651	status = VL6180x_RdByte(dev, SYSRANGE_MAX_CONVERGENCE_TIME, &u8);
julientiron	0:1cb50d31c3b5	1652	if( status ){
julientiron	0:1cb50d31c3b5	1653	VL6180x_ErrLog("SYSRANGE_MAX_CONVERGENCE_TIME rd fail");
julientiron	0:1cb50d31c3b5	1654	break;
julientiron	0:1cb50d31c3b5	1655	}
julientiron	0:1cb50d31c3b5	1656	maxConv_ms = u8;
julientiron	0:1cb50d31c3b5	1657	AveTime = _GetAveTotalTime(dev);
julientiron	0:1cb50d31c3b5	1658	if( AveTime <0 ){
julientiron	0:1cb50d31c3b5	1659	status=-1;
julientiron	0:1cb50d31c3b5	1660	break;
julientiron	0:1cb50d31c3b5	1661	}
julientiron	0:1cb50d31c3b5	1662
julientiron	0:1cb50d31c3b5	1663	convergTime_us = maxConv_ms * cMicroSecPerMilliSec - AveTime;
julientiron	0:1cb50d31c3b5	1664	status = VL6180x_RdDWord(dev, 0xB8, &fineThresh);
julientiron	0:1cb50d31c3b5	1665	if( status ) {
julientiron	0:1cb50d31c3b5	1666	VL6180x_ErrLog("reg 0xB8 rd fail");
julientiron	0:1cb50d31c3b5	1667	break;
julientiron	0:1cb50d31c3b5	1668	}
julientiron	0:1cb50d31c3b5	1669	fineThresh*=256;
julientiron	0:1cb50d31c3b5	1670	eceThresh = ece_factor_m * cEceSampleTime_us * fineThresh/(convergTime_us * ece_factor_d);
julientiron	0:1cb50d31c3b5	1671
julientiron	0:1cb50d31c3b5	1672	status=VL6180x_WrWord(dev, SYSRANGE_EARLY_CONVERGENCE_ESTIMATE, (uint16_t)eceThresh);
julientiron	0:1cb50d31c3b5	1673	}
julientiron	0:1cb50d31c3b5	1674	while(0);
julientiron	0:1cb50d31c3b5	1675
julientiron	0:1cb50d31c3b5	1676	LOG_FUNCTION_END(status);
julientiron	0:1cb50d31c3b5	1677	return status;
julientiron	0:1cb50d31c3b5	1678	}
julientiron	0:1cb50d31c3b5	1679
julientiron	0:1cb50d31c3b5	1680	/*
julientiron	0:1cb50d31c3b5	1681	* Return >0 = time
julientiron	0:1cb50d31c3b5	1682	* <0 1 if fail to get read data from device to compute time
julientiron	0:1cb50d31c3b5	1683	*/
julientiron	0:1cb50d31c3b5	1684	int32_t VL6180X::_GetAveTotalTime(VL6180xDev_t dev) {
julientiron	0:1cb50d31c3b5	1685	uint32_t cFwOverhead_us = 24;
julientiron	0:1cb50d31c3b5	1686	uint32_t cVcpSetupTime_us = 70;
julientiron	0:1cb50d31c3b5	1687	uint32_t cPLL2_StartupDelay_us = 200;
julientiron	0:1cb50d31c3b5	1688	uint8_t cMeasMask = 0x07;
julientiron	0:1cb50d31c3b5	1689	uint32_t Samples;
julientiron	0:1cb50d31c3b5	1690	uint32_t SamplePeriod;
julientiron	0:1cb50d31c3b5	1691	uint32_t SingleTime_us;
julientiron	0:1cb50d31c3b5	1692	int32_t TotalAveTime_us;
julientiron	0:1cb50d31c3b5	1693	uint8_t u8;
julientiron	0:1cb50d31c3b5	1694	int status;
julientiron	0:1cb50d31c3b5	1695
julientiron	0:1cb50d31c3b5	1696	LOG_FUNCTION_START("");
julientiron	0:1cb50d31c3b5	1697
julientiron	0:1cb50d31c3b5	1698	status = VL6180x_RdByte(dev, 0x109, &u8);
julientiron	0:1cb50d31c3b5	1699	if (status) {
julientiron	0:1cb50d31c3b5	1700	VL6180x_ErrLog("rd 0x109 fail");
julientiron	0:1cb50d31c3b5	1701	return -1;
julientiron	0:1cb50d31c3b5	1702	}
julientiron	0:1cb50d31c3b5	1703	Samples = u8 & cMeasMask;
julientiron	0:1cb50d31c3b5	1704	status = VL6180x_RdByte(dev, READOUT_AVERAGING_SAMPLE_PERIOD, &u8);
julientiron	0:1cb50d31c3b5	1705	if (status) {
julientiron	0:1cb50d31c3b5	1706	VL6180x_ErrLog("i2c READOUT_AVERAGING_SAMPLE_PERIOD fail");
julientiron	0:1cb50d31c3b5	1707	return -1;
julientiron	0:1cb50d31c3b5	1708	}
julientiron	0:1cb50d31c3b5	1709	SamplePeriod = u8;
julientiron	0:1cb50d31c3b5	1710	SingleTime_us = cFwOverhead_us + cVcpSetupTime_us + (SamplePeriod * 10);
julientiron	0:1cb50d31c3b5	1711	TotalAveTime_us = (Samples + 1) * SingleTime_us + cPLL2_StartupDelay_us;
julientiron	0:1cb50d31c3b5	1712
julientiron	0:1cb50d31c3b5	1713	LOG_FUNCTION_END(TotalAveTime_us);
julientiron	0:1cb50d31c3b5	1714	return TotalAveTime_us;
julientiron	0:1cb50d31c3b5	1715	}
julientiron	0:1cb50d31c3b5	1716
julientiron	0:1cb50d31c3b5	1717	#if VL6180x_HAVE_DMAX_RANGING
julientiron	0:1cb50d31c3b5	1718	#define _GetDMaxDataRetSignalAt400mm(dev) VL6180xDevDataGet(dev, DMaxData.retSignalAt400mm)
julientiron	0:1cb50d31c3b5	1719	#else
julientiron	0:1cb50d31c3b5	1720	#define _GetDMaxDataRetSignalAt400mm(dev) 375 // Use a default high value
julientiron	0:1cb50d31c3b5	1721	#endif
julientiron	0:1cb50d31c3b5	1722
julientiron	0:1cb50d31c3b5	1723
julientiron	0:1cb50d31c3b5	1724	#if VL6180x_WRAP_AROUND_FILTER_SUPPORT
julientiron	0:1cb50d31c3b5	1725
julientiron	0:1cb50d31c3b5	1726	#define FILTER_STDDEV_SAMPLES 6
julientiron	0:1cb50d31c3b5	1727	#define MIN_FILTER_STDDEV_SAMPLES 3
julientiron	0:1cb50d31c3b5	1728	#define MIN_FILTER_VALID_STDDEV_SAMPLES 3
julientiron	0:1cb50d31c3b5	1729	#define FILTER_INVALID_DISTANCE 65535
julientiron	0:1cb50d31c3b5	1730
julientiron	0:1cb50d31c3b5	1731	#define _FilterData(field) VL6180xDevDataGet(dev, FilterData.field)
julientiron	0:1cb50d31c3b5	1732	/*
julientiron	0:1cb50d31c3b5	1733	* One time init
julientiron	0:1cb50d31c3b5	1734	*/
julientiron	0:1cb50d31c3b5	1735	static int _filter_Init( VL6180xDev_t dev) {
julientiron	0:1cb50d31c3b5	1736	int i;
julientiron	0:1cb50d31c3b5	1737	_FilterData(MeasurementIndex) = 0;
julientiron	0:1cb50d31c3b5	1738
julientiron	0:1cb50d31c3b5	1739	_FilterData(Default_ZeroVal) = 0;
julientiron	0:1cb50d31c3b5	1740	_FilterData(Default_VAVGVal) = 0;
julientiron	0:1cb50d31c3b5	1741	_FilterData(NoDelay_ZeroVal) = 0;
julientiron	0:1cb50d31c3b5	1742	_FilterData(NoDelay_VAVGVal) = 0;
julientiron	0:1cb50d31c3b5	1743	_FilterData(Previous_VAVGDiff) = 0;
julientiron	0:1cb50d31c3b5	1744
julientiron	0:1cb50d31c3b5	1745	_FilterData(StdFilteredReads) = 0;
julientiron	0:1cb50d31c3b5	1746
julientiron	0:1cb50d31c3b5	1747	for (i = 0; i < FILTER_NBOF_SAMPLES; i++) {
julientiron	0:1cb50d31c3b5	1748	_FilterData(LastTrueRange)[i] = FILTER_INVALID_DISTANCE;
julientiron	0:1cb50d31c3b5	1749	_FilterData(LastReturnRates)[i] = 0;
julientiron	0:1cb50d31c3b5	1750	}
julientiron	0:1cb50d31c3b5	1751	return 0;
julientiron	0:1cb50d31c3b5	1752	}
julientiron	0:1cb50d31c3b5	1753
julientiron	0:1cb50d31c3b5	1754
julientiron	0:1cb50d31c3b5	1755	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) {
julientiron	0:1cb50d31c3b5	1756	uint32_t newStdDev;
julientiron	0:1cb50d31c3b5	1757	uint16_t SNR;
julientiron	0:1cb50d31c3b5	1758
julientiron	0:1cb50d31c3b5	1759	if (AmbientRate > 0)
julientiron	0:1cb50d31c3b5	1760	SNR = (uint16_t) ((100 * SignalRate) / AmbientRate);
julientiron	0:1cb50d31c3b5	1761	else
julientiron	0:1cb50d31c3b5	1762	SNR = 9999;
julientiron	0:1cb50d31c3b5	1763
julientiron	0:1cb50d31c3b5	1764	if (SNR >= StdDevLimitLowLightSNR) {
julientiron	0:1cb50d31c3b5	1765	newStdDev = StdDevLimitLowLight;
julientiron	0:1cb50d31c3b5	1766	} else {
julientiron	0:1cb50d31c3b5	1767	if (SNR <= StdDevLimitHighLightSNR)
julientiron	0:1cb50d31c3b5	1768	newStdDev = StdDevLimitHighLight;
julientiron	0:1cb50d31c3b5	1769	else {
julientiron	0:1cb50d31c3b5	1770	newStdDev = (uint32_t) (StdDevLimitHighLight + (SNR - StdDevLimitHighLightSNR) * (int) (StdDevLimitLowLight - StdDevLimitHighLight) / (StdDevLimitLowLightSNR - StdDevLimitHighLightSNR));
julientiron	0:1cb50d31c3b5	1771	}
julientiron	0:1cb50d31c3b5	1772	}
julientiron	0:1cb50d31c3b5	1773
julientiron	0:1cb50d31c3b5	1774	return newStdDev;
julientiron	0:1cb50d31c3b5	1775	}
julientiron	0:1cb50d31c3b5	1776
julientiron	0:1cb50d31c3b5	1777
julientiron	0:1cb50d31c3b5	1778	/*
julientiron	0:1cb50d31c3b5	1779	* Return <0 on error
julientiron	0:1cb50d31c3b5	1780	*/
julientiron	0:1cb50d31c3b5	1781	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) {
julientiron	0:1cb50d31c3b5	1782	int status;
julientiron	0:1cb50d31c3b5	1783	uint16_t m_newTrueRange_mm = 0;
julientiron	0:1cb50d31c3b5	1784
julientiron	0:1cb50d31c3b5	1785	uint16_t i;
julientiron	0:1cb50d31c3b5	1786	uint16_t bypassFilter = 0;
julientiron	0:1cb50d31c3b5	1787
julientiron	0:1cb50d31c3b5	1788	uint16_t registerValue;
julientiron	0:1cb50d31c3b5	1789
julientiron	0:1cb50d31c3b5	1790	uint32_t register32BitsValue1;
julientiron	0:1cb50d31c3b5	1791	uint32_t register32BitsValue2;
julientiron	0:1cb50d31c3b5	1792
julientiron	0:1cb50d31c3b5	1793	uint16_t ValidDistance = 0;
julientiron	0:1cb50d31c3b5	1794
julientiron	0:1cb50d31c3b5	1795	uint16_t WrapAroundFlag = 0;
julientiron	0:1cb50d31c3b5	1796	uint16_t NoWrapAroundFlag = 0;
julientiron	0:1cb50d31c3b5	1797	uint16_t NoWrapAroundHighConfidenceFlag = 0;
julientiron	0:1cb50d31c3b5	1798
julientiron	0:1cb50d31c3b5	1799	uint16_t FlushFilter = 0;
julientiron	0:1cb50d31c3b5	1800	uint32_t RateChange = 0;
julientiron	0:1cb50d31c3b5	1801
julientiron	0:1cb50d31c3b5	1802	uint16_t StdDevSamples = 0;
julientiron	0:1cb50d31c3b5	1803	uint32_t StdDevDistanceSum = 0;
julientiron	0:1cb50d31c3b5	1804	uint32_t StdDevDistanceMean = 0;
julientiron	0:1cb50d31c3b5	1805	uint32_t StdDevDistance = 0;
julientiron	0:1cb50d31c3b5	1806	uint32_t StdDevRateSum = 0;
julientiron	0:1cb50d31c3b5	1807	uint32_t StdDevRateMean = 0;
julientiron	0:1cb50d31c3b5	1808	uint32_t StdDevRate = 0;
julientiron	0:1cb50d31c3b5	1809	uint32_t StdDevLimitWithTargetMove = 0;
julientiron	0:1cb50d31c3b5	1810
julientiron	0:1cb50d31c3b5	1811	uint32_t VAVGDiff;
julientiron	0:1cb50d31c3b5	1812	uint32_t IdealVAVGDiff;
julientiron	0:1cb50d31c3b5	1813	uint32_t MinVAVGDiff;
julientiron	0:1cb50d31c3b5	1814	uint32_t MaxVAVGDiff;
julientiron	0:1cb50d31c3b5	1815
julientiron	0:1cb50d31c3b5	1816	/* Filter Parameters */
julientiron	0:1cb50d31c3b5	1817	static const uint16_t ROMABLE_DATA WrapAroundLowRawRangeLimit = 60;
julientiron	0:1cb50d31c3b5	1818	static const uint32_t ROMABLE_DATA WrapAroundLowReturnRateLimit_ROM = 800; // Shall be adapted depending on crossTalk
julientiron	0:1cb50d31c3b5	1819	static const uint16_t ROMABLE_DATA WrapAroundLowRawRangeLimit2 = 165;
julientiron	0:1cb50d31c3b5	1820	static const uint32_t ROMABLE_DATA WrapAroundLowReturnRateLimit2_ROM = 180; // Shall be adapted depending on crossTalk and device sensitivity
julientiron	0:1cb50d31c3b5	1821
julientiron	0:1cb50d31c3b5	1822	static const uint32_t ROMABLE_DATA WrapAroundLowReturnRateFilterLimit_ROM = 850; // Shall be adapted depending on crossTalk and device sensitivity
julientiron	0:1cb50d31c3b5	1823	static const uint16_t ROMABLE_DATA WrapAroundHighRawRangeFilterLimit = 350;
julientiron	0:1cb50d31c3b5	1824	static const uint32_t ROMABLE_DATA WrapAroundHighReturnRateFilterLimit_ROM = 1400; // Shall be adapted depending on crossTalk and device sensitivity
julientiron	0:1cb50d31c3b5	1825
julientiron	0:1cb50d31c3b5	1826	static const uint32_t ROMABLE_DATA WrapAroundMaximumAmbientRateFilterLimit = 7500;
julientiron	0:1cb50d31c3b5	1827
julientiron	0:1cb50d31c3b5	1828	/* Temporal filter data and flush values */
julientiron	0:1cb50d31c3b5	1829	static const uint32_t ROMABLE_DATA MinReturnRateFilterFlush = 75;
julientiron	0:1cb50d31c3b5	1830	static const uint32_t ROMABLE_DATA MaxReturnRateChangeFilterFlush = 50;
julientiron	0:1cb50d31c3b5	1831
julientiron	0:1cb50d31c3b5	1832	/* STDDEV values and damper values */
julientiron	0:1cb50d31c3b5	1833
julientiron	0:1cb50d31c3b5	1834	static const uint32_t ROMABLE_DATA StdDevLimitLowLight = 300;
julientiron	0:1cb50d31c3b5	1835	static const uint32_t ROMABLE_DATA StdDevLimitLowLightSNR = 30; /* 0.3 */
julientiron	0:1cb50d31c3b5	1836	static const uint32_t ROMABLE_DATA StdDevLimitHighLight = 2500;
julientiron	0:1cb50d31c3b5	1837	static const uint32_t ROMABLE_DATA StdDevLimitHighLightSNR = 5; /* 0.05 */
julientiron	0:1cb50d31c3b5	1838
julientiron	0:1cb50d31c3b5	1839	static const uint32_t ROMABLE_DATA StdDevHighConfidenceSNRLimit = 8;
julientiron	0:1cb50d31c3b5	1840
julientiron	0:1cb50d31c3b5	1841	static const uint32_t ROMABLE_DATA StdDevMovingTargetStdDevLimit = 90000;
julientiron	0:1cb50d31c3b5	1842
julientiron	0:1cb50d31c3b5	1843	static const uint32_t ROMABLE_DATA StdDevMovingTargetReturnRateLimit = 3500;
julientiron	0:1cb50d31c3b5	1844	static const uint32_t ROMABLE_DATA StdDevMovingTargetStdDevForReturnRateLimit = 5000;
julientiron	0:1cb50d31c3b5	1845
julientiron	0:1cb50d31c3b5	1846	static const uint32_t ROMABLE_DATA MAX_VAVGDiff = 1800;
julientiron	0:1cb50d31c3b5	1847
julientiron	0:1cb50d31c3b5	1848	/* WrapAroundDetection variables */
julientiron	0:1cb50d31c3b5	1849	static const uint16_t ROMABLE_DATA WrapAroundNoDelayCheckPeriod = 2;
julientiron	0:1cb50d31c3b5	1850	static const uint16_t ROMABLE_DATA StdFilteredReadsIncrement = 2;
julientiron	0:1cb50d31c3b5	1851	static const uint16_t ROMABLE_DATA StdMaxFilteredReads = 4;
julientiron	0:1cb50d31c3b5	1852
julientiron	0:1cb50d31c3b5	1853	uint32_t SignalRateDMax;
julientiron	0:1cb50d31c3b5	1854	uint32_t WrapAroundLowReturnRateLimit;
julientiron	0:1cb50d31c3b5	1855	uint32_t WrapAroundLowReturnRateLimit2;
julientiron	0:1cb50d31c3b5	1856	uint32_t WrapAroundLowReturnRateFilterLimit;
julientiron	0:1cb50d31c3b5	1857	uint32_t WrapAroundHighReturnRateFilterLimit;
julientiron	0:1cb50d31c3b5	1858
julientiron	0:1cb50d31c3b5	1859	uint8_t u8, u8_2;
julientiron	0:1cb50d31c3b5	1860	uint32_t XTalkCompRate_KCps;
julientiron	0:1cb50d31c3b5	1861	uint32_t StdDevLimit = 300;
julientiron	0:1cb50d31c3b5	1862	uint32_t MaxOrInvalidDistance = 255*_GetUpscale(dev);
julientiron	0:1cb50d31c3b5	1863	/* #define MaxOrInvalidDistance (uint16_t) (255 * 3) */
julientiron	0:1cb50d31c3b5	1864
julientiron	0:1cb50d31c3b5	1865	/* Check if distance is Valid or not */
julientiron	0:1cb50d31c3b5	1866	switch (errorCode) {
julientiron	0:1cb50d31c3b5	1867	case 0x0C:
julientiron	0:1cb50d31c3b5	1868	m_trueRange_mm = MaxOrInvalidDistance;
julientiron	0:1cb50d31c3b5	1869	ValidDistance = 0;
julientiron	0:1cb50d31c3b5	1870	break;
julientiron	0:1cb50d31c3b5	1871	case 0x0D:
julientiron	0:1cb50d31c3b5	1872	m_trueRange_mm = MaxOrInvalidDistance;
julientiron	0:1cb50d31c3b5	1873	ValidDistance = 1;
julientiron	0:1cb50d31c3b5	1874	break;
julientiron	0:1cb50d31c3b5	1875	case 0x0F:
julientiron	0:1cb50d31c3b5	1876	m_trueRange_mm = MaxOrInvalidDistance;
julientiron	0:1cb50d31c3b5	1877	ValidDistance = 1;
julientiron	0:1cb50d31c3b5	1878	break;
julientiron	0:1cb50d31c3b5	1879	default:
julientiron	0:1cb50d31c3b5	1880	if (m_rawRange_mm >= MaxOrInvalidDistance) {
julientiron	0:1cb50d31c3b5	1881	ValidDistance = 0;
julientiron	0:1cb50d31c3b5	1882	} else {
julientiron	0:1cb50d31c3b5	1883	ValidDistance = 1;
julientiron	0:1cb50d31c3b5	1884	}
julientiron	0:1cb50d31c3b5	1885	break;
julientiron	0:1cb50d31c3b5	1886	}
julientiron	0:1cb50d31c3b5	1887	m_newTrueRange_mm = m_trueRange_mm;
julientiron	0:1cb50d31c3b5	1888
julientiron	0:1cb50d31c3b5	1889	XTalkCompRate_KCps = VL6180xDevDataGet(dev, XTalkCompRate_KCps );
julientiron	0:1cb50d31c3b5	1890
julientiron	0:1cb50d31c3b5	1891
