Kenji Arai / 6180XA1_simple

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Dependents:   Check_VL6180XA1_ToF

Fork of X_NUCLEO_6180XA1 by ST

Components/VL6180X/vl6180x_class.cpp@16:0d4776564733, 2015-10-27 (annotated)

Committer:
gallonm
Date:
Tue Oct 27 15:25:11 2015 +0100
Revision:
16:0d4776564733
Parent:
15:454710d17358
Child:
19:39ea6bab0e5b
Added display class.

Updated STMPE1600 class.

Updated cfg.h with the modify of the range scaling.

Updated platform.h with the addition of printf.

Updated x_nucleo_6180xa1.h and x_nucleo_6180xa1.cpp

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gallonm 1:1de1ea2994d9 1 /**
gallonm 1:1de1ea2994d9 2 ******************************************************************************
gallonm 1:1de1ea2994d9 3 * @file vl6180x_class.cpp
gallonm 1:1de1ea2994d9 4 * @author AST / EST
gallonm 1:1de1ea2994d9 5 * @version V0.0.1
gallonm 1:1de1ea2994d9 6 * @date 14-April-2015
gallonm 1:1de1ea2994d9 7 * @brief Implementation file for the HTS221 driver class
gallonm 1:1de1ea2994d9 8 ******************************************************************************
gallonm 1:1de1ea2994d9 9 * @attention
gallonm 1:1de1ea2994d9 10 *
gallonm 1:1de1ea2994d9 11 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
gallonm 1:1de1ea2994d9 12 *
gallonm 1:1de1ea2994d9 13 * Redistribution and use in source and binary forms, with or without modification,
gallonm 1:1de1ea2994d9 14 * are permitted provided that the following conditions are met:
gallonm 1:1de1ea2994d9 15 * 1. Redistributions of source code must retain the above copyright notice,
gallonm 1:1de1ea2994d9 16 * this list of conditions and the following disclaimer.
gallonm 1:1de1ea2994d9 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
gallonm 1:1de1ea2994d9 18 * this list of conditions and the following disclaimer in the documentation
gallonm 1:1de1ea2994d9 19 * and/or other materials provided with the distribution.
gallonm 1:1de1ea2994d9 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
gallonm 1:1de1ea2994d9 21 * may be used to endorse or promote products derived from this software
gallonm 1:1de1ea2994d9 22 * without specific prior written permission.
gallonm 1:1de1ea2994d9 23 *
gallonm 1:1de1ea2994d9 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
gallonm 1:1de1ea2994d9 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
gallonm 1:1de1ea2994d9 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
gallonm 1:1de1ea2994d9 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
gallonm 1:1de1ea2994d9 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
gallonm 1:1de1ea2994d9 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
gallonm 1:1de1ea2994d9 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
gallonm 1:1de1ea2994d9 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
gallonm 1:1de1ea2994d9 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
gallonm 1:1de1ea2994d9 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
gallonm 1:1de1ea2994d9 34 *
gallonm 1:1de1ea2994d9 35 ******************************************************************************
gallonm 1:1de1ea2994d9 36 */
gallonm 16:0d4776564733 37
gallonm 7:2dc81120c917 38 /* Includes */
gallonm 1:1de1ea2994d9 39 #include "vl6180x_class.h"
licio.mapelli@st.com 8:f943a1fca15f 40
gallonm 16:0d4776564733 41
licio.mapelli@st.com 8:f943a1fca15f 42 #ifndef VL6180x_RANGE_STATUS_ERRSTRING
licio.mapelli@st.com 8:f943a1fca15f 43 #warning "VL6180x_RANGE_STATUS_ERRSTRING not defined ?"
licio.mapelli@st.com 8:f943a1fca15f 44 /* TODO you may remove or comment these #warning and keep the default below to keep compatibility
licio.mapelli@st.com 8:f943a1fca15f 45 or update your vl6180x_platform.h file */
licio.mapelli@st.com 8:f943a1fca15f 46 /**
licio.mapelli@st.com 8:f943a1fca15f 47 * force VL6180x_RANGE_STATUS_ERRSTRING to not supported when not part of any cfg file
licio.mapelli@st.com 8:f943a1fca15f 48 */
licio.mapelli@st.com 8:f943a1fca15f 49 #define VL6180x_RANGE_STATUS_ERRSTRING 0
licio.mapelli@st.com 8:f943a1fca15f 50 #endif
gallonm 16:0d4776564733 51
licio.mapelli@st.com 8:f943a1fca15f 52 #ifndef VL6180X_SAFE_POLLING_ENTER
licio.mapelli@st.com 8:f943a1fca15f 53 #warning "VL6180X_SAFE_POLLING_ENTER not defined, likely old vl6180x_cfg.h file ?"
licio.mapelli@st.com 8:f943a1fca15f 54 /* TODO you may remove or comment these #warning and keep the default below to keep compatibility
licio.mapelli@st.com 8:f943a1fca15f 55 or update your vl6180x_platform.h file */
licio.mapelli@st.com 8:f943a1fca15f 56 /**
licio.mapelli@st.com 8:f943a1fca15f 57 * force VL6180X_SAFE_POLLING_ENTER to off when not in cfg file
licio.mapelli@st.com 8:f943a1fca15f 58 */
licio.mapelli@st.com 8:f943a1fca15f 59 #define VL6180X_SAFE_POLLING_ENTER 0 /* off by default as in api 2.0 */
licio.mapelli@st.com 8:f943a1fca15f 60 #endif
gallonm 16:0d4776564733 61
licio.mapelli@st.com 8:f943a1fca15f 62 #ifndef VL6180X_LOG_ENABLE
licio.mapelli@st.com 8:f943a1fca15f 63 /**
licio.mapelli@st.com 8:f943a1fca15f 64 * Force VL6180X_LOG_ENABLE to none as default
licio.mapelli@st.com 8:f943a1fca15f 65 */
licio.mapelli@st.com 8:f943a1fca15f 66 #define VL6180X_LOG_ENABLE 0
licio.mapelli@st.com 8:f943a1fca15f 67 #endif
gallonm 16:0d4776564733 68
licio.mapelli@st.com 8:f943a1fca15f 69 #if VL6180x_RANGE_STATUS_ERRSTRING
licio.mapelli@st.com 8:f943a1fca15f 70 /**@def VL6180x_HAVE_RANGE_STATUS_ERRSTRING
licio.mapelli@st.com 8:f943a1fca15f 71 * @brief is defined when @a #VL6180x_RANGE_STATUS_ERRSTRING is enable
licio.mapelli@st.com 8:f943a1fca15f 72 */
licio.mapelli@st.com 8:f943a1fca15f 73 #define VL6180x_HAVE_RANGE_STATUS_ERRSTRING
licio.mapelli@st.com 8:f943a1fca15f 74 #endif
gallonm 16:0d4776564733 75
gallonm 16:0d4776564733 76
licio.mapelli@st.com 8:f943a1fca15f 77 /** @brief Get API version as "hex integer" 0xMMnnss
licio.mapelli@st.com 8:f943a1fca15f 78 */
licio.mapelli@st.com 8:f943a1fca15f 79 #define VL6180x_ApiRevInt ((VL6180x_API_REV_MAJOR<<24)+(VL6180x_API_REV_MINOR<<16)+VL6180x_API_REV_SUB)
gallonm 16:0d4776564733 80
licio.mapelli@st.com 8:f943a1fca15f 81 /** Get API version as string for exe "2.1.12" "
licio.mapelli@st.com 8:f943a1fca15f 82 */
licio.mapelli@st.com 8:f943a1fca15f 83 #define VL6180x_ApiRevStr VL6180X_STR(VL6180x_API_REV_MAJOR) "." VL6180X_STR(VL6180x_API_REV_MINOR) "." VL6180X_STR(VL6180x_API_REV_SUB)
gallonm 16:0d4776564733 84
licio.mapelli@st.com 8:f943a1fca15f 85 /** @defgroup api_init Init functions
licio.mapelli@st.com 8:f943a1fca15f 86 * @brief API init functions
licio.mapelli@st.com 8:f943a1fca15f 87 * @ingroup api_hl
licio.mapelli@st.com 8:f943a1fca15f 88 * @{
licio.mapelli@st.com 8:f943a1fca15f 89 */
gallonm 16:0d4776564733 90
gallonm 16:0d4776564733 91
gallonm 7:2dc81120c917 92 /****************** define for i2c configuration *******************************/
gallonm 16:0d4776564733 93
gallonm 16:0d4776564733 94 #define TEMP_BUF_SIZE 32
gallonm 16:0d4776564733 95
gallonm 7:2dc81120c917 96 #define IsValidGPIOFunction(x) ((x)==GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT || (x)==GPIOx_SELECT_OFF)
licio.mapelli@st.com 8:f943a1fca15f 97 /**
licio.mapelli@st.com 8:f943a1fca15f 98 * @brief Clear All interrupt causes (als+range+error)