julientiron	0:1cb50d31c3b5	1892	//Update signal rate limits depending on crosstalk
julientiron	0:1cb50d31c3b5	1893	SignalRateDMax = (uint32_t)_GetDMaxDataRetSignalAt400mm(dev) + XTalkCompRate_KCps;
julientiron	0:1cb50d31c3b5	1894	WrapAroundLowReturnRateLimit = WrapAroundLowReturnRateLimit_ROM + XTalkCompRate_KCps;
julientiron	0:1cb50d31c3b5	1895	WrapAroundLowReturnRateLimit2 = ((WrapAroundLowReturnRateLimit2_ROM * SignalRateDMax) / 312) + XTalkCompRate_KCps;
julientiron	0:1cb50d31c3b5	1896	WrapAroundLowReturnRateFilterLimit = ((WrapAroundLowReturnRateFilterLimit_ROM * SignalRateDMax) / 312) + XTalkCompRate_KCps;
julientiron	0:1cb50d31c3b5	1897	WrapAroundHighReturnRateFilterLimit = ((WrapAroundHighReturnRateFilterLimit_ROM * SignalRateDMax) / 312) + XTalkCompRate_KCps;
julientiron	0:1cb50d31c3b5	1898
julientiron	0:1cb50d31c3b5	1899
julientiron	0:1cb50d31c3b5	1900	/* Checks on low range data */
julientiron	0:1cb50d31c3b5	1901	if ((m_rawRange_mm < WrapAroundLowRawRangeLimit) && (m_rtnSignalRate < WrapAroundLowReturnRateLimit)) {
julientiron	0:1cb50d31c3b5	1902	m_newTrueRange_mm = MaxOrInvalidDistance;
julientiron	0:1cb50d31c3b5	1903	bypassFilter = 1;
julientiron	0:1cb50d31c3b5	1904	}
julientiron	0:1cb50d31c3b5	1905	if ((m_rawRange_mm < WrapAroundLowRawRangeLimit2) && (m_rtnSignalRate < WrapAroundLowReturnRateLimit2)) {
julientiron	0:1cb50d31c3b5	1906	m_newTrueRange_mm = MaxOrInvalidDistance;
julientiron	0:1cb50d31c3b5	1907	bypassFilter = 1;
julientiron	0:1cb50d31c3b5	1908	}
julientiron	0:1cb50d31c3b5	1909
julientiron	0:1cb50d31c3b5	1910	/* Checks on Ambient rate level */
julientiron	0:1cb50d31c3b5	1911	if (m_rtnAmbientRate > WrapAroundMaximumAmbientRateFilterLimit) {
julientiron	0:1cb50d31c3b5	1912	/* Too high ambient rate */
julientiron	0:1cb50d31c3b5	1913	FlushFilter = 1;
julientiron	0:1cb50d31c3b5	1914	bypassFilter = 1;
julientiron	0:1cb50d31c3b5	1915	}
julientiron	0:1cb50d31c3b5	1916	/* Checks on Filter flush */
julientiron	0:1cb50d31c3b5	1917	if (m_rtnSignalRate < MinReturnRateFilterFlush) {
julientiron	0:1cb50d31c3b5	1918	/* Completely lost target, so flush the filter */
julientiron	0:1cb50d31c3b5	1919	FlushFilter = 1;
julientiron	0:1cb50d31c3b5	1920	bypassFilter = 1;
julientiron	0:1cb50d31c3b5	1921	}
julientiron	0:1cb50d31c3b5	1922	if (_FilterData(LastReturnRates)[0] != 0) {
julientiron	0:1cb50d31c3b5	1923	if (m_rtnSignalRate > _FilterData(LastReturnRates)[0])
julientiron	0:1cb50d31c3b5	1924	RateChange = (100 * (m_rtnSignalRate - _FilterData(LastReturnRates)[0])) / _FilterData(LastReturnRates)[0];
julientiron	0:1cb50d31c3b5	1925	else
julientiron	0:1cb50d31c3b5	1926	RateChange = (100 * (_FilterData(LastReturnRates)[0] - m_rtnSignalRate)) / _FilterData(LastReturnRates)[0];
julientiron	0:1cb50d31c3b5	1927	} else
julientiron	0:1cb50d31c3b5	1928	RateChange = 0;
julientiron	0:1cb50d31c3b5	1929	if (RateChange > MaxReturnRateChangeFilterFlush) {
julientiron	0:1cb50d31c3b5	1930	FlushFilter = 1;
julientiron	0:1cb50d31c3b5	1931	}
julientiron	0:1cb50d31c3b5	1932	/* TODO optimize filter using circular buffer */
julientiron	0:1cb50d31c3b5	1933	if (FlushFilter == 1) {
julientiron	0:1cb50d31c3b5	1934	_FilterData(MeasurementIndex) = 0;
julientiron	0:1cb50d31c3b5	1935	for (i = 0; i < FILTER_NBOF_SAMPLES; i++) {
julientiron	0:1cb50d31c3b5	1936	_FilterData(LastTrueRange)[i] = FILTER_INVALID_DISTANCE;
julientiron	0:1cb50d31c3b5	1937	_FilterData(LastReturnRates)[i] = 0;
julientiron	0:1cb50d31c3b5	1938	}
julientiron	0:1cb50d31c3b5	1939	} else {
julientiron	0:1cb50d31c3b5	1940	for (i = (uint16_t) (FILTER_NBOF_SAMPLES - 1); i > 0; i--) {
julientiron	0:1cb50d31c3b5	1941	_FilterData(LastTrueRange)[i] = _FilterData(LastTrueRange)[i - 1];
julientiron	0:1cb50d31c3b5	1942	_FilterData(LastReturnRates)[i] = _FilterData(LastReturnRates)[i - 1];
julientiron	0:1cb50d31c3b5	1943	}
julientiron	0:1cb50d31c3b5	1944	}
julientiron	0:1cb50d31c3b5	1945	if (ValidDistance == 1)
julientiron	0:1cb50d31c3b5	1946	_FilterData(LastTrueRange)[0] = m_trueRange_mm;
julientiron	0:1cb50d31c3b5	1947	else
julientiron	0:1cb50d31c3b5	1948	_FilterData(LastTrueRange)[0] = FILTER_INVALID_DISTANCE;
julientiron	0:1cb50d31c3b5	1949	_FilterData(LastReturnRates)[0] = m_rtnSignalRate;
julientiron	0:1cb50d31c3b5	1950
julientiron	0:1cb50d31c3b5	1951	/* Check if we need to go through the filter or not */
julientiron	0:1cb50d31c3b5	1952	if (!(((m_rawRange_mm < WrapAroundHighRawRangeFilterLimit) && (m_rtnSignalRate < WrapAroundLowReturnRateFilterLimit)) \|\| ((m_rawRange_mm >= WrapAroundHighRawRangeFilterLimit) && (m_rtnSignalRate < WrapAroundHighReturnRateFilterLimit))))
julientiron	0:1cb50d31c3b5	1953	bypassFilter = 1;
julientiron	0:1cb50d31c3b5	1954
julientiron	0:1cb50d31c3b5	1955	/* Check which kind of measurement has been made */
julientiron	0:1cb50d31c3b5	1956	status = VL6180x_RdByte(dev, 0x01AC, &u8 );
julientiron	0:1cb50d31c3b5	1957	if( status ){
julientiron	0:1cb50d31c3b5	1958	VL6180x_ErrLog("0x01AC rd fail");
julientiron	0:1cb50d31c3b5	1959	goto done_err;
julientiron	0:1cb50d31c3b5	1960	}
julientiron	0:1cb50d31c3b5	1961	registerValue =u8;
julientiron	0:1cb50d31c3b5	1962
julientiron	0:1cb50d31c3b5	1963	/* Read data for filtering */
julientiron	0:1cb50d31c3b5	1964	status = VL6180x_RdByte(dev, 0x10C, &u8 ); /* read only 8 lsb bits */
julientiron	0:1cb50d31c3b5	1965	if( status ){
julientiron	0:1cb50d31c3b5	1966	VL6180x_ErrLog("0x010C rd fail");
julientiron	0:1cb50d31c3b5	1967	goto done_err;
julientiron	0:1cb50d31c3b5	1968	}
julientiron	0:1cb50d31c3b5	1969	register32BitsValue1=u8;
julientiron	0:1cb50d31c3b5	1970	status = VL6180x_RdByte(dev, 0x0110, &u8); /* read only 8 lsb bits */
julientiron	0:1cb50d31c3b5	1971	if( status ){
julientiron	0:1cb50d31c3b5	1972	VL6180x_ErrLog("0x0110 rd fail");
julientiron	0:1cb50d31c3b5	1973	goto done_err;
julientiron	0:1cb50d31c3b5	1974	}
julientiron	0:1cb50d31c3b5	1975	register32BitsValue2 = u8;
julientiron	0:1cb50d31c3b5	1976
julientiron	0:1cb50d31c3b5	1977	if (registerValue == 0x3E) {
julientiron	0:1cb50d31c3b5	1978	_FilterData(Default_ZeroVal) = register32BitsValue1;
julientiron	0:1cb50d31c3b5	1979	_FilterData(Default_VAVGVal) = register32BitsValue2;
julientiron	0:1cb50d31c3b5	1980	} else {
julientiron	0:1cb50d31c3b5	1981	_FilterData(NoDelay_ZeroVal) = register32BitsValue1;
julientiron	0:1cb50d31c3b5	1982	_FilterData(NoDelay_VAVGVal) = register32BitsValue2;
julientiron	0:1cb50d31c3b5	1983	}
julientiron	0:1cb50d31c3b5	1984
julientiron	0:1cb50d31c3b5	1985	if (bypassFilter == 1) {
julientiron	0:1cb50d31c3b5	1986	/* Do not go through the filter */
julientiron	0:1cb50d31c3b5	1987	if (registerValue != 0x3E) {
julientiron	0:1cb50d31c3b5	1988	status = VL6180x_WrByte(dev, 0x1AC, 0x3E);
julientiron	0:1cb50d31c3b5	1989	if( status ){
julientiron	0:1cb50d31c3b5	1990	VL6180x_ErrLog("0x01AC bypass wr fail");
julientiron	0:1cb50d31c3b5	1991	goto done_err;
julientiron	0:1cb50d31c3b5	1992	}
julientiron	0:1cb50d31c3b5	1993	status = VL6180x_WrByte(dev, 0x0F2, 0x01);
julientiron	0:1cb50d31c3b5	1994	if( status ){
julientiron	0:1cb50d31c3b5	1995	VL6180x_ErrLog("0x0F2 bypass wr fail");
julientiron	0:1cb50d31c3b5	1996	goto done_err;
julientiron	0:1cb50d31c3b5	1997	}
julientiron	0:1cb50d31c3b5	1998	}
julientiron	0:1cb50d31c3b5	1999	/* Set both Default and NoDelay To same value */
julientiron	0:1cb50d31c3b5	2000	_FilterData(Default_ZeroVal) = register32BitsValue1;
julientiron	0:1cb50d31c3b5	2001	_FilterData(Default_VAVGVal) = register32BitsValue2;
julientiron	0:1cb50d31c3b5	2002	_FilterData(NoDelay_ZeroVal) = register32BitsValue1;
julientiron	0:1cb50d31c3b5	2003	_FilterData(NoDelay_VAVGVal) = register32BitsValue2;
julientiron	0:1cb50d31c3b5	2004	_FilterData(MeasurementIndex) = 0;
julientiron	0:1cb50d31c3b5	2005
julientiron	0:1cb50d31c3b5	2006	return m_newTrueRange_mm;
julientiron	0:1cb50d31c3b5	2007	}
julientiron	0:1cb50d31c3b5	2008
julientiron	0:1cb50d31c3b5	2009	if (_FilterData(MeasurementIndex) % WrapAroundNoDelayCheckPeriod == 0) {
julientiron	0:1cb50d31c3b5	2010	u8=0x3C;
julientiron	0:1cb50d31c3b5	2011	u8_2 = 0x05;
julientiron	0:1cb50d31c3b5	2012	} else {
julientiron	0:1cb50d31c3b5	2013	u8=0x3E;
julientiron	0:1cb50d31c3b5	2014	u8_2 = 0x01;
julientiron	0:1cb50d31c3b5	2015	}
julientiron	0:1cb50d31c3b5	2016	status = VL6180x_WrByte(dev, 0x01AC, u8);
julientiron	0:1cb50d31c3b5	2017	if( status ){
julientiron	0:1cb50d31c3b5	2018	VL6180x_ErrLog("0x01AC wr fail");
julientiron	0:1cb50d31c3b5	2019	goto done_err;
julientiron	0:1cb50d31c3b5	2020	}
julientiron	0:1cb50d31c3b5	2021	status = VL6180x_WrByte(dev, 0x0F2, u8_2);
julientiron	0:1cb50d31c3b5	2022	if( status ){
julientiron	0:1cb50d31c3b5	2023	VL6180x_ErrLog("0x0F2 wr fail");
julientiron	0:1cb50d31c3b5	2024	goto done_err;
julientiron	0:1cb50d31c3b5	2025	}
julientiron	0:1cb50d31c3b5	2026
julientiron	0:1cb50d31c3b5	2027
julientiron	0:1cb50d31c3b5	2028	_FilterData(MeasurementIndex)++;
julientiron	0:1cb50d31c3b5	2029
julientiron	0:1cb50d31c3b5	2030	/* Computes current VAVGDiff */
julientiron	0:1cb50d31c3b5	2031	if (_FilterData(Default_VAVGVal) > _FilterData(NoDelay_VAVGVal))
julientiron	0:1cb50d31c3b5	2032	VAVGDiff = _FilterData(Default_VAVGVal) - _FilterData(NoDelay_VAVGVal);
julientiron	0:1cb50d31c3b5	2033	else
julientiron	0:1cb50d31c3b5	2034	VAVGDiff = 0;
julientiron	0:1cb50d31c3b5	2035	_FilterData(Previous_VAVGDiff) = VAVGDiff;
julientiron	0:1cb50d31c3b5	2036
julientiron	0:1cb50d31c3b5	2037	/* Check the VAVGDiff */
julientiron	0:1cb50d31c3b5	2038	if (_FilterData(Default_ZeroVal) > _FilterData(NoDelay_ZeroVal))
julientiron	0:1cb50d31c3b5	2039	IdealVAVGDiff = _FilterData(Default_ZeroVal) - _FilterData(NoDelay_ZeroVal);
julientiron	0:1cb50d31c3b5	2040	else
julientiron	0:1cb50d31c3b5	2041	IdealVAVGDiff = _FilterData(NoDelay_ZeroVal) - _FilterData(Default_ZeroVal);
julientiron	0:1cb50d31c3b5	2042	if (IdealVAVGDiff > MAX_VAVGDiff)
julientiron	0:1cb50d31c3b5	2043	MinVAVGDiff = IdealVAVGDiff - MAX_VAVGDiff;
julientiron	0:1cb50d31c3b5	2044	else
julientiron	0:1cb50d31c3b5	2045	MinVAVGDiff = 0;
julientiron	0:1cb50d31c3b5	2046	MaxVAVGDiff = IdealVAVGDiff + MAX_VAVGDiff;
julientiron	0:1cb50d31c3b5	2047	if (VAVGDiff < MinVAVGDiff \|\| VAVGDiff > MaxVAVGDiff) {
julientiron	0:1cb50d31c3b5	2048	WrapAroundFlag = 1;
julientiron	0:1cb50d31c3b5	2049	} else {
julientiron	0:1cb50d31c3b5	2050	/* Go through filtering check */
julientiron	0:1cb50d31c3b5	2051
julientiron	0:1cb50d31c3b5	2052	/* StdDevLimit Damper on SNR */
julientiron	0:1cb50d31c3b5	2053	StdDevLimit = _filter_StdDevDamper(m_rtnAmbientRate, m_rtnSignalRate, StdDevLimitLowLight, StdDevLimitLowLightSNR, StdDevLimitHighLight, StdDevLimitHighLightSNR);
julientiron	0:1cb50d31c3b5	2054
julientiron	0:1cb50d31c3b5	2055	/* Standard deviations computations */
julientiron	0:1cb50d31c3b5	2056	StdDevSamples = 0;
julientiron	0:1cb50d31c3b5	2057	StdDevDistanceSum = 0;
julientiron	0:1cb50d31c3b5	2058	StdDevDistanceMean = 0;
julientiron	0:1cb50d31c3b5	2059	StdDevDistance = 0;
julientiron	0:1cb50d31c3b5	2060	StdDevRateSum = 0;
julientiron	0:1cb50d31c3b5	2061	StdDevRateMean = 0;
julientiron	0:1cb50d31c3b5	2062	StdDevRate = 0;
julientiron	0:1cb50d31c3b5	2063	for (i = 0; (i < FILTER_NBOF_SAMPLES) && (StdDevSamples < FILTER_STDDEV_SAMPLES); i++) {
julientiron	0:1cb50d31c3b5	2064	if (_FilterData(LastTrueRange)[i] != FILTER_INVALID_DISTANCE) {
julientiron	0:1cb50d31c3b5	2065	StdDevSamples = (uint16_t) (StdDevSamples + 1);
julientiron	0:1cb50d31c3b5	2066	StdDevDistanceSum = (uint32_t) (StdDevDistanceSum + _FilterData(LastTrueRange)[i]);
julientiron	0:1cb50d31c3b5	2067	StdDevRateSum = (uint32_t) (StdDevRateSum + _FilterData(LastReturnRates)[i]);
julientiron	0:1cb50d31c3b5	2068	}
julientiron	0:1cb50d31c3b5	2069	}
julientiron	0:1cb50d31c3b5	2070	if (StdDevSamples > 0) {
julientiron	0:1cb50d31c3b5	2071	StdDevDistanceMean = (uint32_t) (StdDevDistanceSum / StdDevSamples);
julientiron	0:1cb50d31c3b5	2072	StdDevRateMean = (uint32_t) (StdDevRateSum / StdDevSamples);
julientiron	0:1cb50d31c3b5	2073	}
julientiron	0:1cb50d31c3b5	2074	/* TODO optimize shorten Std dev in aisngle loop computation using sum of x2 - (sum of x)2 */
julientiron	0:1cb50d31c3b5	2075	StdDevSamples = 0;
julientiron	0:1cb50d31c3b5	2076	StdDevDistanceSum = 0;
julientiron	0:1cb50d31c3b5	2077	StdDevRateSum = 0;
julientiron	0:1cb50d31c3b5	2078	for (i = 0; (i < FILTER_NBOF_SAMPLES) && (StdDevSamples < FILTER_STDDEV_SAMPLES); i++) {
julientiron	0:1cb50d31c3b5	2079	if (_FilterData(LastTrueRange)[i] != FILTER_INVALID_DISTANCE) {
julientiron	0:1cb50d31c3b5	2080	StdDevSamples = (uint16_t) (StdDevSamples + 1);
julientiron	0:1cb50d31c3b5	2081	StdDevDistanceSum = (uint32_t) (StdDevDistanceSum + (int) (_FilterData(LastTrueRange)[i] - StdDevDistanceMean) * (int) (_FilterData(LastTrueRange)[i] - StdDevDistanceMean));
julientiron	0:1cb50d31c3b5	2082	StdDevRateSum = (uint32_t) (StdDevRateSum + (int) (_FilterData(LastReturnRates)[i] - StdDevRateMean) * (int) (_FilterData(LastReturnRates)[i] - StdDevRateMean));
julientiron	0:1cb50d31c3b5	2083	}
julientiron	0:1cb50d31c3b5	2084	}
julientiron	0:1cb50d31c3b5	2085	if (StdDevSamples >= MIN_FILTER_STDDEV_SAMPLES) {
julientiron	0:1cb50d31c3b5	2086	StdDevDistance = (uint16_t) (StdDevDistanceSum / StdDevSamples);
julientiron	0:1cb50d31c3b5	2087	StdDevRate = (uint16_t) (StdDevRateSum / StdDevSamples);
julientiron	0:1cb50d31c3b5	2088	} else {
julientiron	0:1cb50d31c3b5	2089	StdDevDistance = 0;
julientiron	0:1cb50d31c3b5	2090	StdDevRate = 0;
julientiron	0:1cb50d31c3b5	2091	}
julientiron	0:1cb50d31c3b5	2092
julientiron	0:1cb50d31c3b5	2093	/* Check Return rate standard deviation */
julientiron	0:1cb50d31c3b5	2094	if (StdDevRate < StdDevMovingTargetStdDevLimit) {
julientiron	0:1cb50d31c3b5	2095	if (StdDevSamples < MIN_FILTER_VALID_STDDEV_SAMPLES) {
julientiron	0:1cb50d31c3b5	2096	m_newTrueRange_mm = MaxOrInvalidDistance;
julientiron	0:1cb50d31c3b5	2097	} else {
julientiron	0:1cb50d31c3b5	2098	/* Check distance standard deviation */
julientiron	0:1cb50d31c3b5	2099	if (StdDevRate < StdDevMovingTargetReturnRateLimit)
julientiron	0:1cb50d31c3b5	2100	StdDevLimitWithTargetMove = StdDevLimit + (((StdDevMovingTargetStdDevForReturnRateLimit - StdDevLimit) * StdDevRate) / StdDevMovingTargetReturnRateLimit);
julientiron	0:1cb50d31c3b5	2101	else
julientiron	0:1cb50d31c3b5	2102	StdDevLimitWithTargetMove = StdDevMovingTargetStdDevForReturnRateLimit;
julientiron	0:1cb50d31c3b5	2103
julientiron	0:1cb50d31c3b5	2104	if ((StdDevDistance * StdDevHighConfidenceSNRLimit) < StdDevLimitWithTargetMove) {
julientiron	0:1cb50d31c3b5	2105	NoWrapAroundHighConfidenceFlag = 1;
julientiron	0:1cb50d31c3b5	2106	} else {
julientiron	0:1cb50d31c3b5	2107	if (StdDevDistance < StdDevLimitWithTargetMove) {
julientiron	0:1cb50d31c3b5	2108	if (StdDevSamples >= MIN_FILTER_VALID_STDDEV_SAMPLES) {
julientiron	0:1cb50d31c3b5	2109	NoWrapAroundFlag = 1;
julientiron	0:1cb50d31c3b5	2110	} else {
julientiron	0:1cb50d31c3b5	2111	m_newTrueRange_mm = MaxOrInvalidDistance;
julientiron	0:1cb50d31c3b5	2112	}
julientiron	0:1cb50d31c3b5	2113	} else {
julientiron	0:1cb50d31c3b5	2114	WrapAroundFlag = 1;
julientiron	0:1cb50d31c3b5	2115	}
julientiron	0:1cb50d31c3b5	2116	}
julientiron	0:1cb50d31c3b5	2117	}
julientiron	0:1cb50d31c3b5	2118	} else {
julientiron	0:1cb50d31c3b5	2119	WrapAroundFlag = 1;
julientiron	0:1cb50d31c3b5	2120	}
julientiron	0:1cb50d31c3b5	2121	}
julientiron	0:1cb50d31c3b5	2122
julientiron	0:1cb50d31c3b5	2123	if (m_newTrueRange_mm == MaxOrInvalidDistance) {
julientiron	0:1cb50d31c3b5	2124	if (_FilterData(StdFilteredReads) > 0)
julientiron	0:1cb50d31c3b5	2125	_FilterData(StdFilteredReads) = (uint16_t) (_FilterData(StdFilteredReads) - 1);
julientiron	0:1cb50d31c3b5	2126	} else {
julientiron	0:1cb50d31c3b5	2127	if (WrapAroundFlag == 1) {
julientiron	0:1cb50d31c3b5	2128	m_newTrueRange_mm = MaxOrInvalidDistance;
julientiron	0:1cb50d31c3b5	2129	_FilterData(StdFilteredReads) = (uint16_t) (_FilterData(StdFilteredReads) + StdFilteredReadsIncrement);
julientiron	0:1cb50d31c3b5	2130	if (_FilterData(StdFilteredReads) > StdMaxFilteredReads)
julientiron	0:1cb50d31c3b5	2131	_FilterData(StdFilteredReads) = StdMaxFilteredReads;
julientiron	0:1cb50d31c3b5	2132	} else {
julientiron	0:1cb50d31c3b5	2133	if (NoWrapAroundFlag == 1) {
julientiron	0:1cb50d31c3b5	2134	if (_FilterData(StdFilteredReads) > 0) {
julientiron	0:1cb50d31c3b5	2135	m_newTrueRange_mm = MaxOrInvalidDistance;
julientiron	0:1cb50d31c3b5	2136	if (_FilterData(StdFilteredReads) > StdFilteredReadsIncrement)
julientiron	0:1cb50d31c3b5	2137	_FilterData(StdFilteredReads) = (uint16_t) (_FilterData(StdFilteredReads) - StdFilteredReadsIncrement);
julientiron	0:1cb50d31c3b5	2138	else
julientiron	0:1cb50d31c3b5	2139	_FilterData(StdFilteredReads) = 0;
julientiron	0:1cb50d31c3b5	2140	}
julientiron	0:1cb50d31c3b5	2141	} else {
julientiron	0:1cb50d31c3b5	2142	if (NoWrapAroundHighConfidenceFlag == 1) {
julientiron	0:1cb50d31c3b5	2143	_FilterData(StdFilteredReads) = 0;
julientiron	0:1cb50d31c3b5	2144	}
julientiron	0:1cb50d31c3b5	2145	}
julientiron	0:1cb50d31c3b5	2146	}
julientiron	0:1cb50d31c3b5	2147	}
julientiron	0:1cb50d31c3b5	2148
julientiron	0:1cb50d31c3b5	2149	return m_newTrueRange_mm;
julientiron	0:1cb50d31c3b5	2150	done_err:
julientiron	0:1cb50d31c3b5	2151	return -1;
julientiron	0:1cb50d31c3b5	2152
julientiron	0:1cb50d31c3b5	2153	#undef MaxOrInvalidDistance
julientiron	0:1cb50d31c3b5	2154	}
julientiron	0:1cb50d31c3b5	2155
julientiron	0:1cb50d31c3b5	2156
julientiron	0:1cb50d31c3b5	2157	int VL6180X::_filter_GetResult(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData) {
julientiron	0:1cb50d31c3b5	2158	uint32_t m_rawRange_mm = 0;
julientiron	0:1cb50d31c3b5	2159	int32_t FilteredRange;
julientiron	0:1cb50d31c3b5	2160	const uint8_t scaler = _GetUpscale(dev);
julientiron	0:1cb50d31c3b5	2161	uint8_t u8;
julientiron	0:1cb50d31c3b5	2162	int status;
julientiron	0:1cb50d31c3b5	2163
julientiron	0:1cb50d31c3b5	2164	do {
julientiron	0:1cb50d31c3b5	2165	status = VL6180x_RdByte(dev, RESULT_RANGE_RAW, &u8);
julientiron	0:1cb50d31c3b5	2166	if (status) {
julientiron	0:1cb50d31c3b5	2167	VL6180x_ErrLog("RESULT_RANGE_RAW rd fail");
julientiron	0:1cb50d31c3b5	2168	break;
julientiron	0:1cb50d31c3b5	2169	}
julientiron	0:1cb50d31c3b5	2170	m_rawRange_mm = u8;
julientiron	0:1cb50d31c3b5	2171
julientiron	0:1cb50d31c3b5	2172	FilteredRange = _filter_Start(dev, pRangeData->range_mm, (m_rawRange_mm * scaler), pRangeData->rtnRate, pRangeData->rtnAmbRate, pRangeData->errorStatus);
julientiron	0:1cb50d31c3b5	2173	if( FilteredRange<0 ){
julientiron	0:1cb50d31c3b5	2174	status = -1;
julientiron	0:1cb50d31c3b5	2175	break;
julientiron	0:1cb50d31c3b5	2176	}
julientiron	0:1cb50d31c3b5	2177	pRangeData->FilteredData.range_mm= FilteredRange;
julientiron	0:1cb50d31c3b5	2178	pRangeData->FilteredData.rawRange_mm = m_rawRange_mm * scaler;
julientiron	0:1cb50d31c3b5	2179	} while (0);
julientiron	0:1cb50d31c3b5	2180	return status;
julientiron	0:1cb50d31c3b5	2181	}
julientiron	0:1cb50d31c3b5	2182
julientiron	0:1cb50d31c3b5	2183	#undef _FilterData
julientiron	0:1cb50d31c3b5	2184	#undef FILTER_STDDEV_SAMPLES
julientiron	0:1cb50d31c3b5	2185	#undef MIN_FILTER_STDDEV_SAMPLES
julientiron	0:1cb50d31c3b5	2186	#undef MIN_FILTER_VALID_STDDEV_SAMPLES
julientiron	0:1cb50d31c3b5	2187	#undef FILTER_INVALID_DISTANCE
julientiron	0:1cb50d31c3b5	2188
julientiron	0:1cb50d31c3b5	2189	#endif /* VL6180x_WRAP_AROUND_FILTER_SUPPORT */
julientiron	0:1cb50d31c3b5	2190
julientiron	0:1cb50d31c3b5	2191	#ifdef VL6180x_HAVE_RATE_DATA
julientiron	0:1cb50d31c3b5	2192
julientiron	0:1cb50d31c3b5	2193	int VL6180X::_GetRateResult(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData) {
julientiron	0:1cb50d31c3b5	2194	uint32_t m_rtnConvTime = 0;
julientiron	0:1cb50d31c3b5	2195	uint32_t m_rtnSignalRate = 0;
julientiron	0:1cb50d31c3b5	2196	uint32_t m_rtnAmbientRate = 0;
julientiron	0:1cb50d31c3b5	2197	uint32_t m_rtnSignalCount = 0;
julientiron	0:1cb50d31c3b5	2198	uint32_t m_rtnAmbientCount = 0;
julientiron	0:1cb50d31c3b5	2199	uint32_t m_refConvTime = 0;
julientiron	0:1cb50d31c3b5	2200	uint32_t cRtnSignalCountMax = 0x7FFFFFFF;
julientiron	0:1cb50d31c3b5	2201	uint32_t cDllPeriods = 6;
julientiron	0:1cb50d31c3b5	2202	uint32_t calcConvTime = 0;
julientiron	0:1cb50d31c3b5	2203
julientiron	0:1cb50d31c3b5	2204	int status;
julientiron	0:1cb50d31c3b5	2205
julientiron	0:1cb50d31c3b5	2206	do {
julientiron	0:1cb50d31c3b5	2207
julientiron	0:1cb50d31c3b5	2208	status = VL6180x_RdDWord(dev, RESULT_RANGE_RETURN_SIGNAL_COUNT, &m_rtnSignalCount);
julientiron	0:1cb50d31c3b5	2209	if (status) {
julientiron	0:1cb50d31c3b5	2210	VL6180x_ErrLog("RESULT_RANGE_RETURN_SIGNAL_COUNT rd fail");
julientiron	0:1cb50d31c3b5	2211	break;
julientiron	0:1cb50d31c3b5	2212	}
julientiron	0:1cb50d31c3b5	2213	if (m_rtnSignalCount > cRtnSignalCountMax) {
julientiron	0:1cb50d31c3b5	2214	m_rtnSignalCount = 0;
julientiron	0:1cb50d31c3b5	2215	}
julientiron	0:1cb50d31c3b5	2216
julientiron	0:1cb50d31c3b5	2217	status = VL6180x_RdDWord(dev, RESULT_RANGE_RETURN_AMB_COUNT, &m_rtnAmbientCount);
julientiron	0:1cb50d31c3b5	2218	if (status) {
julientiron	0:1cb50d31c3b5	2219	VL6180x_ErrLog("RESULT_RANGE_RETURN_AMB_COUNTrd fail");
julientiron	0:1cb50d31c3b5	2220	break;
julientiron	0:1cb50d31c3b5	2221	}
julientiron	0:1cb50d31c3b5	2222
julientiron	0:1cb50d31c3b5	2223
julientiron	0:1cb50d31c3b5	2224	status = VL6180x_RdDWord(dev, RESULT_RANGE_RETURN_CONV_TIME, &m_rtnConvTime);
julientiron	0:1cb50d31c3b5	2225	if (status) {
julientiron	0:1cb50d31c3b5	2226	VL6180x_ErrLog("RESULT_RANGE_RETURN_CONV_TIME rd fail");
julientiron	0:1cb50d31c3b5	2227	break;
julientiron	0:1cb50d31c3b5	2228	}
julientiron	0:1cb50d31c3b5	2229
julientiron	0:1cb50d31c3b5	2230	status = VL6180x_RdDWord(dev, RESULT_RANGE_REFERENCE_CONV_TIME, &m_refConvTime);
julientiron	0:1cb50d31c3b5	2231	if (status) {
julientiron	0:1cb50d31c3b5	2232	VL6180x_ErrLog("RESULT_RANGE_REFERENCE_CONV_TIME rd fail");
julientiron	0:1cb50d31c3b5	2233	break;
julientiron	0:1cb50d31c3b5	2234	}
julientiron	0:1cb50d31c3b5	2235
julientiron	0:1cb50d31c3b5	2236	pRangeData->rtnConvTime = m_rtnConvTime;
julientiron	0:1cb50d31c3b5	2237	pRangeData->refConvTime = m_refConvTime;
julientiron	0:1cb50d31c3b5	2238
julientiron	0:1cb50d31c3b5	2239	calcConvTime = m_refConvTime;
julientiron	0:1cb50d31c3b5	2240	if (m_rtnConvTime > m_refConvTime) {
julientiron	0:1cb50d31c3b5	2241	calcConvTime = m_rtnConvTime;
julientiron	0:1cb50d31c3b5	2242	}
julientiron	0:1cb50d31c3b5	2243	if (calcConvTime == 0)
julientiron	0:1cb50d31c3b5	2244	calcConvTime = 63000;
julientiron	0:1cb50d31c3b5	2245
julientiron	0:1cb50d31c3b5	2246	m_rtnSignalRate = (m_rtnSignalCount * 1000) / calcConvTime;
julientiron	0:1cb50d31c3b5	2247	m_rtnAmbientRate = (m_rtnAmbientCount * cDllPeriods * 1000) / calcConvTime;
julientiron	0:1cb50d31c3b5	2248
julientiron	0:1cb50d31c3b5	2249	pRangeData->rtnRate = m_rtnSignalRate;
julientiron	0:1cb50d31c3b5	2250	pRangeData->rtnAmbRate = m_rtnAmbientRate;
julientiron	0:1cb50d31c3b5	2251
julientiron	0:1cb50d31c3b5	2252
julientiron	0:1cb50d31c3b5	2253	} while (0);
julientiron	0:1cb50d31c3b5	2254	return status;
julientiron	0:1cb50d31c3b5	2255	}
julientiron	0:1cb50d31c3b5	2256	#endif /* VL6180x_HAVE_RATE_DATA */
julientiron	0:1cb50d31c3b5	2257
julientiron	0:1cb50d31c3b5	2258
julientiron	0:1cb50d31c3b5	2259	int VL6180X::VL6180x_DMaxSetState(VL6180xDev_t dev, int state){
julientiron	0:1cb50d31c3b5	2260	int status;
julientiron	0:1cb50d31c3b5	2261	LOG_FUNCTION_START("%d", state);
julientiron	0:1cb50d31c3b5	2262	#if VL6180x_HAVE_DMAX_RANGING
julientiron	0:1cb50d31c3b5	2263	VL6180xDevDataSet(dev,DMaxEnable, state);
julientiron	0:1cb50d31c3b5	2264	if( state ){
julientiron	0:1cb50d31c3b5	2265	status = _DMax_InitData(dev);
julientiron	0:1cb50d31c3b5	2266	}
julientiron	0:1cb50d31c3b5	2267	else {
julientiron	0:1cb50d31c3b5	2268	status = 0;
julientiron	0:1cb50d31c3b5	2269	}
julientiron	0:1cb50d31c3b5	2270	#else
julientiron	0:1cb50d31c3b5	2271	status = NOT_SUPPORTED;
julientiron	0:1cb50d31c3b5	2272	#endif
julientiron	0:1cb50d31c3b5	2273	LOG_FUNCTION_END(status);
julientiron	0:1cb50d31c3b5	2274	return status;
julientiron	0:1cb50d31c3b5	2275	}
julientiron	0:1cb50d31c3b5	2276
julientiron	0:1cb50d31c3b5	2277	int VL6180X::VL6180x_DMaxGetState(VL6180xDev_t dev){
julientiron	0:1cb50d31c3b5	2278	int status;
julientiron	0:1cb50d31c3b5	2279	LOG_FUNCTION_START("");
julientiron	0:1cb50d31c3b5	2280	#if VL6180x_HAVE_DMAX_RANGING
julientiron	0:1cb50d31c3b5	2281	status = VL6180xDevDataGet(dev,DMaxEnable);
julientiron	0:1cb50d31c3b5	2282	#else
julientiron	0:1cb50d31c3b5	2283	status = 0;
julientiron	0:1cb50d31c3b5	2284	#endif
julientiron	0:1cb50d31c3b5	2285	LOG_FUNCTION_END(status);
julientiron	0:1cb50d31c3b5	2286	return status;
julientiron	0:1cb50d31c3b5	2287	}
julientiron	0:1cb50d31c3b5	2288
julientiron	0:1cb50d31c3b5	2289
julientiron	0:1cb50d31c3b5	2290	#if VL6180x_HAVE_DMAX_RANGING
julientiron	0:1cb50d31c3b5	2291
julientiron	0:1cb50d31c3b5	2292	#define _DMaxData(field) VL6180xDevDataGet(dev, DMaxData.field)
julientiron	0:1cb50d31c3b5	2293	/*
julientiron	0:1cb50d31c3b5	2294	* Convert fix point x.7 to KCpount per sec
julientiron	0:1cb50d31c3b5	2295	*/
julientiron	0:1cb50d31c3b5	2296
julientiron	0:1cb50d31c3b5	2297	#ifndef VL6180x_PLATFORM_PROVIDE_SQRT
julientiron	0:1cb50d31c3b5	2298
julientiron	0:1cb50d31c3b5	2299	/*
julientiron	0:1cb50d31c3b5	2300	* 32 bit integer square root with not so bad precision (integer result) and is quite fast
julientiron	0:1cb50d31c3b5	2301	* see http://en.wikipedia.org/wiki/Methods_of_computing_square_roots
julientiron	0:1cb50d31c3b5	2302	*/
julientiron	0:1cb50d31c3b5	2303	uint32_t VL6180x_SqrtUint32(uint32_t num) {
julientiron	0:1cb50d31c3b5	2304	uint32_t res = 0;
julientiron	0:1cb50d31c3b5	2305	uint32_t bit = 1 << 30; /* The second-to-top bit is set: 1 << 30 for 32 bits */
julientiron	0:1cb50d31c3b5	2306
julientiron	0:1cb50d31c3b5	2307	/* "bit" starts at the highest power of four <= the argument. */
julientiron	0:1cb50d31c3b5	2308	while (bit > num)
julientiron	0:1cb50d31c3b5	2309	bit >>= 2;
julientiron	0:1cb50d31c3b5	2310
julientiron	0:1cb50d31c3b5	2311	while (bit != 0) {
julientiron	0:1cb50d31c3b5	2312	if (num >= res + bit) {
julientiron	0:1cb50d31c3b5	2313	num -= res + bit;
julientiron	0:1cb50d31c3b5	2314	res = (res >> 1) + bit;
julientiron	0:1cb50d31c3b5	2315	}
julientiron	0:1cb50d31c3b5	2316	else
julientiron	0:1cb50d31c3b5	2317	res >>= 1;
julientiron	0:1cb50d31c3b5	2318	bit >>= 2;
julientiron	0:1cb50d31c3b5	2319	}
julientiron	0:1cb50d31c3b5	2320	return res;
julientiron	0:1cb50d31c3b5	2321	}
julientiron	0:1cb50d31c3b5	2322	#endif
julientiron	0:1cb50d31c3b5	2323
julientiron	0:1cb50d31c3b5	2324
julientiron	0:1cb50d31c3b5	2325	/* DMax one time init */
julientiron	0:1cb50d31c3b5	2326	void _DMax_OneTimeInit(VL6180xDev_t dev){
julientiron	0:1cb50d31c3b5	2327	_DMaxData(ambTuningWindowFactor_K)=DEF_AMBIENT_TUNING;
julientiron	0:1cb50d31c3b5	2328	}
julientiron	0:1cb50d31c3b5	2329
julientiron	0:1cb50d31c3b5	2330
julientiron	0:1cb50d31c3b5	2331	static uint32_t _DMax_RawValueAtRateKCps(VL6180xDev_t dev, int32_t rate){
julientiron	0:1cb50d31c3b5	2332	uint32_t snrLimit_K;
julientiron	0:1cb50d31c3b5	2333	int32_t DMaxSq;
julientiron	0:1cb50d31c3b5	2334	uint32_t RawDMax;
julientiron	0:1cb50d31c3b5	2335	DMaxFix_t retSignalAt400mm;
julientiron	0:1cb50d31c3b5	2336	uint32_t ambTuningWindowFactor_K;
julientiron	0:1cb50d31c3b5	2337
julientiron	0:1cb50d31c3b5	2338
julientiron	0:1cb50d31c3b5	2339	ambTuningWindowFactor_K = _DMaxData(ambTuningWindowFactor_K);
julientiron	0:1cb50d31c3b5	2340	snrLimit_K = _DMaxData(snrLimit_K);
julientiron	0:1cb50d31c3b5	2341	retSignalAt400mm = _DMaxData(retSignalAt400mm); /* 12 to 18 bits Kcps */
julientiron	0:1cb50d31c3b5	2342	if( rate > 0 ){
julientiron	0:1cb50d31c3b5	2343	DMaxSq = 4004001000 / rate -(400400/330); / K of (1/RtnAmb -1/330 )=> 30bit- (12-18)bit => 12-18 bits*/
julientiron	0:1cb50d31c3b5	2344	if( DMaxSq<= 0){
julientiron	0:1cb50d31c3b5	2345	RawDMax = 0;
julientiron	0:1cb50d31c3b5	2346	}
julientiron	0:1cb50d31c3b5	2347	else{
julientiron	0:1cb50d31c3b5	2348	/* value can be more 32 bit so base on raneg apply retSignalAt400mm before or after division to presevr accuracy /
julientiron	0:1cb50d31c3b5	2349	if( DMaxSq< (2<<12) ){
julientiron	0:1cb50d31c3b5	2350	DMaxSq = DMaxSqretSignalAt400mm/(snrLimit_K+ambTuningWindowFactor_K); / max 12 + 12 to 18 -10 => 12-26 bit */
julientiron	0:1cb50d31c3b5	2351	}else{
julientiron	0:1cb50d31c3b5	2352	DMaxSq = DMaxSq/(snrLimit_K+ambTuningWindowFactor_K)retSignalAt400mm; / 12 to 18 -10 + 12 to 18 => 12-26 bit /
julientiron	0:1cb50d31c3b5	2353	}
julientiron	0:1cb50d31c3b5	2354	RawDMax=VL6180x_SqrtUint32(DMaxSq);
julientiron	0:1cb50d31c3b5	2355	}
julientiron	0:1cb50d31c3b5	2356	}
julientiron	0:1cb50d31c3b5	2357	else{
julientiron	0:1cb50d31c3b5	2358	RawDMax = 0x7FFFFFFF; /* bigest possibmle 32bit signed value */
julientiron	0:1cb50d31c3b5	2359	}