licio.mapelli@st.com 8:f943a1fca15f 99 *
licio.mapelli@st.com 8:f943a1fca15f 100 * @param dev The device
licio.mapelli@st.com 8:f943a1fca15f 101 * @return 0 On success
licio.mapelli@st.com 8:f943a1fca15f 102 */
licio.mapelli@st.com 8:f943a1fca15f 103 #define VL6180x_ClearAllInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_ERROR|INTERRUPT_CLEAR_RANGING|INTERRUPT_CLEAR_ALS)
licio.mapelli@st.com 8:f943a1fca15f 104 /**
licio.mapelli@st.com 8:f943a1fca15f 105 * @brief Clear ALS interrupt
licio.mapelli@st.com 8:f943a1fca15f 106 *
licio.mapelli@st.com 8:f943a1fca15f 107 * @param dev The device
licio.mapelli@st.com 8:f943a1fca15f 108 * @return 0 On success
licio.mapelli@st.com 8:f943a1fca15f 109 */
licio.mapelli@st.com 8:f943a1fca15f 110 #define VL6180x_AlsClearInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_ALS)
licio.mapelli@st.com 8:f943a1fca15f 111 /**
licio.mapelli@st.com 8:f943a1fca15f 112 * @brief Clear range interrupt
licio.mapelli@st.com 8:f943a1fca15f 113 *
licio.mapelli@st.com 8:f943a1fca15f 114 * @param dev The device
licio.mapelli@st.com 8:f943a1fca15f 115 * @return 0 On success
licio.mapelli@st.com 8:f943a1fca15f 116 */
licio.mapelli@st.com 8:f943a1fca15f 117 #define VL6180x_RangeClearInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_RANGING)
gallonm 16:0d4776564733 118
gallonm 7:2dc81120c917 119 /******************************************************************************/
gallonm 7:2dc81120c917 120 /******************************* file api.c ***********************************/
gallonm 16:0d4776564733 121
gallonm 7:2dc81120c917 122 #define VL6180x_9to7Conv(x) (x)
gallonm 16:0d4776564733 123
gallonm 7:2dc81120c917 124 /* TODO when set all "cached" value with "default init" are updated after init from register read back */
gallonm 7:2dc81120c917 125 #define REFRESH_CACHED_DATA_AFTER_INIT 1
gallonm 16:0d4776564733 126
gallonm 16:0d4776564733 127
gallonm 7:2dc81120c917 128 #define IsValidGPIOFunction(x) ((x)==GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT || (x)==GPIOx_SELECT_OFF)
gallonm 16:0d4776564733 129
gallonm 16:0d4776564733 130
gallonm 7:2dc81120c917 131 /** default value ECE factor Molecular */
gallonm 7:2dc81120c917 132 #define DEF_ECE_FACTOR_M 85
gallonm 7:2dc81120c917 133 /** default value ECE factor Denominator */
gallonm 7:2dc81120c917 134 #define DEF_ECE_FACTOR_D 100
gallonm 7:2dc81120c917 135 /** default value ALS integration time */
gallonm 7:2dc81120c917 136 #define DEF_INT_PEFRIOD 100
gallonm 7:2dc81120c917 137 /** default value ALS gain */
gallonm 7:2dc81120c917 138 #define DEF_ALS_GAIN 1
gallonm 7:2dc81120c917 139 /** default value ALS scaler */
gallonm 7:2dc81120c917 140 #define DEF_ALS_SCALER 1
gallonm 7:2dc81120c917 141 /** default value for DMAX Enbale */
gallonm 7:2dc81120c917 142 #define DEF_DMAX_ENABLE 1
gallonm 7:2dc81120c917 143 /** default ambient tuning factor %x1000 */
gallonm 7:2dc81120c917 144 #define DEF_AMBIENT_TUNING 80
gallonm 16:0d4776564733 145
gallonm 10:4954b09b72d8 146 #if VL6180x_SINGLE_DEVICE_DRIVER
gallonm 10:4954b09b72d8 147 extern struct VL6180xDevData_t SingleVL6180xDevData;
gallonm 10:4954b09b72d8 148 #define VL6180xDevDataGet(dev, field) (SingleVL6180xDevData.field)
gallonm 10:4954b09b72d8 149 #define VL6180xDevDataSet(dev, field, data) SingleVL6180xDevData.field=(data)
gallonm 10:4954b09b72d8 150 #endif
gallonm 16:0d4776564733 151
gallonm 7:2dc81120c917 152 #define LUXRES_FIX_PREC 8
gallonm 7:2dc81120c917 153 #define GAIN_FIX_PREC 8 /* ! if not sme as LUX_PREC then :( adjust GetLux */
gallonm 7:2dc81120c917 154 #define AN_GAIN_MULT (1<<GAIN_FIX_PREC)
gallonm 16:0d4776564733 155
gallonm 16:0d4776564733 156
gallonm 7:2dc81120c917 157 static int32_t _GetAveTotalTime(VL6180xDev_t dev);
gallonm 7:2dc81120c917 158 static int VL6180x_RangeSetEarlyConvergenceEestimateThreshold(VL6180xDev_t dev);
gallonm 16:0d4776564733 159
gallonm 7:2dc81120c917 160 /**
gallonm 7:2dc81120c917 161 * ScalerLookUP scaling factor-1 to register #RANGE_SCALER lookup
gallonm 7:2dc81120c917 162 */
gallonm 7:2dc81120c917 163 static const uint16_t ScalerLookUP[] ROMABLE_DATA ={ 253, 127, 84}; /* lookup table for scaling->scalar 1x2x 3x */
gallonm 7:2dc81120c917 164 /**
gallonm 7:2dc81120c917 165 * scaling factor to Upper limit look up
gallonm 7:2dc81120c917 166 */
gallonm 7:2dc81120c917 167 static const uint16_t UpperLimitLookUP[] ROMABLE_DATA ={ 185, 370, 580}; /* lookup table for scaling->limit 1x2x3x */
gallonm 7:2dc81120c917 168 /**
gallonm 7:2dc81120c917 169 * Als Code gain to fix point gain lookup
gallonm 7:2dc81120c917 170 */
gallonm 7:2dc81120c917 171 static const uint16_t AlsGainLookUp[8] ROMABLE_DATA = {
gallonm 7:2dc81120c917 172 (uint16_t)(20.0f * AN_GAIN_MULT),
gallonm 7:2dc81120c917 173 (uint16_t)(10.0f * AN_GAIN_MULT),
gallonm 7:2dc81120c917 174 (uint16_t)(5.0f * AN_GAIN_MULT),
gallonm 7:2dc81120c917 175 (uint16_t)(2.5f * AN_GAIN_MULT),
gallonm 7:2dc81120c917 176 (uint16_t)(1.67f * AN_GAIN_MULT),
gallonm 7:2dc81120c917 177 (uint16_t)(1.25f * AN_GAIN_MULT),
gallonm 7:2dc81120c917 178 (uint16_t)(1.0f * AN_GAIN_MULT),
gallonm 7:2dc81120c917 179 (uint16_t)(40.0f * AN_GAIN_MULT),
gallonm 7:2dc81120c917 180 };
gallonm 16:0d4776564733 181
gallonm 16:0d4776564733 182
gallonm 7:2dc81120c917 183 #if VL6180x_RANGE_STATUS_ERRSTRING
gallonm 7:2dc81120c917 184 const char * ROMABLE_DATA VL6180x_RangeStatusErrString[]={
gallonm 7:2dc81120c917 185 "No Error",
gallonm 7:2dc81120c917 186 "VCSEL Continuity Test",
gallonm 7:2dc81120c917 187 "VCSEL Watchdog Test",
gallonm 7:2dc81120c917 188 "VCSEL Watchdog",
gallonm 7:2dc81120c917 189 "PLL1 Lock",
gallonm 7:2dc81120c917 190 "PLL2 Lock",
gallonm 7:2dc81120c917 191 "Early Convergence Estimate",
gallonm 7:2dc81120c917 192 "Max Convergence",