julientiron	0:1cb50d31c3b5	2360	return RawDMax;
julientiron	0:1cb50d31c3b5	2361	}
julientiron	0:1cb50d31c3b5	2362
julientiron	0:1cb50d31c3b5	2363	/*
julientiron	0:1cb50d31c3b5	2364	* fetch static data from register to avoid re-read
julientiron	0:1cb50d31c3b5	2365	* precompute all intermediate constant and cliipings
julientiron	0:1cb50d31c3b5	2366	*
julientiron	0:1cb50d31c3b5	2367	* to be re-used/call on changes of :
julientiron	0:1cb50d31c3b5	2368	* 0x2A
julientiron	0:1cb50d31c3b5	2369	* SYSRANGE_MAX_AMBIENT_LEVEL_MULT
julientiron	0:1cb50d31c3b5	2370	* Dev Data XtalkComRate_KCPs
julientiron	0:1cb50d31c3b5	2371	* SYSRANGE_MAX_CONVERGENCE_TIME
julientiron	0:1cb50d31c3b5	2372	* SYSRANGE_RANGE_CHECK_ENABLES mask RANGE_CHECK_RANGE_ENABLE_MASK
julientiron	0:1cb50d31c3b5	2373	* range 0xb8-0xbb (0xbb)
julientiron	0:1cb50d31c3b5	2374	*/
julientiron	0:1cb50d31c3b5	2375	int VL6180X::_DMax_InitData(VL6180xDev_t dev){
julientiron	0:1cb50d31c3b5	2376	int status, warning;
julientiron	0:1cb50d31c3b5	2377	uint8_t u8;
julientiron	0:1cb50d31c3b5	2378	uint16_t u16;
julientiron	0:1cb50d31c3b5	2379	uint32_t u32;
julientiron	0:1cb50d31c3b5	2380	uint32_t Reg2A_KCps;
julientiron	0:1cb50d31c3b5	2381	uint32_t RegB8;
julientiron	0:1cb50d31c3b5	2382	uint8_t MaxConvTime;
julientiron	0:1cb50d31c3b5	2383	uint32_t XTalkCompRate_KCps;
julientiron	0:1cb50d31c3b5	2384	uint32_t RangeIgnoreThreshold;
julientiron	0:1cb50d31c3b5	2385	int32_t minSignalNeeded;
julientiron	0:1cb50d31c3b5	2386	uint8_t SysRangeCheckEn;
julientiron	0:1cb50d31c3b5	2387	uint8_t snrLimit;
julientiron	0:1cb50d31c3b5	2388	warning=0;
julientiron	0:1cb50d31c3b5	2389
julientiron	0:1cb50d31c3b5	2390	static const int ROMABLE_DATA MaxConvTimeAdjust=-4;
julientiron	0:1cb50d31c3b5	2391
julientiron	0:1cb50d31c3b5	2392	LOG_FUNCTION_START("");
julientiron	0:1cb50d31c3b5	2393	do{
julientiron	0:1cb50d31c3b5	2394	status = VL6180x_RdByte(dev, 0x02A ,&u8);
julientiron	0:1cb50d31c3b5	2395	if( status ){
julientiron	0:1cb50d31c3b5	2396	VL6180x_ErrLog("Reg 0x02A rd fail");
julientiron	0:1cb50d31c3b5	2397	break;
julientiron	0:1cb50d31c3b5	2398	}
julientiron	0:1cb50d31c3b5	2399
julientiron	0:1cb50d31c3b5	2400	if( u8 == 0 ) {
julientiron	0:1cb50d31c3b5	2401	warning = CALIBRATION_WARNING;
julientiron	0:1cb50d31c3b5	2402	u8 = 40; /* use a default average value */
julientiron	0:1cb50d31c3b5	2403	}
julientiron	0:1cb50d31c3b5	2404	Reg2A_KCps = Fix7_2_KCPs(u8); /* convert to KCPs */
julientiron	0:1cb50d31c3b5	2405
julientiron	0:1cb50d31c3b5	2406	status = VL6180x_RdByte(dev, SYSRANGE_RANGE_CHECK_ENABLES, &SysRangeCheckEn);
julientiron	0:1cb50d31c3b5	2407	if (status) {
julientiron	0:1cb50d31c3b5	2408	VL6180x_ErrLog("SYSRANGE_RANGE_CHECK_ENABLES rd fail ");
julientiron	0:1cb50d31c3b5	2409	break;
julientiron	0:1cb50d31c3b5	2410	}
julientiron	0:1cb50d31c3b5	2411
julientiron	0:1cb50d31c3b5	2412	status = VL6180x_RdByte(dev, SYSRANGE_MAX_CONVERGENCE_TIME, &MaxConvTime);
julientiron	0:1cb50d31c3b5	2413	if( status){
julientiron	0:1cb50d31c3b5	2414	VL6180x_ErrLog("SYSRANGE_MAX_CONVERGENCE_TIME rd fail ");
julientiron	0:1cb50d31c3b5	2415	break;
julientiron	0:1cb50d31c3b5	2416	}
julientiron	0:1cb50d31c3b5	2417
julientiron	0:1cb50d31c3b5	2418	status = VL6180x_RdDWord(dev, 0x0B8, &RegB8);
julientiron	0:1cb50d31c3b5	2419	if( status ){
julientiron	0:1cb50d31c3b5	2420	VL6180x_ErrLog("reg 0x0B8 rd fail ");
julientiron	0:1cb50d31c3b5	2421	break;
julientiron	0:1cb50d31c3b5	2422	}
julientiron	0:1cb50d31c3b5	2423
julientiron	0:1cb50d31c3b5	2424	status = VL6180x_RdByte(dev, SYSRANGE_MAX_AMBIENT_LEVEL_MULT, &snrLimit);
julientiron	0:1cb50d31c3b5	2425	if( status){
julientiron	0:1cb50d31c3b5	2426	VL6180x_ErrLog("SYSRANGE_MAX_AMBIENT_LEVEL_MULT rd fail ");
julientiron	0:1cb50d31c3b5	2427	break;
julientiron	0:1cb50d31c3b5	2428	}
julientiron	0:1cb50d31c3b5	2429	_DMaxData(snrLimit_K) = (int32_t)16*1000/snrLimit;
julientiron	0:1cb50d31c3b5	2430	XTalkCompRate_KCps = VL6180xDevDataGet(dev, XTalkCompRate_KCps );
julientiron	0:1cb50d31c3b5	2431
julientiron	0:1cb50d31c3b5	2432	if( Reg2A_KCps >= XTalkCompRate_KCps){
julientiron	0:1cb50d31c3b5	2433	_DMaxData(retSignalAt400mm)=( Reg2A_KCps - XTalkCompRate_KCps);
julientiron	0:1cb50d31c3b5	2434	}
julientiron	0:1cb50d31c3b5	2435	else{
julientiron	0:1cb50d31c3b5	2436	_DMaxData(retSignalAt400mm)=0; /* Reg2A_K - XTalkCompRate_KCp <0 is invalid */
julientiron	0:1cb50d31c3b5	2437	}
julientiron	0:1cb50d31c3b5	2438
julientiron	0:1cb50d31c3b5	2439	/* if xtalk range check is off omit it in snr clipping */
julientiron	0:1cb50d31c3b5	2440	if( SysRangeCheckEn&RANGE_CHECK_RANGE_ENABLE_MASK ){
julientiron	0:1cb50d31c3b5	2441	status = VL6180x_RdWord(dev, SYSRANGE_RANGE_IGNORE_THRESHOLD, &u16);
julientiron	0:1cb50d31c3b5	2442	if( status){
julientiron	0:1cb50d31c3b5	2443	VL6180x_ErrLog("SYSRANGE_RANGE_IGNORE_THRESHOLD rd fail ");
julientiron	0:1cb50d31c3b5	2444	break;
julientiron	0:1cb50d31c3b5	2445	}
julientiron	0:1cb50d31c3b5	2446	RangeIgnoreThreshold = Fix7_2_KCPs(u16);
julientiron	0:1cb50d31c3b5	2447	}
julientiron	0:1cb50d31c3b5	2448	else{
julientiron	0:1cb50d31c3b5	2449	RangeIgnoreThreshold = 0;
julientiron	0:1cb50d31c3b5	2450	}
julientiron	0:1cb50d31c3b5	2451
julientiron	0:1cb50d31c3b5	2452	minSignalNeeded = (RegB8256)/((int32_t)MaxConvTime+(int32_t)MaxConvTimeAdjust); / KCps 8+8 bit -(1 to 6 bit) => 15-10 bit */
julientiron	0:1cb50d31c3b5	2453	/* minSignalNeeded = max ( minSignalNeeded, RangeIgnoreThreshold - XTalkCompRate_KCps) */
julientiron	0:1cb50d31c3b5	2454	if( minSignalNeeded <= RangeIgnoreThreshold - XTalkCompRate_KCps )
julientiron	0:1cb50d31c3b5	2455	minSignalNeeded = RangeIgnoreThreshold - XTalkCompRate_KCps;
julientiron	0:1cb50d31c3b5	2456
julientiron	0:1cb50d31c3b5	2457	u32 = (minSignalNeeded*(uint32_t)snrLimit)/16;
julientiron	0:1cb50d31c3b5	2458	_DMaxData(ClipSnrLimit ) = _DMax_RawValueAtRateKCps(dev, u32 ); /* clip to dmax to min signal snr limit rate*/
julientiron	0:1cb50d31c3b5	2459	}
julientiron	0:1cb50d31c3b5	2460	while(0);
julientiron	0:1cb50d31c3b5	2461	if( !status )
julientiron	0:1cb50d31c3b5	2462	status = warning;
julientiron	0:1cb50d31c3b5	2463	LOG_FUNCTION_END(status);
julientiron	0:1cb50d31c3b5	2464	return status;
julientiron	0:1cb50d31c3b5	2465	}
julientiron	0:1cb50d31c3b5	2466
julientiron	0:1cb50d31c3b5	2467	static int _DMax_Compute(VL6180xDev_t dev, VL6180x_RangeData_t *pRange){
julientiron	0:1cb50d31c3b5	2468	uint32_t rtnAmbRate;
julientiron	0:1cb50d31c3b5	2469	int32_t DMax;
julientiron	0:1cb50d31c3b5	2470	int scaling;
julientiron	0:1cb50d31c3b5	2471	uint16_t HwLimitAtScale;
julientiron	0:1cb50d31c3b5	2472	static const int ROMABLE_DATA rtnAmbLowLimit_KCps=330*1000;
julientiron	0:1cb50d31c3b5	2473
julientiron	0:1cb50d31c3b5	2474	rtnAmbRate = pRange->rtnAmbRate;
julientiron	0:1cb50d31c3b5	2475	if( rtnAmbRate < rtnAmbLowLimit_KCps ){
julientiron	0:1cb50d31c3b5	2476	DMax = _DMax_RawValueAtRateKCps( dev, rtnAmbRate);
julientiron	0:1cb50d31c3b5	2477	scaling = _GetUpscale(dev);
julientiron	0:1cb50d31c3b5	2478	HwLimitAtScale=UpperLimitLookUP[scaling - 1];
julientiron	0:1cb50d31c3b5	2479
julientiron	0:1cb50d31c3b5	2480	if( DMax > _DMaxData(ClipSnrLimit) ){
julientiron	0:1cb50d31c3b5	2481	DMax=_DMaxData(ClipSnrLimit);
julientiron	0:1cb50d31c3b5	2482	}
julientiron	0:1cb50d31c3b5	2483	if( DMax > HwLimitAtScale ){
julientiron	0:1cb50d31c3b5	2484	DMax=HwLimitAtScale;
julientiron	0:1cb50d31c3b5	2485	}
julientiron	0:1cb50d31c3b5	2486	pRange->DMax=DMax;
julientiron	0:1cb50d31c3b5	2487	}
julientiron	0:1cb50d31c3b5	2488	else{
julientiron	0:1cb50d31c3b5	2489	pRange->DMax = 0;
julientiron	0:1cb50d31c3b5	2490	}
julientiron	0:1cb50d31c3b5	2491	return 0;
julientiron	0:1cb50d31c3b5	2492	}
julientiron	0:1cb50d31c3b5	2493
julientiron	0:1cb50d31c3b5	2494	#undef _DMaxData
julientiron	0:1cb50d31c3b5	2495	#undef Fix7_2_KCPs
julientiron	0:1cb50d31c3b5	2496
julientiron	0:1cb50d31c3b5	2497	#endif /* VL6180x_HAVE_DMAX_RANGING */
julientiron	0:1cb50d31c3b5	2498
julientiron	0:1cb50d31c3b5	2499
julientiron	0:1cb50d31c3b5	2500	/******************************************************************************/
julientiron	0:1cb50d31c3b5	2501	/******************************************************************************/
julientiron	0:1cb50d31c3b5	2502
julientiron	0:1cb50d31c3b5	2503
julientiron	0:1cb50d31c3b5	2504
julientiron	0:1cb50d31c3b5	2505	/**************** Write and read functions from I2C ***********************/
julientiron	0:1cb50d31c3b5	2506
julientiron	0:1cb50d31c3b5	2507	int VL6180X::VL6180x_WrByte(VL6180xDev_t dev, uint16_t index, uint8_t data)
julientiron	0:1cb50d31c3b5	2508	{
julientiron	0:1cb50d31c3b5	2509	int status;
julientiron	0:1cb50d31c3b5	2510
julientiron	0:1cb50d31c3b5	2511	status=VL6180x_I2CWrite(Device->I2cAddr, index, &data,(uint8_t)1);
julientiron	0:1cb50d31c3b5	2512	return status;
julientiron	0:1cb50d31c3b5	2513	}
julientiron	0:1cb50d31c3b5	2514
julientiron	0:1cb50d31c3b5	2515	int VL6180X::VL6180x_WrWord(VL6180xDev_t dev, uint16_t index, uint16_t data)
julientiron	0:1cb50d31c3b5	2516	{
julientiron	0:1cb50d31c3b5	2517	int status;
julientiron	0:1cb50d31c3b5	2518
julientiron	0:1cb50d31c3b5	2519	status=VL6180x_I2CWrite(Device->I2cAddr, index, (uint8_t *)&data,(uint8_t)2);
julientiron	0:1cb50d31c3b5	2520	return status;
julientiron	0:1cb50d31c3b5	2521	}
julientiron	0:1cb50d31c3b5	2522
julientiron	0:1cb50d31c3b5	2523	int VL6180X::VL6180x_WrDWord(VL6180xDev_t dev, uint16_t index, uint32_t data)
julientiron	0:1cb50d31c3b5	2524	{
julientiron	0:1cb50d31c3b5	2525	int status;
julientiron	0:1cb50d31c3b5	2526
julientiron	0:1cb50d31c3b5	2527	status=VL6180x_I2CWrite(Device->I2cAddr, index, (uint8_t *)&data,(uint8_t)4);
julientiron	0:1cb50d31c3b5	2528	return status;
julientiron	0:1cb50d31c3b5	2529	}
julientiron	0:1cb50d31c3b5	2530
julientiron	0:1cb50d31c3b5	2531	int VL6180X::VL6180x_RdByte(VL6180xDev_t dev, uint16_t index, uint8_t *data)
julientiron	0:1cb50d31c3b5	2532	{
julientiron	0:1cb50d31c3b5	2533	int status;
julientiron	0:1cb50d31c3b5	2534
julientiron	0:1cb50d31c3b5	2535	uint8_t buffer;
julientiron	0:1cb50d31c3b5	2536	status=VL6180x_I2CRead(Device->I2cAddr, index, &buffer,1);
julientiron	0:1cb50d31c3b5	2537	if(!status)
julientiron	0:1cb50d31c3b5	2538	{
julientiron	0:1cb50d31c3b5	2539	*data=buffer;
julientiron	0:1cb50d31c3b5	2540	}
julientiron	0:1cb50d31c3b5	2541	return status;
julientiron	0:1cb50d31c3b5	2542	}
julientiron	0:1cb50d31c3b5	2543
julientiron	0:1cb50d31c3b5	2544	int VL6180X::VL6180x_RdWord(VL6180xDev_t dev, uint16_t index, uint16_t *data)
julientiron	0:1cb50d31c3b5	2545	{
julientiron	0:1cb50d31c3b5	2546	int status;
julientiron	0:1cb50d31c3b5	2547
julientiron	0:1cb50d31c3b5	2548	uint8_t buffer[2];
julientiron	0:1cb50d31c3b5	2549	status=VL6180x_I2CRead(Device->I2cAddr, index, buffer, 2);
julientiron	0:1cb50d31c3b5	2550	if(!status)
julientiron	0:1cb50d31c3b5	2551	{
julientiron	0:1cb50d31c3b5	2552	memcpy(data, buffer, 2);
julientiron	0:1cb50d31c3b5	2553	}
julientiron	0:1cb50d31c3b5	2554	return status;
julientiron	0:1cb50d31c3b5	2555	}
julientiron	0:1cb50d31c3b5	2556
julientiron	0:1cb50d31c3b5	2557	int VL6180X::VL6180x_RdDWord(VL6180xDev_t dev, uint16_t index, uint32_t *data)
julientiron	0:1cb50d31c3b5	2558	{
julientiron	0:1cb50d31c3b5	2559	int status;
julientiron	0:1cb50d31c3b5	2560	uint8_t buffer[4];
julientiron	0:1cb50d31c3b5	2561	status=VL6180x_I2CRead(Device->I2cAddr, index, buffer,4);
julientiron	0:1cb50d31c3b5	2562	if(!status)
julientiron	0:1cb50d31c3b5	2563	{
julientiron	0:1cb50d31c3b5	2564	memcpy(data, buffer, 4);
julientiron	0:1cb50d31c3b5	2565	}
julientiron	0:1cb50d31c3b5	2566	return status;
julientiron	0:1cb50d31c3b5	2567	}
julientiron	0:1cb50d31c3b5	2568
julientiron	0:1cb50d31c3b5	2569	int VL6180X::VL6180x_UpdateByte(VL6180xDev_t dev, uint16_t index, uint8_t AndData, uint8_t OrData)
julientiron	0:1cb50d31c3b5	2570	{
julientiron	0:1cb50d31c3b5	2571	int status;
julientiron	0:1cb50d31c3b5	2572	uint8_t buffer;
julientiron	0:1cb50d31c3b5	2573
julientiron	0:1cb50d31c3b5	2574	status=VL6180x_I2CWrite(Device->I2cAddr, index, (uint8_t *)buffer,(uint8_t)0);
julientiron	0:1cb50d31c3b5	2575	if(!status)
julientiron	0:1cb50d31c3b5	2576	{
julientiron	0:1cb50d31c3b5	2577	/* read data direct onto buffer */
julientiron	0:1cb50d31c3b5	2578	status=VL6180x_I2CRead(Device->I2cAddr, index, &buffer,1);
julientiron	0:1cb50d31c3b5	2579	if(!status)
julientiron	0:1cb50d31c3b5	2580	{
julientiron	0:1cb50d31c3b5	2581	buffer=(buffer & AndData)\|OrData;
julientiron	0:1cb50d31c3b5	2582	status=VL6180x_I2CWrite(Device->I2cAddr, index, &buffer, (uint8_t)1);
julientiron	0:1cb50d31c3b5	2583	}
julientiron	0:1cb50d31c3b5	2584	}
julientiron	0:1cb50d31c3b5	2585	return status;
julientiron	0:1cb50d31c3b5	2586	}
julientiron	0:1cb50d31c3b5	2587
julientiron	0:1cb50d31c3b5	2588	int VL6180X::VL6180x_I2CWrite(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t* pBuffer, uint16_t NumByteToWrite)
julientiron	0:1cb50d31c3b5	2589	{
julientiron	0:1cb50d31c3b5	2590	int ret;
julientiron	0:1cb50d31c3b5	2591	int i;
julientiron	0:1cb50d31c3b5	2592	uint8_t tmp[TEMP_BUF_SIZE];
julientiron	0:1cb50d31c3b5	2593	uint16_t myRegisterAddr = RegisterAddr;
julientiron	0:1cb50d31c3b5	2594	uint16_t WriteDeviceAddr=0;
julientiron	0:1cb50d31c3b5	2595
julientiron	0:1cb50d31c3b5	2596	/* First, prepare 8 bits device address in 7bits i2ci format */
julientiron	0:1cb50d31c3b5	2597	WriteDeviceAddr=DeviceAddr*2;
julientiron	0:1cb50d31c3b5	2598	if(NumByteToWrite >= TEMP_BUF_SIZE) return -2;
julientiron	0:1cb50d31c3b5	2599
julientiron	0:1cb50d31c3b5	2600	/* then prepare 16 bits register address in BE format. Then, send data and STOP condition */
julientiron	0:1cb50d31c3b5	2601	tmp[0] = (((uint8_t)&myRegisterAddr)+1);
julientiron	0:1cb50d31c3b5	2602	tmp[1] = (uint8_t)RegisterAddr;
julientiron	0:1cb50d31c3b5	2603
julientiron	0:1cb50d31c3b5	2604	if(NumByteToWrite>1) /* swap data endianess */
julientiron	0:1cb50d31c3b5	2605	{
julientiron	0:1cb50d31c3b5	2606	for(i=0;i<NumByteToWrite;i++)
julientiron	0:1cb50d31c3b5	2607	{
julientiron	0:1cb50d31c3b5	2608	tmp[NumByteToWrite+sizeof(RegisterAddr)-1-i]=pBuffer[i];
julientiron	0:1cb50d31c3b5	2609	}
julientiron	0:1cb50d31c3b5	2610	}
julientiron	0:1cb50d31c3b5	2611	else
julientiron	0:1cb50d31c3b5	2612	{
julientiron	0:1cb50d31c3b5	2613	memcpy(tmp+sizeof(RegisterAddr), pBuffer, NumByteToWrite);
julientiron	0:1cb50d31c3b5	2614	}
julientiron	0:1cb50d31c3b5	2615	ret = dev_i2c.write(WriteDeviceAddr, (const char*)tmp, NumByteToWrite+sizeof(RegisterAddr), false);