gallonm 7:2dc81120c917 193 "No Target Ignore",
gallonm 7:2dc81120c917 194 "Not used 9",
gallonm 7:2dc81120c917 195 "Not used 10",
gallonm 7:2dc81120c917 196 "Max Signal To Noise Ratio",
gallonm 7:2dc81120c917 197 "Raw Ranging Algo Underflow",
gallonm 7:2dc81120c917 198 "Raw Ranging Algo Overflow",
gallonm 7:2dc81120c917 199 "Ranging Algo Underflow",
gallonm 7:2dc81120c917 200 "Ranging Algo Overflow",
gallonm 16:0d4776564733 201
gallonm 7:2dc81120c917 202 "Filtered by post processing"
gallonm 7:2dc81120c917 203 };
gallonm 16:0d4776564733 204
gallonm 7:2dc81120c917 205 const char * VL6180x_RangeGetStatusErrString(uint8_t RangeErrCode){
gallonm 7:2dc81120c917 206 if( RangeErrCode > sizeof(VL6180x_RangeStatusErrString)/sizeof(VL6180x_RangeStatusErrString[0]) )
gallonm 7:2dc81120c917 207 return NULL;
gallonm 7:2dc81120c917 208 return VL6180x_RangeStatusErrString[RangeErrCode];
gallonm 7:2dc81120c917 209 }
gallonm 7:2dc81120c917 210 #endif
gallonm 16:0d4776564733 211
gallonm 7:2dc81120c917 212 #if VL6180x_UPSCALE_SUPPORT == 1
gallonm 7:2dc81120c917 213 #define _GetUpscale(dev, ... ) 1
gallonm 7:2dc81120c917 214 #define _SetUpscale(...) -1
gallonm 7:2dc81120c917 215 #define DEF_UPSCALE 1
gallonm 7:2dc81120c917 216 #elif VL6180x_UPSCALE_SUPPORT == 2
gallonm 7:2dc81120c917 217 #define _GetUpscale(dev, ... ) 2
gallonm 7:2dc81120c917 218 #define _SetUpscale(...)
gallonm 7:2dc81120c917 219 #define DEF_UPSCALE 2
gallonm 7:2dc81120c917 220 #elif VL6180x_UPSCALE_SUPPORT == 3
gallonm 7:2dc81120c917 221 #define _GetUpscale(dev, ... ) 3
gallonm 7:2dc81120c917 222 #define _SetUpscale(...)
gallonm 7:2dc81120c917 223 #define DEF_UPSCALE 3
gallonm 7:2dc81120c917 224 #else
gallonm 7:2dc81120c917 225 #define DEF_UPSCALE (-(VL6180x_UPSCALE_SUPPORT))
gallonm 7:2dc81120c917 226 #define _GetUpscale(dev, ... ) VL6180xDevDataGet(dev, UpscaleFactor)
gallonm 7:2dc81120c917 227 #define _SetUpscale(dev, Scaling ) VL6180xDevDataSet(dev, UpscaleFactor, Scaling)
gallonm 7:2dc81120c917 228 #endif
gallonm 16:0d4776564733 229
gallonm 16:0d4776564733 230
gallonm 10:4954b09b72d8 231 #if VL6180x_SINGLE_DEVICE_DRIVER
gallonm 10:4954b09b72d8 232 /**
gallonm 10:4954b09b72d8 233 * the unique driver data When single device driver is active
gallonm 10:4954b09b72d8 234 */
gallonm 10:4954b09b72d8 235 struct VL6180xDevData_t VL6180x_DEV_DATA_ATTR SingleVL6180xDevData={
gallonm 10:4954b09b72d8 236 .EceFactorM = DEF_ECE_FACTOR_M,
gallonm 10:4954b09b72d8 237 .EceFactorD = DEF_ECE_FACTOR_D,
gallonm 10:4954b09b72d8 238 #ifdef VL6180x_HAVE_UPSCALE_DATA
gallonm 10:4954b09b72d8 239 .UpscaleFactor = DEF_UPSCALE,
gallonm 10:4954b09b72d8 240 #endif
gallonm 10:4954b09b72d8 241 #ifdef VL6180x_HAVE_ALS_DATA
gallonm 10:4954b09b72d8 242 .IntegrationPeriod = DEF_INT_PEFRIOD,
gallonm 10:4954b09b72d8 243 .AlsGainCode = DEF_ALS_GAIN,
gallonm 10:4954b09b72d8 244 .AlsScaler = DEF_ALS_SCALER,
gallonm 10:4954b09b72d8 245 #endif
gallonm 10:4954b09b72d8 246 #ifdef VL6180x_HAVE_DMAX_RANGING
gallonm 10:4954b09b72d8 247 .DMaxEnable = DEF_DMAX_ENABLE,
gallonm 10:4954b09b72d8 248 #endif
gallonm 10:4954b09b72d8 249 };
gallonm 10:4954b09b72d8 250 #endif /* VL6180x_SINGLE_DEVICE_DRIVER */
gallonm 16:0d4776564733 251
gallonm 16:0d4776564733 252
gallonm 16:0d4776564733 253
gallonm 7:2dc81120c917 254 #define Fix7_2_KCPs(x) ((((uint32_t)(x))*1000)>>7)
gallonm 16:0d4776564733 255
gallonm 16:0d4776564733 256
gallonm 7:2dc81120c917 257 #if VL6180x_WRAP_AROUND_FILTER_SUPPORT || VL6180x_HAVE_DMAX_RANGING
gallonm 7:2dc81120c917 258 static int _GetRateResult(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData);
gallonm 7:2dc81120c917 259 #endif
gallonm 16:0d4776564733 260
gallonm 7:2dc81120c917 261 #if VL6180x_WRAP_AROUND_FILTER_SUPPORT
gallonm 7:2dc81120c917 262 static int _filter_Init(VL6180xDev_t dev);
gallonm 7:2dc81120c917 263 static int _filter_GetResult(VL6180xDev_t dev, VL6180x_RangeData_t *pData);
gallonm 7:2dc81120c917 264 #define _IsWrapArroundActive(dev) VL6180xDevDataGet(dev,WrapAroundFilterActive)
gallonm 7:2dc81120c917 265 #else
gallonm 7:2dc81120c917 266 #define _IsWrapArroundActive(dev) 0
gallonm 7:2dc81120c917 267 #endif
gallonm 16:0d4776564733 268
gallonm 16:0d4776564733 269
gallonm 7:2dc81120c917 270 #if VL6180x_HAVE_DMAX_RANGING
gallonm 7:2dc81120c917 271 void _DMax_OneTimeInit(VL6180xDev_t dev);
gallonm 7:2dc81120c917 272 static int _DMax_InitData(VL6180xDev_t dev);
gallonm 7:2dc81120c917 273 static int _DMax_Compute(VL6180xDev_t dev, VL6180x_RangeData_t *pRange);
gallonm 7:2dc81120c917 274 #define _IsDMaxActive(dev) VL6180xDevDataGet(dev,DMaxEnable)
gallonm 7:2dc81120c917 275 #else
gallonm 7:2dc81120c917 276 #define _DMax_InitData(...) 0 /* success */
gallonm 7:2dc81120c917 277 #define _DMax_OneTimeInit(...) (void)0
gallonm 7:2dc81120c917 278 #define _IsDMaxActive(...) 0
gallonm 7:2dc81120c917 279 #endif
gallonm 16:0d4776564733 280
gallonm 7:2dc81120c917 281 static int VL6180x_RangeStaticInit(VL6180xDev_t dev);
gallonm 7:2dc81120c917 282 static int VL6180x_UpscaleStaticInit(VL6180xDev_t dev);
gallonm 16:0d4776564733 283
gallonm 7:2dc81120c917 284 int VL6180X::VL6180x_WaitDeviceBooted(VL6180xDev_t dev){
gallonm 16:0d4776564733 285 uint8_t FreshOutReset;
gallonm 16:0d4776564733 286 int status;
gallonm 16:0d4776564733 287 LOG_FUNCTION_START("");
gallonm 16:0d4776564733 288 do{
gallonm 16:0d4776564733 289 status = VL6180x_RdByte(dev,SYSTEM_FRESH_OUT_OF_RESET, &FreshOutReset);
gallonm 16:0d4776564733 290 }
gallonm 16:0d4776564733 291 while( FreshOutReset!=1 && status==0);
gallonm 16:0d4776564733 292 LOG_FUNCTION_END(status);
gallonm 16:0d4776564733 293 return status;
gallonm 7:2dc81120c917 294 }
gallonm 16:0d4776564733 295
gallonm 7:2dc81120c917 296 int VL6180X::VL6180x_InitData(VL6180xDev_t dev){