julientiron	0:1cb50d31c3b5	2616
julientiron	0:1cb50d31c3b5	2617	if(ret)
julientiron	0:1cb50d31c3b5	2618	return -1;
julientiron	0:1cb50d31c3b5	2619	return 0;
julientiron	0:1cb50d31c3b5	2620	}
julientiron	0:1cb50d31c3b5	2621
julientiron	0:1cb50d31c3b5	2622	int VL6180X::VL6180x_I2CRead(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t* pBuffer, uint16_t NumByteToRead)
julientiron	0:1cb50d31c3b5	2623	{
julientiron	0:1cb50d31c3b5	2624	int ret,i;
julientiron	0:1cb50d31c3b5	2625	uint8_t tmp[TEMP_BUF_SIZE];
julientiron	0:1cb50d31c3b5	2626	uint16_t myRegisterAddr = RegisterAddr;
julientiron	0:1cb50d31c3b5	2627	uint16_t myRegisterAddrBE;
julientiron	0:1cb50d31c3b5	2628	uint16_t ReadDeviceAddr=DeviceAddr;
julientiron	0:1cb50d31c3b5	2629
julientiron	0:1cb50d31c3b5	2630	ReadDeviceAddr=DeviceAddr*2;
julientiron	0:1cb50d31c3b5	2631	myRegisterAddrBE = (((uint8_t)&myRegisterAddr)+1);
julientiron	0:1cb50d31c3b5	2632	(((uint8_t)&myRegisterAddrBE)+1) = (uint8_t)myRegisterAddr;
julientiron	0:1cb50d31c3b5	2633
julientiron	0:1cb50d31c3b5	2634	/* Send 8 bits device address and 16 bits register address in BE format, with no STOP condition */
julientiron	0:1cb50d31c3b5	2635	ret = dev_i2c.write(ReadDeviceAddr, (const char*)&myRegisterAddrBE, sizeof(RegisterAddr), true);
julientiron	0:1cb50d31c3b5	2636	if(!ret)
julientiron	0:1cb50d31c3b5	2637	{
julientiron	0:1cb50d31c3b5	2638	ReadDeviceAddr\|=0x001;
julientiron	0:1cb50d31c3b5	2639	/* Read data, with STOP condition */
julientiron	0:1cb50d31c3b5	2640	ret = dev_i2c.read(ReadDeviceAddr, (char*)tmp, NumByteToRead, false);
julientiron	0:1cb50d31c3b5	2641	}
julientiron	0:1cb50d31c3b5	2642	if(ret)
julientiron	0:1cb50d31c3b5	2643	return -1;
julientiron	0:1cb50d31c3b5	2644
julientiron	0:1cb50d31c3b5	2645	if(NumByteToRead>1) /* swap data endianess */
julientiron	0:1cb50d31c3b5	2646	{
julientiron	0:1cb50d31c3b5	2647	for(i=0;i<NumByteToRead;i++)
julientiron	0:1cb50d31c3b5	2648	{
julientiron	0:1cb50d31c3b5	2649	pBuffer[i] = tmp[NumByteToRead-1-i];
julientiron	0:1cb50d31c3b5	2650	}
julientiron	0:1cb50d31c3b5	2651	}
julientiron	0:1cb50d31c3b5	2652	else
julientiron	0:1cb50d31c3b5	2653	{
julientiron	0:1cb50d31c3b5	2654	memcpy(pBuffer, tmp, NumByteToRead);
julientiron	0:1cb50d31c3b5	2655	}
julientiron	0:1cb50d31c3b5	2656	return 0;
julientiron	0:1cb50d31c3b5	2657	}
julientiron	0:1cb50d31c3b5	2658
julientiron	0:1cb50d31c3b5	2659	/******************************************************************************/
julientiron	0:1cb50d31c3b5	2660
julientiron	0:1cb50d31c3b5	2661	int VL6180X::AlsSetThresholds(uint16_t lux_threshold_low, uint16_t lux_threshold_high)
julientiron	0:1cb50d31c3b5	2662	{
julientiron	0:1cb50d31c3b5	2663	uint32_t AlsAnGain, IntPeriod, AlsScaler, GainFix, RawAlsHigh, RawAlsLow;
julientiron	0:1cb50d31c3b5	2664	uint16_t RawThreshLow, RawThreshHigh;
julientiron	0:1cb50d31c3b5	2665	const uint32_t LuxResxIntIme =(uint32_t)(0.56f* DEF_INT_PEFRIOD *(1<<LUXRES_FIX_PREC));
julientiron	0:1cb50d31c3b5	2666	void *p_low;
julientiron	0:1cb50d31c3b5	2667	void *p_high;
julientiron	0:1cb50d31c3b5	2668
julientiron	0:1cb50d31c3b5	2669	AlsAnGain=VL6180xDevDataGet(Device, AlsGainCode);
julientiron	0:1cb50d31c3b5	2670	IntPeriod=VL6180xDevDataGet(Device, IntegrationPeriod);
julientiron	0:1cb50d31c3b5	2671	AlsScaler=VL6180xDevDataGet(Device, AlsScaler);
julientiron	0:1cb50d31c3b5	2672	GainFix=AlsGainLookUp[AlsAnGain];
julientiron	0:1cb50d31c3b5	2673	IntPeriod++;
julientiron	0:1cb50d31c3b5	2674	RawAlsLow=lux_threshold_lowAlsScalerGainFix;
julientiron	0:1cb50d31c3b5	2675	RawAlsLow=RawAlsLow*IntPeriod;
julientiron	0:1cb50d31c3b5	2676	RawAlsLow=RawAlsLow/LuxResxIntIme;
julientiron	0:1cb50d31c3b5	2677	RawAlsHigh=lux_threshold_high(AlsScalerGainFix);
julientiron	0:1cb50d31c3b5	2678	RawAlsHigh=RawAlsHigh*IntPeriod;
julientiron	0:1cb50d31c3b5	2679	RawAlsHigh=RawAlsHigh/LuxResxIntIme;
julientiron	0:1cb50d31c3b5	2680	p_low=&RawAlsLow;
julientiron	0:1cb50d31c3b5	2681	RawThreshLow=(uint16_t)p_low;
julientiron	0:1cb50d31c3b5	2682	p_high=&RawAlsHigh;
julientiron	0:1cb50d31c3b5	2683	RawThreshHigh=(uint16_t)p_high;
julientiron	0:1cb50d31c3b5	2684	return VL6180x_AlsSetThresholds(Device, RawThreshLow, RawThreshHigh);
julientiron	0:1cb50d31c3b5	2685	}
julientiron	0:1cb50d31c3b5	2686
julientiron	0:1cb50d31c3b5	2687
julientiron	0:1cb50d31c3b5	2688	int VL6180X::ReadID()
julientiron	0:1cb50d31c3b5	2689	{
julientiron	0:1cb50d31c3b5	2690	int status;
julientiron	0:1cb50d31c3b5	2691	uint8_t rl_id=0;
julientiron	0:1cb50d31c3b5	2692
julientiron	0:1cb50d31c3b5	2693	status=VL6180x_RdByte(Device, IDENTIFICATION_MODEL_ID, &rl_id);
julientiron	0:1cb50d31c3b5	2694	if((status==0)&&(rl_id==0xB4))
julientiron	0:1cb50d31c3b5	2695	return status;
julientiron	0:1cb50d31c3b5	2696	else
julientiron	0:1cb50d31c3b5	2697	return INVALID_PARAMS;
julientiron	0:1cb50d31c3b5	2698	}
julientiron	0:1cb50d31c3b5	2699
julientiron	0:1cb50d31c3b5	2700
julientiron	0:1cb50d31c3b5	2701	int VL6180X::InitSensor(uint8_t NewAddr)
julientiron	0:1cb50d31c3b5	2702	{
julientiron	0:1cb50d31c3b5	2703	int status;
julientiron	0:1cb50d31c3b5	2704
julientiron	0:1cb50d31c3b5	2705	VL6180x_Off();
julientiron	0:1cb50d31c3b5	2706	VL6180x_On();
julientiron	0:1cb50d31c3b5	2707	status=VL6180x_WaitDeviceBooted(Device);
julientiron	0:1cb50d31c3b5	2708	if(status)
julientiron	0:1cb50d31c3b5	2709	VL6180x_ErrLog("WaitDeviceBooted fail\n\r");
julientiron	0:1cb50d31c3b5	2710	status=IsPresent();
julientiron	0:1cb50d31c3b5	2711	if(!status)
julientiron	0:1cb50d31c3b5	2712	{
julientiron	0:1cb50d31c3b5	2713	Device->Present=1;
julientiron	0:1cb50d31c3b5	2714	status=Init();
julientiron	0:1cb50d31c3b5	2715	if(status)
julientiron	0:1cb50d31c3b5	2716	{
julientiron	0:1cb50d31c3b5	2717	printf("Failed to init VL6180X sensor!\n\r");
julientiron	0:1cb50d31c3b5	2718	return status;
julientiron	0:1cb50d31c3b5	2719	}
julientiron	0:1cb50d31c3b5	2720	status=Prepare();
julientiron	0:1cb50d31c3b5	2721	if(status)
julientiron	0:1cb50d31c3b5	2722	{
julientiron	0:1cb50d31c3b5	2723	printf("Failed to prepare VL6180X!\n\r");
julientiron	0:1cb50d31c3b5	2724	return status;
julientiron	0:1cb50d31c3b5	2725	}
julientiron	0:1cb50d31c3b5	2726	if(NewAddr!=DEFAULT_DEVICE_ADDRESS)
julientiron	0:1cb50d31c3b5	2727	{
julientiron	0:1cb50d31c3b5	2728	status=SetI2CAddress(NewAddr);
julientiron	0:1cb50d31c3b5	2729	if(status)
julientiron	0:1cb50d31c3b5	2730	{
julientiron	0:1cb50d31c3b5	2731	printf("Failed to change I2C address!\n\r");
julientiron	0:1cb50d31c3b5	2732	return status;
julientiron	0:1cb50d31c3b5	2733	}
julientiron	0:1cb50d31c3b5	2734	}
julientiron	0:1cb50d31c3b5	2735	else
julientiron	0:1cb50d31c3b5	2736	{
julientiron	0:1cb50d31c3b5	2737	printf("Invalid new address!\n\r");
julientiron	0:1cb50d31c3b5	2738	return INVALID_PARAMS;
julientiron	0:1cb50d31c3b5	2739	}
julientiron	0:1cb50d31c3b5	2740	Device->Ready=1;
julientiron	0:1cb50d31c3b5	2741	}
julientiron	0:1cb50d31c3b5	2742	return status;
julientiron	0:1cb50d31c3b5	2743	}
julientiron	0:1cb50d31c3b5	2744
julientiron	0:1cb50d31c3b5	2745
julientiron	0:1cb50d31c3b5	2746	int VL6180X::StartMeasurement(OperatingMode operating_mode, void (*fptr)(void), uint16_t low, uint16_t high)
julientiron	0:1cb50d31c3b5	2747	{
julientiron	0:1cb50d31c3b5	2748	int status, r_status, l_status;
julientiron	0:1cb50d31c3b5	2749
julientiron	0:1cb50d31c3b5	2750	switch(operating_mode)
julientiron	0:1cb50d31c3b5	2751	{
julientiron	0:1cb50d31c3b5	2752	case(range_single_shot_polling):
julientiron	0:1cb50d31c3b5	2753	r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
julientiron	0:1cb50d31c3b5	2754	l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
julientiron	0:1cb50d31c3b5	2755	if((!r_status)&&(!l_status))
julientiron	0:1cb50d31c3b5	2756	return RangeMeasPollSingleShot();
julientiron	0:1cb50d31c3b5	2757	else
julientiron	0:1cb50d31c3b5	2758	return (r_status\|l_status);
julientiron	0:1cb50d31c3b5	2759
julientiron	0:1cb50d31c3b5	2760	case(als_single_shot_polling):
julientiron	0:1cb50d31c3b5	2761	r_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
julientiron	0:1cb50d31c3b5	2762	l_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
julientiron	0:1cb50d31c3b5	2763	if((!r_status)&&(!l_status))
julientiron	0:1cb50d31c3b5	2764	return AlsMeasPollSingleShot();
julientiron	0:1cb50d31c3b5	2765	else
julientiron	0:1cb50d31c3b5	2766	return (r_status\|l_status);
julientiron	0:1cb50d31c3b5	2767
julientiron	0:1cb50d31c3b5	2768	case(range_continuous_polling):
julientiron	0:1cb50d31c3b5	2769	r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
julientiron	0:1cb50d31c3b5	2770	l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
julientiron	0:1cb50d31c3b5	2771	if((!r_status)&&(!l_status))
julientiron	0:1cb50d31c3b5	2772	return RangeMeasPollContinuousMode();
julientiron	0:1cb50d31c3b5	2773	else
julientiron	0:1cb50d31c3b5	2774	return (r_status\|l_status);
julientiron	0:1cb50d31c3b5	2775
julientiron	0:1cb50d31c3b5	2776	case(als_continuous_polling):
julientiron	0:1cb50d31c3b5	2777	r_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
julientiron	0:1cb50d31c3b5	2778	l_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
julientiron	0:1cb50d31c3b5	2779	if((!r_status)&&(!l_status))
julientiron	0:1cb50d31c3b5	2780	return AlsMeasPollContinuousMode();
julientiron	0:1cb50d31c3b5	2781	else
julientiron	0:1cb50d31c3b5	2782	return (r_status\|l_status);
julientiron	0:1cb50d31c3b5	2783
julientiron	0:1cb50d31c3b5	2784	case(range_continuous_interrupt):
julientiron	0:1cb50d31c3b5	2785	r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
julientiron	0:1cb50d31c3b5	2786	l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
julientiron	0:1cb50d31c3b5	2787	if((!r_status)&&(!l_status))
julientiron	0:1cb50d31c3b5	2788	return RangeMeasIntContinuousMode(fptr);
julientiron	0:1cb50d31c3b5	2789	else
julientiron	0:1cb50d31c3b5	2790	return (r_status\|l_status);
julientiron	0:1cb50d31c3b5	2791
julientiron	0:1cb50d31c3b5	2792	case(als_continuous_interrupt):
julientiron	0:1cb50d31c3b5	2793	l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
julientiron	0:1cb50d31c3b5	2794	r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
julientiron	0:1cb50d31c3b5	2795	if((!r_status)&&(!l_status))
julientiron	0:1cb50d31c3b5	2796	return AlsMeasIntContinuousMode(fptr);
julientiron	0:1cb50d31c3b5	2797	else
julientiron	0:1cb50d31c3b5	2798	return (r_status\|l_status);
julientiron	0:1cb50d31c3b5	2799
julientiron	0:1cb50d31c3b5	2800	case(interleaved_mode_interrupt):
julientiron	0:1cb50d31c3b5	2801	l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
julientiron	0:1cb50d31c3b5	2802	r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
julientiron	0:1cb50d31c3b5	2803	if((!r_status)&&(!l_status))
julientiron	0:1cb50d31c3b5	2804	return InterleavedMode(fptr);
julientiron	0:1cb50d31c3b5	2805	else
julientiron	0:1cb50d31c3b5	2806	return (r_status\|l_status);
julientiron	0:1cb50d31c3b5	2807
julientiron	0:1cb50d31c3b5	2808	case(range_continuous_polling_low_threshold):
julientiron	0:1cb50d31c3b5	2809	r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_LOW);
julientiron	0:1cb50d31c3b5	2810	l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
julientiron	0:1cb50d31c3b5	2811	if((!r_status)&&(!l_status))
julientiron	0:1cb50d31c3b5	2812	{
julientiron	0:1cb50d31c3b5	2813	status=RangeSetLowThreshold(low);
julientiron	0:1cb50d31c3b5	2814	if(!status)
julientiron	0:1cb50d31c3b5	2815	return RangeMeasPollContinuousMode();
julientiron	0:1cb50d31c3b5	2816	else
julientiron	0:1cb50d31c3b5	2817	return status;
julientiron	0:1cb50d31c3b5	2818	}
julientiron	0:1cb50d31c3b5	2819	else
julientiron	0:1cb50d31c3b5	2820	return (r_status\|l_status);
julientiron	0:1cb50d31c3b5	2821
julientiron	0:1cb50d31c3b5	2822	case(range_continuous_polling_high_threshold):
julientiron	0:1cb50d31c3b5	2823	status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_HIGH);
julientiron	0:1cb50d31c3b5	2824	status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
julientiron	0:1cb50d31c3b5	2825	if((!r_status)&&(!l_status))
julientiron	0:1cb50d31c3b5	2826	{
julientiron	0:1cb50d31c3b5	2827	status=RangeSetHighThreshold(high);
julientiron	0:1cb50d31c3b5	2828	if(!status)
julientiron	0:1cb50d31c3b5	2829	return RangeMeasPollContinuousMode();
julientiron	0:1cb50d31c3b5	2830	else
julientiron	0:1cb50d31c3b5	2831	return status;
julientiron	0:1cb50d31c3b5	2832	}
julientiron	0:1cb50d31c3b5	2833	else
julientiron	0:1cb50d31c3b5	2834	return (r_status\|l_status);
julientiron	0:1cb50d31c3b5	2835
julientiron	0:1cb50d31c3b5	2836	case(range_continuous_polling_out_of_window):
julientiron	0:1cb50d31c3b5	2837	status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW);
julientiron	0:1cb50d31c3b5	2838	status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
julientiron	0:1cb50d31c3b5	2839	if((!r_status)&&(!l_status))
julientiron	0:1cb50d31c3b5	2840	{
julientiron	0:1cb50d31c3b5	2841	status=VL6180x_RangeSetThresholds(Device,low,high,1);
julientiron	0:1cb50d31c3b5	2842	if(!status)
julientiron	0:1cb50d31c3b5	2843	return RangeMeasPollContinuousMode();
julientiron	0:1cb50d31c3b5	2844	else
julientiron	0:1cb50d31c3b5	2845	return status;
julientiron	0:1cb50d31c3b5	2846	}
julientiron	0:1cb50d31c3b5	2847	else
julientiron	0:1cb50d31c3b5	2848	return (r_status\|l_status);
julientiron	0:1cb50d31c3b5	2849
julientiron	0:1cb50d31c3b5	2850	case(als_continuous_polling_low_threshold):
julientiron	0:1cb50d31c3b5	2851	status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_LOW);
julientiron	0:1cb50d31c3b5	2852	status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
julientiron	0:1cb50d31c3b5	2853	if((!r_status)&&(!l_status))
julientiron	0:1cb50d31c3b5	2854	{
julientiron	0:1cb50d31c3b5	2855	status=AlsSetLowThreshold(low);
julientiron	0:1cb50d31c3b5	2856	if(!status)
julientiron	0:1cb50d31c3b5	2857	return AlsMeasPollContinuousMode();
julientiron	0:1cb50d31c3b5	2858	else
julientiron	0:1cb50d31c3b5	2859	return status;
julientiron	0:1cb50d31c3b5	2860	}
julientiron	0:1cb50d31c3b5	2861	else
julientiron	0:1cb50d31c3b5	2862	return (r_status\|l_status);
julientiron	0:1cb50d31c3b5	2863
julientiron	0:1cb50d31c3b5	2864	case(als_continuous_polling_high_threshold):
julientiron	0:1cb50d31c3b5	2865	status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_HIGH);
julientiron	0:1cb50d31c3b5	2866	status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
julientiron	0:1cb50d31c3b5	2867	if((!r_status)&&(!l_status))
julientiron	0:1cb50d31c3b5	2868	{
julientiron	0:1cb50d31c3b5	2869	status=AlsSetHighThreshold(high);
julientiron	0:1cb50d31c3b5	2870	if(!status)
julientiron	0:1cb50d31c3b5	2871	return AlsMeasPollContinuousMode();
julientiron	0:1cb50d31c3b5	2872	else
julientiron	0:1cb50d31c3b5	2873	return status;
julientiron	0:1cb50d31c3b5	2874	}
julientiron	0:1cb50d31c3b5	2875	else
julientiron	0:1cb50d31c3b5	2876	return (r_status\|l_status);
julientiron	0:1cb50d31c3b5	2877
julientiron	0:1cb50d31c3b5	2878	case(als_continuous_polling_out_of_window):
julientiron	0:1cb50d31c3b5	2879	status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW);
julientiron	0:1cb50d31c3b5	2880	status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
julientiron	0:1cb50d31c3b5	2881	if((!r_status)&&(!l_status))
julientiron	0:1cb50d31c3b5	2882	{
julientiron	0:1cb50d31c3b5	2883	status=VL6180x_AlsSetThresholds(Device,low,high);
julientiron	0:1cb50d31c3b5	2884	if(!status)
julientiron	0:1cb50d31c3b5	2885	return AlsMeasPollContinuousMode();
julientiron	0:1cb50d31c3b5	2886	else
julientiron	0:1cb50d31c3b5	2887	return status;
julientiron	0:1cb50d31c3b5	2888	}
julientiron	0:1cb50d31c3b5	2889	else
julientiron	0:1cb50d31c3b5	2890	return (r_status\|l_status);
julientiron	0:1cb50d31c3b5	2891
julientiron	0:1cb50d31c3b5	2892	case(range_continuous_interrupt_low_threshold):
julientiron	0:1cb50d31c3b5	2893	status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_LOW);
julientiron	0:1cb50d31c3b5	2894	status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
julientiron	0:1cb50d31c3b5	2895	if((!r_status)&&(!l_status))
julientiron	0:1cb50d31c3b5	2896	{
julientiron	0:1cb50d31c3b5	2897	status=RangeSetLowThreshold(low);
julientiron	0:1cb50d31c3b5	2898	if(!status)
julientiron	0:1cb50d31c3b5	2899	return RangeMeasIntContinuousMode(fptr);
julientiron	0:1cb50d31c3b5	2900	else
julientiron	0:1cb50d31c3b5	2901	return status;
julientiron	0:1cb50d31c3b5	2902	}
julientiron	0:1cb50d31c3b5	2903	else
julientiron	0:1cb50d31c3b5	2904	return (r_status\|l_status);
julientiron	0:1cb50d31c3b5	2905
julientiron	0:1cb50d31c3b5	2906	case(range_continuous_interrupt_high_threshold):
julientiron	0:1cb50d31c3b5	2907	status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_HIGH);
julientiron	0:1cb50d31c3b5	2908	status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
julientiron	0:1cb50d31c3b5	2909	if((!r_status)&&(!l_status))
julientiron	0:1cb50d31c3b5	2910	{
julientiron	0:1cb50d31c3b5	2911	status=RangeSetHighThreshold(high);
julientiron	0:1cb50d31c3b5	2912	if(!status)
julientiron	0:1cb50d31c3b5	2913	return RangeMeasIntContinuousMode(fptr);
julientiron	0:1cb50d31c3b5	2914	else
julientiron	0:1cb50d31c3b5	2915	return status;
julientiron	0:1cb50d31c3b5	2916	}
julientiron	0:1cb50d31c3b5	2917	else
julientiron	0:1cb50d31c3b5	2918	return (r_status\|l_status);
julientiron	0:1cb50d31c3b5	2919
julientiron	0:1cb50d31c3b5	2920	case(range_continuous_interrupt_out_of_window):
julientiron	0:1cb50d31c3b5	2921	status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW);
julientiron	0:1cb50d31c3b5	2922	status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
julientiron	0:1cb50d31c3b5	2923	if((!r_status)&&(!l_status))
julientiron	0:1cb50d31c3b5	2924	{
julientiron	0:1cb50d31c3b5	2925	status=VL6180x_RangeSetThresholds(Device,low,high,1);
julientiron	0:1cb50d31c3b5	2926	if(!status)
julientiron	0:1cb50d31c3b5	2927	return RangeMeasIntContinuousMode(fptr);
julientiron	0:1cb50d31c3b5	2928	else
julientiron	0:1cb50d31c3b5	2929	return status;
julientiron	0:1cb50d31c3b5	2930	}
julientiron	0:1cb50d31c3b5	2931	else
julientiron	0:1cb50d31c3b5	2932	return (r_status\|l_status);
julientiron	0:1cb50d31c3b5	2933
julientiron	0:1cb50d31c3b5	2934	case(als_continuous_interrupt_low_threshold):
julientiron	0:1cb50d31c3b5	2935	status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_LOW);
julientiron	0:1cb50d31c3b5	2936	status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
julientiron	0:1cb50d31c3b5	2937	if((!r_status)&&(!l_status))
julientiron	0:1cb50d31c3b5	2938	{
julientiron	0:1cb50d31c3b5	2939	status=AlsSetLowThreshold(low);
julientiron	0:1cb50d31c3b5	2940	if(!status)
julientiron	0:1cb50d31c3b5	2941	return AlsMeasIntContinuousMode(fptr);
julientiron	0:1cb50d31c3b5	2942	else
julientiron	0:1cb50d31c3b5	2943	return status;
julientiron	0:1cb50d31c3b5	2944	}
julientiron	0:1cb50d31c3b5	2945	else
julientiron	0:1cb50d31c3b5	2946	return (r_status\|l_status);
julientiron	0:1cb50d31c3b5	2947
julientiron	0:1cb50d31c3b5	2948	case(als_continuous_interrupt_high_threshold):
julientiron	0:1cb50d31c3b5	2949	status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_HIGH);
julientiron	0:1cb50d31c3b5	2950	status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
julientiron	0:1cb50d31c3b5	2951	if((!r_status)&&(!l_status))
julientiron	0:1cb50d31c3b5	2952	{
julientiron	0:1cb50d31c3b5	2953	status=AlsSetHighThreshold(high);
julientiron	0:1cb50d31c3b5	2954	if(!status)
julientiron	0:1cb50d31c3b5	2955	return AlsMeasIntContinuousMode(fptr);
julientiron	0:1cb50d31c3b5	2956	else
julientiron	0:1cb50d31c3b5	2957	return status;
julientiron	0:1cb50d31c3b5	2958	}
julientiron	0:1cb50d31c3b5	2959	else
julientiron	0:1cb50d31c3b5	2960	return (r_status\|l_status);
julientiron	0:1cb50d31c3b5	2961
julientiron	0:1cb50d31c3b5	2962	case(als_continuous_interrupt_out_of_window):
julientiron	0:1cb50d31c3b5	2963	status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW);
julientiron	0:1cb50d31c3b5	2964	status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
julientiron	0:1cb50d31c3b5	2965	if((!r_status)&&(!l_status))
julientiron	0:1cb50d31c3b5	2966	{
julientiron	0:1cb50d31c3b5	2967	status=VL6180x_AlsSetThresholds(Device,low,high);
julientiron	0:1cb50d31c3b5	2968	if(!status)
julientiron	0:1cb50d31c3b5	2969	return AlsMeasIntContinuousMode(fptr);
julientiron	0:1cb50d31c3b5	2970	else
julientiron	0:1cb50d31c3b5	2971	return status;
julientiron	0:1cb50d31c3b5	2972	}
julientiron	0:1cb50d31c3b5	2973	else
julientiron	0:1cb50d31c3b5	2974	return (r_status\|l_status);
julientiron	0:1cb50d31c3b5	2975
julientiron	0:1cb50d31c3b5	2976	default:
julientiron	0:1cb50d31c3b5	2977	return INVALID_PARAMS;
julientiron	0:1cb50d31c3b5	2978	}
julientiron	0:1cb50d31c3b5	2979	}
julientiron	0:1cb50d31c3b5	2980
julientiron	0:1cb50d31c3b5	2981
julientiron	0:1cb50d31c3b5	2982	int VL6180X::GetRangeError(MeasureData_t *Data, VL6180x_RangeData_t RangeData)
julientiron	0:1cb50d31c3b5	2983	{
julientiron	0:1cb50d31c3b5	2984	Data->range_error=RangeData.errorStatus;
julientiron	0:1cb50d31c3b5	2985	if(Data->range_error!=0)
julientiron	0:1cb50d31c3b5	2986	{
julientiron	0:1cb50d31c3b5	2987	VL6180x_ErrLog("Range error %d",Data->range_error);
julientiron	0:1cb50d31c3b5	2988	return RANGE_ERROR;
julientiron	0:1cb50d31c3b5	2989	}
julientiron	0:1cb50d31c3b5	2990	return NoError_;
julientiron	0:1cb50d31c3b5	2991	}
julientiron	0:1cb50d31c3b5	2992
julientiron	0:1cb50d31c3b5	2993
julientiron	0:1cb50d31c3b5	2994	int VL6180X::GetAlsError(MeasureData_t *Data, VL6180x_AlsData_t AlsData)
julientiron	0:1cb50d31c3b5	2995	{
julientiron	0:1cb50d31c3b5	2996	Data->als_error=AlsData.errorStatus;
julientiron	0:1cb50d31c3b5	2997	if(Data->als_error!=0)
julientiron	0:1cb50d31c3b5	2998	{
julientiron	0:1cb50d31c3b5	2999	VL6180x_ErrLog("Light error %d",Data->light_error);
julientiron	0:1cb50d31c3b5	3000	return API_ERROR;
julientiron	0:1cb50d31c3b5	3001	}
julientiron	0:1cb50d31c3b5	3002	return NoError_;
julientiron	0:1cb50d31c3b5	3003	}
julientiron	0:1cb50d31c3b5	3004
julientiron	0:1cb50d31c3b5	3005
julientiron	0:1cb50d31c3b5	3006	int VL6180X::RangeMeasPollSingleShot()
julientiron	0:1cb50d31c3b5	3007	{
julientiron	0:1cb50d31c3b5	3008	int status;
julientiron	0:1cb50d31c3b5	3009
julientiron	0:1cb50d31c3b5	3010	status=VL6180x_RangeClearInterrupt(Device);
julientiron	0:1cb50d31c3b5	3011	if(status)
julientiron	0:1cb50d31c3b5	3012	{
julientiron	0:1cb50d31c3b5	3013	VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
julientiron	0:1cb50d31c3b5	3014	return status;
julientiron	0:1cb50d31c3b5	3015	}
julientiron	0:1cb50d31c3b5	3016	status=VL6180x_ClearErrorInterrupt(Device);
julientiron	0:1cb50d31c3b5	3017	if(status)
julientiron	0:1cb50d31c3b5	3018	{
julientiron	0:1cb50d31c3b5	3019	VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
julientiron	0:1cb50d31c3b5	3020	return status;
julientiron	0:1cb50d31c3b5	3021	}
julientiron	0:1cb50d31c3b5	3022	return RangeStartSingleShot();
julientiron	0:1cb50d31c3b5	3023	}
julientiron	0:1cb50d31c3b5	3024
julientiron	0:1cb50d31c3b5	3025
julientiron	0:1cb50d31c3b5	3026	int VL6180X::AlsMeasPollSingleShot()
julientiron	0:1cb50d31c3b5	3027	{
julientiron	0:1cb50d31c3b5	3028	int status;
julientiron	0:1cb50d31c3b5	3029
julientiron	0:1cb50d31c3b5	3030	status=VL6180x_AlsClearInterrupt(Device);
julientiron	0:1cb50d31c3b5	3031	if(status)
julientiron	0:1cb50d31c3b5	3032	{
julientiron	0:1cb50d31c3b5	3033	VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
julientiron	0:1cb50d31c3b5	3034	return status;
julientiron	0:1cb50d31c3b5	3035	}
julientiron	0:1cb50d31c3b5	3036	status=VL6180x_ClearErrorInterrupt(Device);
julientiron	0:1cb50d31c3b5	3037	if(status)
julientiron	0:1cb50d31c3b5	3038	{
julientiron	0:1cb50d31c3b5	3039	VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
julientiron	0:1cb50d31c3b5	3040	return status;
julientiron	0:1cb50d31c3b5	3041	}
julientiron	0:1cb50d31c3b5	3042	return AlsStartSingleShot();
julientiron	0:1cb50d31c3b5	3043	}
julientiron	0:1cb50d31c3b5	3044
julientiron	0:1cb50d31c3b5	3045
julientiron	0:1cb50d31c3b5	3046	int VL6180X::RangeMeasPollContinuousMode()
julientiron	0:1cb50d31c3b5	3047	{
julientiron	0:1cb50d31c3b5	3048	int status;
julientiron	0:1cb50d31c3b5	3049
julientiron	0:1cb50d31c3b5	3050	status=VL6180x_RangeClearInterrupt(Device);
julientiron	0:1cb50d31c3b5	3051	if(status)
julientiron	0:1cb50d31c3b5	3052	{
julientiron	0:1cb50d31c3b5	3053	VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
julientiron	0:1cb50d31c3b5	3054	return status;
julientiron	0:1cb50d31c3b5	3055	}
julientiron	0:1cb50d31c3b5	3056	status=VL6180x_ClearErrorInterrupt(Device);
julientiron	0:1cb50d31c3b5	3057	if(status)
julientiron	0:1cb50d31c3b5	3058	{
julientiron	0:1cb50d31c3b5	3059	VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
julientiron	0:1cb50d31c3b5	3060	return status;
julientiron	0:1cb50d31c3b5	3061	}
julientiron	0:1cb50d31c3b5	3062	return RangeStartContinuousMode();
julientiron	0:1cb50d31c3b5	3063	}
julientiron	0:1cb50d31c3b5	3064
julientiron	0:1cb50d31c3b5	3065
julientiron	0:1cb50d31c3b5	3066	int VL6180X::AlsMeasPollContinuousMode()
julientiron	0:1cb50d31c3b5	3067	{
julientiron	0:1cb50d31c3b5	3068	int status;
julientiron	0:1cb50d31c3b5	3069
julientiron	0:1cb50d31c3b5	3070	status=VL6180x_AlsClearInterrupt(Device);
julientiron	0:1cb50d31c3b5	3071	if(status)
julientiron	0:1cb50d31c3b5	3072	{
julientiron	0:1cb50d31c3b5	3073	VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
julientiron	0:1cb50d31c3b5	3074	return status;
julientiron	0:1cb50d31c3b5	3075	}
julientiron	0:1cb50d31c3b5	3076	status=VL6180x_ClearErrorInterrupt(Device);
julientiron	0:1cb50d31c3b5	3077	if(status)
julientiron	0:1cb50d31c3b5	3078	{
julientiron	0:1cb50d31c3b5	3079	VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
julientiron	0:1cb50d31c3b5	3080	return status;
julientiron	0:1cb50d31c3b5	3081	}
julientiron	0:1cb50d31c3b5	3082	return AlsStartContinuousMode();
julientiron	0:1cb50d31c3b5	3083	}
julientiron	0:1cb50d31c3b5	3084
julientiron	0:1cb50d31c3b5	3085
julientiron	0:1cb50d31c3b5	3086	int VL6180X::AlsGetMeasurementIfReady(VL6180xDev_t dev, VL6180x_AlsData_t *pAlsData)
julientiron	0:1cb50d31c3b5	3087	{
julientiron	0:1cb50d31c3b5	3088	int status;
julientiron	0:1cb50d31c3b5	3089	uint8_t IntStatus;
julientiron	0:1cb50d31c3b5	3090
julientiron	0:1cb50d31c3b5	3091	status=VL6180x_AlsGetInterruptStatus(dev, &IntStatus);
julientiron	0:1cb50d31c3b5	3092	if(!status)
julientiron	0:1cb50d31c3b5	3093	{
julientiron	0:1cb50d31c3b5	3094	if(IntStatus==RES_INT_STAT_GPIO_NEW_SAMPLE_READY)
julientiron	0:1cb50d31c3b5	3095	{
julientiron	0:1cb50d31c3b5	3096	status = VL6180x_AlsGetMeasurement(dev, pAlsData);
julientiron	0:1cb50d31c3b5	3097	if(!status)
julientiron	0:1cb50d31c3b5	3098	{
julientiron	0:1cb50d31c3b5	3099	status=VL6180x_AlsClearInterrupt(Device);
julientiron	0:1cb50d31c3b5	3100	if(status)
julientiron	0:1cb50d31c3b5	3101	VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
julientiron	0:1cb50d31c3b5	3102	}
julientiron	0:1cb50d31c3b5	3103	}
julientiron	0:1cb50d31c3b5	3104	else
julientiron	0:1cb50d31c3b5	3105	status=NOT_READY;
julientiron	0:1cb50d31c3b5	3106	}
julientiron	0:1cb50d31c3b5	3107	else
julientiron	0:1cb50d31c3b5	3108	VL6180x_ErrLog("Failed to get interrupt status");
julientiron	0:1cb50d31c3b5	3109	return status;
julientiron	0:1cb50d31c3b5	3110	}
julientiron	0:1cb50d31c3b5	3111
julientiron	0:1cb50d31c3b5	3112
julientiron	0:1cb50d31c3b5	3113	int VL6180X::RangeMeasIntContinuousMode(void (*fptr)(void))
julientiron	0:1cb50d31c3b5	3114	{
julientiron	0:1cb50d31c3b5	3115	int status, ClrStatus;
julientiron	0:1cb50d31c3b5	3116
julientiron	0:1cb50d31c3b5	3117	EnableInterruptMeasureDetectionIRQ();
julientiron	0:1cb50d31c3b5	3118	AttachInterruptMeasureDetectionIRQ(fptr);
julientiron	0:1cb50d31c3b5	3119	status=SetupGPIO1(GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT, 1);
julientiron	0:1cb50d31c3b5	3120	ClrStatus=VL6180x_ClearAllInterrupt(Device);
julientiron	0:1cb50d31c3b5	3121	if(ClrStatus)
julientiron	0:1cb50d31c3b5	3122	VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
julientiron	0:1cb50d31c3b5	3123	if(!status)
julientiron	0:1cb50d31c3b5	3124	status=RangeStartContinuousMode();
julientiron	0:1cb50d31c3b5	3125	return status;
julientiron	0:1cb50d31c3b5	3126	}
julientiron	0:1cb50d31c3b5	3127
julientiron	0:1cb50d31c3b5	3128
julientiron	0:1cb50d31c3b5	3129	int VL6180X::AlsMeasIntContinuousMode(void (*fptr)(void))
julientiron	0:1cb50d31c3b5	3130	{
julientiron	0:1cb50d31c3b5	3131	int status, ClrStatus;
julientiron	0:1cb50d31c3b5	3132
julientiron	0:1cb50d31c3b5	3133	EnableInterruptMeasureDetectionIRQ();
julientiron	0:1cb50d31c3b5	3134	AttachInterruptMeasureDetectionIRQ(fptr);
julientiron	0:1cb50d31c3b5	3135	status=SetupGPIO1(GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT, 1);
julientiron	0:1cb50d31c3b5	3136	ClrStatus=VL6180x_ClearAllInterrupt(Device);
julientiron	0:1cb50d31c3b5	3137	if(ClrStatus)
julientiron	0:1cb50d31c3b5	3138	VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
julientiron	0:1cb50d31c3b5	3139	if(!status)
julientiron	0:1cb50d31c3b5	3140	status=AlsStartContinuousMode();
julientiron	0:1cb50d31c3b5	3141	return status;
julientiron	0:1cb50d31c3b5	3142	}
julientiron	0:1cb50d31c3b5	3143
julientiron	0:1cb50d31c3b5	3144
julientiron	0:1cb50d31c3b5	3145	int VL6180X::StartInterleavedMode()
julientiron	0:1cb50d31c3b5	3146	{
julientiron	0:1cb50d31c3b5	3147	int status;
julientiron	0:1cb50d31c3b5	3148	uint16_t integration_period, intermeasurement_period_ms;
julientiron	0:1cb50d31c3b5	3149	uint8_t max_convergence_time;
julientiron	0:1cb50d31c3b5	3150	uint8_t buf;
julientiron	0:1cb50d31c3b5	3151
julientiron	0:1cb50d31c3b5	3152	status=VL6180x_WrByte(Device, 0x2A3, 1);
julientiron	0:1cb50d31c3b5	3153	if(status)
julientiron	0:1cb50d31c3b5	3154	{
julientiron	0:1cb50d31c3b5	3155	VL6180x_ErrLog("Failed to write INTERLEAVED_MODE_ENABLE!\n\r");
julientiron	0:1cb50d31c3b5	3156	return status;
julientiron	0:1cb50d31c3b5	3157	}
julientiron	0:1cb50d31c3b5	3158	status=VL6180x_RdByte(Device, SYSRANGE_MAX_CONVERGENCE_TIME, &max_convergence_time);
julientiron	0:1cb50d31c3b5	3159	if(status)
julientiron	0:1cb50d31c3b5	3160	{
julientiron	0:1cb50d31c3b5	3161	VL6180x_ErrLog("Failed to read SYSRANGE_MAX_CONVERGENCE_TIME!\n\r");
julientiron	0:1cb50d31c3b5	3162	return status;
julientiron	0:1cb50d31c3b5	3163	}
julientiron	0:1cb50d31c3b5	3164	status=VL6180x_RdWord(Device, SYSALS_INTEGRATION_PERIOD, &integration_period);
julientiron	0:1cb50d31c3b5	3165	if(status)
julientiron	0:1cb50d31c3b5	3166	{
julientiron	0:1cb50d31c3b5	3167	VL6180x_ErrLog("Failed to read SYSALS_INTEGRATION_PERIOD!\n\r");
julientiron	0:1cb50d31c3b5	3168	return status;
julientiron	0:1cb50d31c3b5	3169	}
julientiron	0:1cb50d31c3b5	3170	max_convergence_time&=0x3F;
julientiron	0:1cb50d31c3b5	3171	integration_period&=0x01FF;
julientiron	0:1cb50d31c3b5	3172	intermeasurement_period_ms=((max_convergence_time+5)+(integration_period*1.1));
julientiron	0:1cb50d31c3b5	3173	intermeasurement_period_ms=(intermeasurement_period_ms/0.9)+10;
julientiron	0:1cb50d31c3b5	3174	intermeasurement_period_ms=200;
julientiron	0:1cb50d31c3b5	3175	status=VL6180x_AlsSetInterMeasurementPeriod(Device, intermeasurement_period_ms);
julientiron	0:1cb50d31c3b5	3176	VL6180x_RdByte(Device, 0x03E, &buf);
julientiron	0:1cb50d31c3b5	3177	if(status)
julientiron	0:1cb50d31c3b5	3178	{
julientiron	0:1cb50d31c3b5	3179	VL6180x_ErrLog("Failed to write SYSALS_INTERMEASUREMENT_PERIOD!\n\r");
julientiron	0:1cb50d31c3b5	3180	return status;
julientiron	0:1cb50d31c3b5	3181	}
julientiron	0:1cb50d31c3b5	3182	return AlsStartContinuousMode();
julientiron	0:1cb50d31c3b5	3183	}
julientiron	0:1cb50d31c3b5	3184
julientiron	0:1cb50d31c3b5	3185
julientiron	0:1cb50d31c3b5	3186	int VL6180X::InterleavedMode(void (*fptr)(void))
julientiron	0:1cb50d31c3b5	3187	{
julientiron	0:1cb50d31c3b5	3188	int status, ClrStatus;
julientiron	0:1cb50d31c3b5	3189
julientiron	0:1cb50d31c3b5	3190	EnableInterruptMeasureDetectionIRQ();
julientiron	0:1cb50d31c3b5	3191	AttachInterruptMeasureDetectionIRQ(fptr);
julientiron	0:1cb50d31c3b5	3192	status=SetupGPIO1(GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT, 1);
julientiron	0:1cb50d31c3b5	3193	ClrStatus=VL6180x_ClearAllInterrupt(Device);
julientiron	0:1cb50d31c3b5	3194	if(ClrStatus)
julientiron	0:1cb50d31c3b5	3195	VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
julientiron	0:1cb50d31c3b5	3196	if(!status)
julientiron	0:1cb50d31c3b5	3197	status=StartInterleavedMode();
julientiron	0:1cb50d31c3b5	3198	return status;
julientiron	0:1cb50d31c3b5	3199	}
julientiron	0:1cb50d31c3b5	3200
julientiron	0:1cb50d31c3b5	3201
julientiron	0:1cb50d31c3b5	3202	int VL6180X::HandleIRQ(OperatingMode operating_mode, MeasureData_t *Data)
julientiron	0:1cb50d31c3b5	3203	{
julientiron	0:1cb50d31c3b5	3204	int status;
julientiron	0:1cb50d31c3b5	3205
julientiron	0:1cb50d31c3b5	3206	EnableInterruptMeasureDetectionIRQ();
julientiron	0:1cb50d31c3b5	3207	status=GetMeasurement(operating_mode, Data);
julientiron	0:1cb50d31c3b5	3208	return status;
julientiron	0:1cb50d31c3b5	3209	}
julientiron	0:1cb50d31c3b5	3210
julientiron	0:1cb50d31c3b5	3211
julientiron	0:1cb50d31c3b5	3212	int VL6180X::RangeSetLowThreshold(uint16_t threshold)
julientiron	0:1cb50d31c3b5	3213	{
julientiron	0:1cb50d31c3b5	3214	int status;
julientiron	0:1cb50d31c3b5	3215	uint16_t low, high;
julientiron	0:1cb50d31c3b5	3216
julientiron	0:1cb50d31c3b5	3217	status=VL6180x_RangeGetThresholds(Device, &low, &high);
julientiron	0:1cb50d31c3b5	3218	if(!status)
julientiron	0:1cb50d31c3b5	3219	status=VL6180x_RangeSetThresholds(Device, threshold, high, 1);
julientiron	0:1cb50d31c3b5	3220	return status;
julientiron	0:1cb50d31c3b5	3221	}
julientiron	0:1cb50d31c3b5	3222
julientiron	0:1cb50d31c3b5	3223
julientiron	0:1cb50d31c3b5	3224	int VL6180X::RangeSetHighThreshold(uint16_t threshold)
julientiron	0:1cb50d31c3b5	3225	{
julientiron	0:1cb50d31c3b5	3226	int status;
julientiron	0:1cb50d31c3b5	3227	uint16_t low, high;
julientiron	0:1cb50d31c3b5	3228
julientiron	0:1cb50d31c3b5	3229	status=VL6180x_RangeGetThresholds(Device, &low, &high);
julientiron	0:1cb50d31c3b5	3230	if(!status)
julientiron	0:1cb50d31c3b5	3231	status=VL6180x_RangeSetThresholds(Device, low, threshold, 1);
julientiron	0:1cb50d31c3b5	3232	return status;
julientiron	0:1cb50d31c3b5	3233	}
julientiron	0:1cb50d31c3b5	3234
julientiron	0:1cb50d31c3b5	3235
julientiron	0:1cb50d31c3b5	3236	int VL6180X::AlsSetLowThreshold(uint16_t threshold)
julientiron	0:1cb50d31c3b5	3237	{
julientiron	0:1cb50d31c3b5	3238	int status;
julientiron	0:1cb50d31c3b5	3239	lux_t low, high;
julientiron	0:1cb50d31c3b5	3240
julientiron	0:1cb50d31c3b5	3241	status=AlsGetThresholds(Device, &low, &high);
julientiron	0:1cb50d31c3b5	3242	if(!status)
julientiron	0:1cb50d31c3b5	3243	status=VL6180x_AlsSetThresholds(Device, threshold, high);
julientiron	0:1cb50d31c3b5	3244	return status;
julientiron	0:1cb50d31c3b5	3245	}
julientiron	0:1cb50d31c3b5	3246
julientiron	0:1cb50d31c3b5	3247
julientiron	0:1cb50d31c3b5	3248	int VL6180X::AlsSetHighThreshold(uint16_t threshold)
julientiron	0:1cb50d31c3b5	3249	{
julientiron	0:1cb50d31c3b5	3250	int status;
julientiron	0:1cb50d31c3b5	3251	lux_t low, high;
julientiron	0:1cb50d31c3b5	3252
julientiron	0:1cb50d31c3b5	3253	status=AlsGetThresholds(Device, &low, &high);
julientiron	0:1cb50d31c3b5	3254	if(!status)
julientiron	0:1cb50d31c3b5	3255	status=VL6180x_AlsSetThresholds(Device, low, threshold);
julientiron	0:1cb50d31c3b5	3256	return status;
julientiron	0:1cb50d31c3b5	3257	}
julientiron	0:1cb50d31c3b5	3258
julientiron	0:1cb50d31c3b5	3259
julientiron	0:1cb50d31c3b5	3260	int VL6180X::AlsGetThresholds(VL6180xDev_t dev, lux_t low, lux_t high)
julientiron	0:1cb50d31c3b5	3261	{
julientiron	0:1cb50d31c3b5	3262	int status;
julientiron	0:1cb50d31c3b5	3263	uint16_t RawAlsLow, RawAlsHigh;
julientiron	0:1cb50d31c3b5	3264	uint32_t luxLowValue, luxHighValue, IntPeriod, AlsAnGain, GainFix, AlsScaler;
julientiron	0:1cb50d31c3b5	3265	const uint32_t LuxResxIntIme =(uint32_t)(0.56f* DEF_INT_PEFRIOD *(1<<LUXRES_FIX_PREC));
julientiron	0:1cb50d31c3b5	3266
julientiron	0:1cb50d31c3b5	3267	status=VL6180x_RdWord(dev, SYSALS_THRESH_LOW, &RawAlsLow);
julientiron	0:1cb50d31c3b5	3268	if(status)
julientiron	0:1cb50d31c3b5	3269	{
julientiron	0:1cb50d31c3b5	3270	VL6180x_ErrLog("rd SYSALS_THRESH_LOW fail");
julientiron	0:1cb50d31c3b5	3271	return status;
julientiron	0:1cb50d31c3b5	3272	}
julientiron	0:1cb50d31c3b5	3273	status=VL6180x_RdWord(dev, SYSALS_THRESH_HIGH, &RawAlsHigh);
julientiron	0:1cb50d31c3b5	3274	if(status)
julientiron	0:1cb50d31c3b5	3275	{
julientiron	0:1cb50d31c3b5	3276	VL6180x_ErrLog("rd SYSALS_THRESH_HIGH fail");
julientiron	0:1cb50d31c3b5	3277	return status;
julientiron	0:1cb50d31c3b5	3278	}
julientiron	0:1cb50d31c3b5	3279	AlsAnGain=VL6180xDevDataGet(dev, AlsGainCode);
julientiron	0:1cb50d31c3b5	3280	IntPeriod=VL6180xDevDataGet(dev, IntegrationPeriod);
julientiron	0:1cb50d31c3b5	3281	AlsScaler=VL6180xDevDataGet(dev, AlsScaler);
julientiron	0:1cb50d31c3b5	3282	GainFix=AlsGainLookUp[AlsAnGain];
julientiron	0:1cb50d31c3b5	3283	IntPeriod++;
julientiron	0:1cb50d31c3b5	3284	luxLowValue=(uint32_t)RawAlsLow*LuxResxIntIme;
julientiron	0:1cb50d31c3b5	3285	luxLowValue=luxLowValue/IntPeriod;
julientiron	0:1cb50d31c3b5	3286	luxLowValue=luxLowValue/(AlsScaler*GainFix);
julientiron	0:1cb50d31c3b5	3287	luxHighValue=(uint32_t)RawAlsHigh*LuxResxIntIme;
julientiron	0:1cb50d31c3b5	3288	luxHighValue=luxHighValue/IntPeriod;
julientiron	0:1cb50d31c3b5	3289	luxHighValue=luxHighValue/(AlsScaler*GainFix);
julientiron	0:1cb50d31c3b5	3290	*low=luxLowValue;
julientiron	0:1cb50d31c3b5	3291	*high=luxHighValue;
julientiron	0:1cb50d31c3b5	3292	return status;
julientiron	0:1cb50d31c3b5	3293	}
julientiron	0:1cb50d31c3b5	3294
julientiron	0:1cb50d31c3b5	3295
julientiron	0:1cb50d31c3b5	3296	int VL6180X::GetMeasurement(OperatingMode operating_mode, MeasureData_t *Data)
julientiron	0:1cb50d31c3b5	3297	{
julientiron	0:1cb50d31c3b5	3298	switch(operating_mode)
julientiron	0:1cb50d31c3b5	3299	{
julientiron	0:1cb50d31c3b5	3300	case(range_single_shot_polling):
julientiron	0:1cb50d31c3b5	3301	case(range_continuous_polling):
julientiron	0:1cb50d31c3b5	3302	case(range_continuous_interrupt):
julientiron	0:1cb50d31c3b5	3303	case(range_continuous_polling_low_threshold):
julientiron	0:1cb50d31c3b5	3304	case(range_continuous_polling_high_threshold):
julientiron	0:1cb50d31c3b5	3305	case(range_continuous_polling_out_of_window):
julientiron	0:1cb50d31c3b5	3306	case(range_continuous_interrupt_low_threshold):
julientiron	0:1cb50d31c3b5	3307	case(range_continuous_interrupt_high_threshold):
julientiron	0:1cb50d31c3b5	3308	case(range_continuous_interrupt_out_of_window):
julientiron	0:1cb50d31c3b5	3309	return GetRangeMeas(operating_mode, Data);
julientiron	0:1cb50d31c3b5	3310
julientiron	0:1cb50d31c3b5	3311	case(als_single_shot_polling):
julientiron	0:1cb50d31c3b5	3312	case(als_continuous_polling):
julientiron	0:1cb50d31c3b5	3313	case(als_continuous_interrupt):
julientiron	0:1cb50d31c3b5	3314	case(als_continuous_polling_low_threshold):
julientiron	0:1cb50d31c3b5	3315	case(als_continuous_polling_high_threshold):
julientiron	0:1cb50d31c3b5	3316	case(als_continuous_polling_out_of_window):
julientiron	0:1cb50d31c3b5	3317	case(als_continuous_interrupt_low_threshold):
julientiron	0:1cb50d31c3b5	3318	case(als_continuous_interrupt_high_threshold):
julientiron	0:1cb50d31c3b5	3319	case(als_continuous_interrupt_out_of_window):
julientiron	0:1cb50d31c3b5	3320	return GetAlsMeas(operating_mode, Data);
julientiron	0:1cb50d31c3b5	3321
julientiron	0:1cb50d31c3b5	3322	case(interleaved_mode_interrupt):
julientiron	0:1cb50d31c3b5	3323	return GetRangeAlsMeas(Data);
julientiron	0:1cb50d31c3b5	3324
julientiron	0:1cb50d31c3b5	3325	default:
julientiron	0:1cb50d31c3b5	3326	return INVALID_PARAMS;
julientiron	0:1cb50d31c3b5	3327	}
julientiron	0:1cb50d31c3b5	3328	}
julientiron	0:1cb50d31c3b5	3329
julientiron	0:1cb50d31c3b5	3330
julientiron	0:1cb50d31c3b5	3331	int VL6180X::GetRangeMeas(OperatingMode operating_mode, MeasureData_t *Data)
julientiron	0:1cb50d31c3b5	3332	{
julientiron	0:1cb50d31c3b5	3333	VL6180x_RangeData_t RangeData;
julientiron	0:1cb50d31c3b5	3334	int status, ClrStatus;
julientiron	0:1cb50d31c3b5	3335	IntrStatus_t IntStatus;
julientiron	0:1cb50d31c3b5	3336
julientiron	0:1cb50d31c3b5	3337	status=VL6180x_RangeGetInterruptStatus(Device, &IntStatus.val);
julientiron	0:1cb50d31c3b5	3338	if(!status)
julientiron	0:1cb50d31c3b5	3339	{
julientiron	0:1cb50d31c3b5	3340	Data->int_error=IntStatus.status.Error;
julientiron	0:1cb50d31c3b5	3341	if(IntStatus.status.Error!=0)
julientiron	0:1cb50d31c3b5	3342	{
julientiron	0:1cb50d31c3b5	3343	VL6180x_ErrLog("GPIO int Error report %d",(int)IntStatus.val);
julientiron	0:1cb50d31c3b5	3344	status=RANGE_ERROR;
julientiron	0:1cb50d31c3b5	3345	}
julientiron	0:1cb50d31c3b5	3346	}
julientiron	0:1cb50d31c3b5	3347	else
julientiron	0:1cb50d31c3b5	3348	{
julientiron	0:1cb50d31c3b5	3349	VL6180x_ErrLog("Failed to read RESULT_INTERRUPT_STATUS_GPIO");
julientiron	0:1cb50d31c3b5	3350	}
julientiron	0:1cb50d31c3b5	3351	ClrStatus=VL6180x_RangeClearInterrupt(Device);
julientiron	0:1cb50d31c3b5	3352	if(ClrStatus)
julientiron	0:1cb50d31c3b5	3353	{
julientiron	0:1cb50d31c3b5	3354	VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
julientiron	0:1cb50d31c3b5	3355	}
julientiron	0:1cb50d31c3b5	3356	ClrStatus=VL6180x_ClearErrorInterrupt(Device);
julientiron	0:1cb50d31c3b5	3357	if(ClrStatus)
julientiron	0:1cb50d31c3b5	3358	{
julientiron	0:1cb50d31c3b5	3359	VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
julientiron	0:1cb50d31c3b5	3360	}
julientiron	0:1cb50d31c3b5	3361	if(status)
julientiron	0:1cb50d31c3b5	3362	return status;
julientiron	0:1cb50d31c3b5	3363	if((operating_mode==range_single_shot_polling)\|\|(operating_mode==range_continuous_polling)\|\|(operating_mode==range_continuous_interrupt))
julientiron	0:1cb50d31c3b5	3364	{
julientiron	0:1cb50d31c3b5	3365	if(IntStatus.status.Range==RES_INT_STAT_GPIO_NEW_SAMPLE_READY)
julientiron	0:1cb50d31c3b5	3366	status=VL6180x_RangeGetMeasurement(Device, &RangeData);
julientiron	0:1cb50d31c3b5	3367	else
julientiron	0:1cb50d31c3b5	3368	return NOT_READY;
julientiron	0:1cb50d31c3b5	3369	}
julientiron	0:1cb50d31c3b5	3370	else if((operating_mode==range_continuous_polling_low_threshold)\|\|(operating_mode==range_continuous_interrupt_low_threshold))
julientiron	0:1cb50d31c3b5	3371	{
julientiron	0:1cb50d31c3b5	3372	if(IntStatus.status.Range==RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD)
julientiron	0:1cb50d31c3b5	3373	status=VL6180x_RangeGetMeasurement(Device, &RangeData);
julientiron	0:1cb50d31c3b5	3374	else
julientiron	0:1cb50d31c3b5	3375	return NOT_READY;
julientiron	0:1cb50d31c3b5	3376	}
julientiron	0:1cb50d31c3b5	3377	else if((operating_mode==range_continuous_polling_high_threshold)\|\|(operating_mode==range_continuous_interrupt_high_threshold))
julientiron	0:1cb50d31c3b5	3378	{
julientiron	0:1cb50d31c3b5	3379	if(IntStatus.status.Range==RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD)
julientiron	0:1cb50d31c3b5	3380	status=VL6180x_RangeGetMeasurement(Device, &RangeData);
julientiron	0:1cb50d31c3b5	3381	else
julientiron	0:1cb50d31c3b5	3382	return NOT_READY;
julientiron	0:1cb50d31c3b5	3383	}
julientiron	0:1cb50d31c3b5	3384	else if((operating_mode==range_continuous_polling_out_of_window)\|\|(operating_mode==range_continuous_interrupt_out_of_window))
julientiron	0:1cb50d31c3b5	3385	{
julientiron	0:1cb50d31c3b5	3386	if(IntStatus.status.Range==RES_INT_STAT_GPIO_OUT_OF_WINDOW)
julientiron	0:1cb50d31c3b5	3387	status=VL6180x_RangeGetMeasurement(Device, &RangeData);
julientiron	0:1cb50d31c3b5	3388	else
julientiron	0:1cb50d31c3b5	3389	return NOT_READY;
julientiron	0:1cb50d31c3b5	3390	}
julientiron	0:1cb50d31c3b5	3391	if(!status)
julientiron	0:1cb50d31c3b5	3392	{
julientiron	0:1cb50d31c3b5	3393	status=GetRangeError(Data, RangeData);
julientiron	0:1cb50d31c3b5	3394	if(!status)
julientiron	0:1cb50d31c3b5	3395	Data->range_mm=RangeData.range_mm;
julientiron	0:1cb50d31c3b5	3396	else
julientiron	0:1cb50d31c3b5	3397	Data->range_mm=0xFFFFFFFF;
julientiron	0:1cb50d31c3b5	3398	}
julientiron	0:1cb50d31c3b5	3399	return status;
julientiron	0:1cb50d31c3b5	3400	}
julientiron	0:1cb50d31c3b5	3401
julientiron	0:1cb50d31c3b5	3402
julientiron	0:1cb50d31c3b5	3403	int VL6180X::GetAlsMeas(OperatingMode operating_mode, MeasureData_t *Data)
julientiron	0:1cb50d31c3b5	3404	{
julientiron	0:1cb50d31c3b5	3405	VL6180x_AlsData_t AlsData;
julientiron	0:1cb50d31c3b5	3406	int status, ClrStatus;
julientiron	0:1cb50d31c3b5	3407	uint8_t IntStatus;
julientiron	0:1cb50d31c3b5	3408
julientiron	0:1cb50d31c3b5	3409	status=VL6180x_AlsGetInterruptStatus(Device, &IntStatus);
julientiron	0:1cb50d31c3b5	3410	if(status)
julientiron	0:1cb50d31c3b5	3411	{
julientiron	0:1cb50d31c3b5	3412	VL6180x_ErrLog("Failed to read RESULT_INTERRUPT_STATUS_GPIO");
julientiron	0:1cb50d31c3b5	3413	}
julientiron	0:1cb50d31c3b5	3414	ClrStatus=VL6180x_AlsClearInterrupt(Device);
julientiron	0:1cb50d31c3b5	3415	if(ClrStatus)
julientiron	0:1cb50d31c3b5	3416	{
julientiron	0:1cb50d31c3b5	3417	VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
julientiron	0:1cb50d31c3b5	3418	}
julientiron	0:1cb50d31c3b5	3419	ClrStatus=VL6180x_ClearErrorInterrupt(Device);
julientiron	0:1cb50d31c3b5	3420	if(ClrStatus)
julientiron	0:1cb50d31c3b5	3421	{
julientiron	0:1cb50d31c3b5	3422	VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
julientiron	0:1cb50d31c3b5	3423	}
julientiron	0:1cb50d31c3b5	3424	if(status)
julientiron	0:1cb50d31c3b5	3425	return status;
julientiron	0:1cb50d31c3b5	3426	if((operating_mode==als_single_shot_polling)\|\|(operating_mode==als_continuous_polling)\|\|(operating_mode==als_continuous_interrupt))
julientiron	0:1cb50d31c3b5	3427	{
julientiron	0:1cb50d31c3b5	3428	if(IntStatus==RES_INT_STAT_GPIO_NEW_SAMPLE_READY)
julientiron	0:1cb50d31c3b5	3429	status=VL6180x_AlsGetMeasurement(Device, &AlsData);
julientiron	0:1cb50d31c3b5	3430	else
julientiron	0:1cb50d31c3b5	3431	return NOT_READY;
julientiron	0:1cb50d31c3b5	3432	}
julientiron	0:1cb50d31c3b5	3433	else if((operating_mode==als_continuous_polling_low_threshold)\|\|(operating_mode==als_continuous_interrupt_low_threshold))
julientiron	0:1cb50d31c3b5	3434	{
julientiron	0:1cb50d31c3b5	3435	if(IntStatus==RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD)
julientiron	0:1cb50d31c3b5	3436	status=VL6180x_AlsGetMeasurement(Device, &AlsData);
julientiron	0:1cb50d31c3b5	3437	else
julientiron	0:1cb50d31c3b5	3438	return NOT_READY;
julientiron	0:1cb50d31c3b5	3439	}
julientiron	0:1cb50d31c3b5	3440	else if((operating_mode==als_continuous_polling_high_threshold)\|\|(operating_mode==als_continuous_interrupt_high_threshold))
julientiron	0:1cb50d31c3b5	3441	{
julientiron	0:1cb50d31c3b5	3442	if(IntStatus==RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD)
julientiron	0:1cb50d31c3b5	3443	status=VL6180x_AlsGetMeasurement(Device, &AlsData);
julientiron	0:1cb50d31c3b5	3444	else
julientiron	0:1cb50d31c3b5	3445	return NOT_READY;
julientiron	0:1cb50d31c3b5	3446	}
julientiron	0:1cb50d31c3b5	3447	else if((operating_mode==als_continuous_polling_out_of_window)\|\|(operating_mode==als_continuous_interrupt_out_of_window))
julientiron	0:1cb50d31c3b5	3448	{
julientiron	0:1cb50d31c3b5	3449	if(IntStatus==RES_INT_STAT_GPIO_OUT_OF_WINDOW)
julientiron	0:1cb50d31c3b5	3450	status=VL6180x_AlsGetMeasurement(Device, &AlsData);
julientiron	0:1cb50d31c3b5	3451	else
julientiron	0:1cb50d31c3b5	3452	return NOT_READY;
julientiron	0:1cb50d31c3b5	3453	}
julientiron	0:1cb50d31c3b5	3454	if(!status)
julientiron	0:1cb50d31c3b5	3455	{
julientiron	0:1cb50d31c3b5	3456	status=GetAlsError(Data, AlsData);
julientiron	0:1cb50d31c3b5	3457	if(!status)
julientiron	0:1cb50d31c3b5	3458	Data->lux=AlsData.lux;
julientiron	0:1cb50d31c3b5	3459	else
julientiron	0:1cb50d31c3b5	3460	Data->lux=0xFFFFFFFF;
julientiron	0:1cb50d31c3b5	3461	}
julientiron	0:1cb50d31c3b5	3462	return status;
julientiron	0:1cb50d31c3b5	3463	}
julientiron	0:1cb50d31c3b5	3464
julientiron	0:1cb50d31c3b5	3465
julientiron	0:1cb50d31c3b5	3466	int VL6180X::GetRangeAlsMeas(MeasureData_t *Data)
julientiron	0:1cb50d31c3b5	3467	{
julientiron	0:1cb50d31c3b5	3468	int status, ClrStatus, r_status, l_status;
julientiron	0:1cb50d31c3b5	3469	IntrStatus_t IntStatus;
julientiron	0:1cb50d31c3b5	3470	VL6180x_RangeData_t RangeData;
julientiron	0:1cb50d31c3b5	3471	VL6180x_AlsData_t AlsData;
julientiron	0:1cb50d31c3b5	3472
julientiron	0:1cb50d31c3b5	3473	status=VL6180x_RdByte(Device, RESULT_INTERRUPT_STATUS_GPIO, &IntStatus.val);
julientiron	0:1cb50d31c3b5	3474	if(!status)
julientiron	0:1cb50d31c3b5	3475	{
julientiron	0:1cb50d31c3b5	3476	Data->int_error=IntStatus.status.Error;
julientiron	0:1cb50d31c3b5	3477	if(IntStatus.status.Error!=0)
julientiron	0:1cb50d31c3b5	3478	{
julientiron	0:1cb50d31c3b5	3479	VL6180x_ErrLog("GPIO int Error report %d",(int)IntStatus.val);
julientiron	0:1cb50d31c3b5	3480	status=RANGE_ERROR;
julientiron	0:1cb50d31c3b5	3481	}
julientiron	0:1cb50d31c3b5	3482	}
julientiron	0:1cb50d31c3b5	3483	else
julientiron	0:1cb50d31c3b5	3484	{
julientiron	0:1cb50d31c3b5	3485	VL6180x_ErrLog("Failed to read RESULT_INTERRUPT_STATUS_GPIO");
julientiron	0:1cb50d31c3b5	3486	}
julientiron	0:1cb50d31c3b5	3487	ClrStatus=VL6180x_ClearAllInterrupt(Device);
julientiron	0:1cb50d31c3b5	3488	if(ClrStatus)
julientiron	0:1cb50d31c3b5	3489	VL6180x_ErrLog("VL6180x_ClearAllInterrupt fail");
julientiron	0:1cb50d31c3b5	3490	if(status)
julientiron	0:1cb50d31c3b5	3491	return status;
julientiron	0:1cb50d31c3b5	3492
julientiron	0:1cb50d31c3b5	3493	if(IntStatus.status.Als==RES_INT_STAT_GPIO_NEW_SAMPLE_READY)
julientiron	0:1cb50d31c3b5	3494	{
julientiron	0:1cb50d31c3b5	3495	r_status=VL6180x_RangeGetMeasurement(Device, &RangeData);
julientiron	0:1cb50d31c3b5	3496	l_status=VL6180x_AlsGetMeasurement(Device, &AlsData);
julientiron	0:1cb50d31c3b5	3497	if((!r_status)&&(!l_status))
julientiron	0:1cb50d31c3b5	3498	{
julientiron	0:1cb50d31c3b5	3499	r_status=GetRangeError(Data, RangeData);
julientiron	0:1cb50d31c3b5	3500	l_status=GetAlsError(Data, AlsData);
julientiron	0:1cb50d31c3b5	3501	if(!r_status)
julientiron	0:1cb50d31c3b5	3502	Data->range_mm=RangeData.range_mm;
julientiron	0:1cb50d31c3b5	3503	else
julientiron	0:1cb50d31c3b5	3504	Data->range_mm=0xFFFFFFFF;
julientiron	0:1cb50d31c3b5	3505	if(!l_status)
julientiron	0:1cb50d31c3b5	3506	Data->lux=AlsData.lux;
julientiron	0:1cb50d31c3b5	3507	else
julientiron	0:1cb50d31c3b5	3508	Data->lux=0xFFFFFFFF;
julientiron	0:1cb50d31c3b5	3509	status=r_status\|l_status;
julientiron	0:1cb50d31c3b5	3510	}
julientiron	0:1cb50d31c3b5	3511	else
julientiron	0:1cb50d31c3b5	3512	{
julientiron	0:1cb50d31c3b5	3513	status=r_status\|l_status;
julientiron	0:1cb50d31c3b5	3514	}
julientiron	0:1cb50d31c3b5	3515	}
julientiron	0:1cb50d31c3b5	3516	else
julientiron	0:1cb50d31c3b5	3517	return NOT_READY;
julientiron	0:1cb50d31c3b5	3518	return status;
julientiron	0:1cb50d31c3b5	3519	}
julientiron	0:1cb50d31c3b5	3520
julientiron	0:1cb50d31c3b5	3521
julientiron	0:1cb50d31c3b5	3522	int VL6180X::StopMeasurement(OperatingMode operating_mode)
julientiron	0:1cb50d31c3b5	3523	{
julientiron	0:1cb50d31c3b5	3524	int status;
julientiron	0:1cb50d31c3b5	3525
julientiron	0:1cb50d31c3b5	3526	switch(operating_mode)
julientiron	0:1cb50d31c3b5	3527	{
julientiron	0:1cb50d31c3b5	3528	case(range_single_shot_polling):
julientiron	0:1cb50d31c3b5	3529	case(range_continuous_polling):
julientiron	0:1cb50d31c3b5	3530	case(range_continuous_interrupt):
julientiron	0:1cb50d31c3b5	3531	case(range_continuous_polling_low_threshold):
julientiron	0:1cb50d31c3b5	3532	case(range_continuous_polling_high_threshold):
julientiron	0:1cb50d31c3b5	3533	case(range_continuous_polling_out_of_window):
julientiron	0:1cb50d31c3b5	3534	case(range_continuous_interrupt_low_threshold):
julientiron	0:1cb50d31c3b5	3535	case(range_continuous_interrupt_high_threshold):
julientiron	0:1cb50d31c3b5	3536	case(range_continuous_interrupt_out_of_window):
julientiron	0:1cb50d31c3b5	3537	return StopRangeMeasurement(operating_mode);
julientiron	0:1cb50d31c3b5	3538
julientiron	0:1cb50d31c3b5	3539	case(als_single_shot_polling):
julientiron	0:1cb50d31c3b5	3540	case(als_continuous_polling):
julientiron	0:1cb50d31c3b5	3541	case(als_continuous_interrupt):
julientiron	0:1cb50d31c3b5	3542	case(als_continuous_polling_low_threshold):
julientiron	0:1cb50d31c3b5	3543	case(als_continuous_polling_high_threshold):
julientiron	0:1cb50d31c3b5	3544	case(als_continuous_polling_out_of_window):
julientiron	0:1cb50d31c3b5	3545	case(als_continuous_interrupt_low_threshold):
julientiron	0:1cb50d31c3b5	3546	case(als_continuous_interrupt_high_threshold):
julientiron	0:1cb50d31c3b5	3547	case(als_continuous_interrupt_out_of_window):
julientiron	0:1cb50d31c3b5	3548	return StopAlsMeasurement(operating_mode);
julientiron	0:1cb50d31c3b5	3549
julientiron	0:1cb50d31c3b5	3550	case(interleaved_mode_interrupt):
julientiron	0:1cb50d31c3b5	3551	status=StopRangeMeasurement(range_continuous_interrupt);
julientiron	0:1cb50d31c3b5	3552	if(!status)
julientiron	0:1cb50d31c3b5	3553	return StopAlsMeasurement(als_continuous_interrupt);
julientiron	0:1cb50d31c3b5	3554	else return status;
julientiron	0:1cb50d31c3b5	3555
julientiron	0:1cb50d31c3b5	3556	default:
julientiron	0:1cb50d31c3b5	3557	return INVALID_PARAMS;
julientiron	0:1cb50d31c3b5	3558	}
julientiron	0:1cb50d31c3b5	3559	}
julientiron	0:1cb50d31c3b5	3560
julientiron	0:1cb50d31c3b5	3561
julientiron	0:1cb50d31c3b5	3562	int VL6180X::StopRangeMeasurement(OperatingMode operating_mode)
julientiron	0:1cb50d31c3b5	3563	{
julientiron	0:1cb50d31c3b5	3564	int status;
julientiron	0:1cb50d31c3b5	3565
julientiron	0:1cb50d31c3b5	3566	if(operating_mode==range_single_shot_polling)
julientiron	0:1cb50d31c3b5	3567	status=VL6180x_RangeSetSystemMode(Device, MODE_SINGLESHOT);
julientiron	0:1cb50d31c3b5	3568	else
julientiron	0:1cb50d31c3b5	3569	status=VL6180x_RangeSetSystemMode(Device, MODE_START_STOP\|MODE_SINGLESHOT);
julientiron	0:1cb50d31c3b5	3570	if(status)
julientiron	0:1cb50d31c3b5	3571	return status;
julientiron	0:1cb50d31c3b5	3572	status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
julientiron	0:1cb50d31c3b5	3573	if(status)
julientiron	0:1cb50d31c3b5	3574	{
julientiron	0:1cb50d31c3b5	3575	VL6180x_ErrLog("VL6180x_RangeConfigInterrupt fail"\n\r);
julientiron	0:1cb50d31c3b5	3576	return status;
julientiron	0:1cb50d31c3b5	3577	}
julientiron	0:1cb50d31c3b5	3578	status=VL6180x_RangeClearInterrupt(Device);
julientiron	0:1cb50d31c3b5	3579	if(status)
julientiron	0:1cb50d31c3b5	3580	{
julientiron	0:1cb50d31c3b5	3581	VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
julientiron	0:1cb50d31c3b5	3582	return status;
julientiron	0:1cb50d31c3b5	3583	}
julientiron	0:1cb50d31c3b5	3584	status=VL6180x_ClearErrorInterrupt(Device);
julientiron	0:1cb50d31c3b5	3585	if(status)
julientiron	0:1cb50d31c3b5	3586	{
julientiron	0:1cb50d31c3b5	3587	VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
julientiron	0:1cb50d31c3b5	3588	return status;
julientiron	0:1cb50d31c3b5	3589	}
julientiron	0:1cb50d31c3b5	3590	status=VL6180x_RangeSetRawThresholds(Device, 10, 200);
julientiron	0:1cb50d31c3b5	3591	if(status)
julientiron	0:1cb50d31c3b5	3592	VL6180x_ErrLog("VL6180x_RangeSetThresholds fail");
julientiron	0:1cb50d31c3b5	3593	return status;
julientiron	0:1cb50d31c3b5	3594	}
julientiron	0:1cb50d31c3b5	3595
julientiron	0:1cb50d31c3b5	3596
julientiron	0:1cb50d31c3b5	3597	int VL6180X::StopAlsMeasurement(OperatingMode operating_mode)
julientiron	0:1cb50d31c3b5	3598	{
julientiron	0:1cb50d31c3b5	3599	int status;
julientiron	0:1cb50d31c3b5	3600
julientiron	0:1cb50d31c3b5	3601	if(operating_mode==als_single_shot_polling)
julientiron	0:1cb50d31c3b5	3602	status=VL6180x_AlsSetSystemMode(Device, MODE_SINGLESHOT);
julientiron	0:1cb50d31c3b5	3603	else
julientiron	0:1cb50d31c3b5	3604	status=VL6180x_AlsSetSystemMode(Device, MODE_START_STOP\|MODE_SINGLESHOT);
julientiron	0:1cb50d31c3b5	3605	if(status)
julientiron	0:1cb50d31c3b5	3606	return status;
julientiron	0:1cb50d31c3b5	3607	status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
julientiron	0:1cb50d31c3b5	3608	if(status)
julientiron	0:1cb50d31c3b5	3609	{
julientiron	0:1cb50d31c3b5	3610	VL6180x_ErrLog("VL6180x_AlsConfigInterrupt fail"\n\r);
julientiron	0:1cb50d31c3b5	3611	return status;
julientiron	0:1cb50d31c3b5	3612	}
julientiron	0:1cb50d31c3b5	3613	status=VL6180x_AlsClearInterrupt(Device);
julientiron	0:1cb50d31c3b5	3614	if(status)
julientiron	0:1cb50d31c3b5	3615	{
julientiron	0:1cb50d31c3b5	3616	VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
julientiron	0:1cb50d31c3b5	3617	return status;
julientiron	0:1cb50d31c3b5	3618	}
julientiron	0:1cb50d31c3b5	3619	status=VL6180x_ClearErrorInterrupt(Device);
julientiron	0:1cb50d31c3b5	3620	if(status)
julientiron	0:1cb50d31c3b5	3621	{
julientiron	0:1cb50d31c3b5	3622	VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
julientiron	0:1cb50d31c3b5	3623	return status;
julientiron	0:1cb50d31c3b5	3624	}
julientiron	0:1cb50d31c3b5	3625	status=VL6180x_AlsSetThresholds(Device, 0x0, 1800);
julientiron	0:1cb50d31c3b5	3626	if(status)
julientiron	0:1cb50d31c3b5	3627	VL6180x_ErrLog("VL6180x_AlsSetThresholds fail");
julientiron	0:1cb50d31c3b5	3628	return status;
julientiron	0:1cb50d31c3b5	3629	}
julientiron	0:1cb50d31c3b5	3630
julientiron	0:1cb50d31c3b5	3631
julientiron	0:1cb50d31c3b5	3632
julientiron	0:1cb50d31c3b5	3633
julientiron	0:1cb50d31c3b5	3634	/********************** (C) COPYRIGHT STMicroelectronics *END OF FILE**/

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	05 May 2016
Imports:	1
Forks:	0
Commits:	5
Dependents:	0
Dependencies:	4
Followers:	1

VL6180X_bis/vl6180x_class.cpp@2:f6f12530dbd9, 2016-04-02 (annotated)

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