gallonm 3:454541a079f4 297 int status, dmax_status ;
gallonm 3:454541a079f4 298 int8_t offset;
gallonm 3:454541a079f4 299 uint8_t FreshOutReset;
gallonm 3:454541a079f4 300 uint32_t CalValue;
gallonm 3:454541a079f4 301 uint16_t u16;
gallonm 3:454541a079f4 302 uint32_t XTalkCompRate_KCps;
gallonm 16:0d4776564733 303
gallonm 3:454541a079f4 304 LOG_FUNCTION_START("");
gallonm 16:0d4776564733 305
gallonm 3:454541a079f4 306 VL6180xDevDataSet(dev, EceFactorM , DEF_ECE_FACTOR_M);
gallonm 3:454541a079f4 307 VL6180xDevDataSet(dev, EceFactorD , DEF_ECE_FACTOR_D);
gallonm 16:0d4776564733 308
gallonm 3:454541a079f4 309 #ifdef VL6180x_HAVE_UPSCALE_DATA
gallonm 3:454541a079f4 310 VL6180xDevDataSet(dev, UpscaleFactor , DEF_UPSCALE);
gallonm 3:454541a079f4 311 #endif
gallonm 16:0d4776564733 312
gallonm 3:454541a079f4 313 #ifdef VL6180x_HAVE_ALS_DATA
gallonm 3:454541a079f4 314 VL6180xDevDataSet(dev, IntegrationPeriod, DEF_INT_PEFRIOD);
gallonm 3:454541a079f4 315 VL6180xDevDataSet(dev, AlsGainCode, DEF_ALS_GAIN);
gallonm 3:454541a079f4 316 VL6180xDevDataSet(dev, AlsScaler, DEF_ALS_SCALER);
gallonm 3:454541a079f4 317 #endif
gallonm 16:0d4776564733 318
gallonm 3:454541a079f4 319 #ifdef VL6180x_HAVE_WRAP_AROUND_DATA
gallonm 3:454541a079f4 320 VL6180xDevDataSet(dev, WrapAroundFilterActive, (VL6180x_WRAP_AROUND_FILTER_SUPPORT >0));
gallonm 3:454541a079f4 321 VL6180xDevDataSet(dev, DMaxEnable, DEF_DMAX_ENABLE);
gallonm 3:454541a079f4 322 #endif
gallonm 16:0d4776564733 323
gallonm 3:454541a079f4 324 _DMax_OneTimeInit(dev);
gallonm 3:454541a079f4 325 do{
gallonm 16:0d4776564733 326
gallonm 3:454541a079f4 327 /* backup offset initial value from nvm these must be done prior any over call that use offset */
gallonm 7:2dc81120c917 328 status = VL6180X::VL6180x_RdByte(dev,SYSRANGE_PART_TO_PART_RANGE_OFFSET, (uint8_t*)&offset);
gallonm 3:454541a079f4 329 if( status ){
gallonm 3:454541a079f4 330 VL6180x_ErrLog("SYSRANGE_PART_TO_PART_RANGE_OFFSET rd fail");
gallonm 3:454541a079f4 331 break;
gallonm 3:454541a079f4 332 }
gallonm 3:454541a079f4 333 VL6180xDevDataSet(dev, Part2PartOffsetNVM, offset);
gallonm 16:0d4776564733 334
gallonm 7:2dc81120c917 335 status=VL6180x_RdDWord( dev, SYSRANGE_RANGE_IGNORE_THRESHOLD, &CalValue);
gallonm 3:454541a079f4 336 if( status ){
gallonm 3:454541a079f4 337 VL6180x_ErrLog("Part2PartAmbNVM rd fail");
gallonm 3:454541a079f4 338 break;
gallonm 3:454541a079f4 339 }
gallonm 3:454541a079f4 340 if( (CalValue&0xFFFF0000) == 0 ){
gallonm 3:454541a079f4 341 CalValue=0x00CE03F8;
gallonm 3:454541a079f4 342 }
gallonm 3:454541a079f4 343 VL6180xDevDataSet(dev, Part2PartAmbNVM, CalValue);
gallonm 16:0d4776564733 344
gallonm 7:2dc81120c917 345 status = VL6180x_RdWord(dev, SYSRANGE_CROSSTALK_COMPENSATION_RATE ,&u16);
gallonm 3:454541a079f4 346 if( status){
gallonm 3:454541a079f4 347 VL6180x_ErrLog("SYSRANGE_CROSSTALK_COMPENSATION_RATE rd fail ");
gallonm 3:454541a079f4 348 break;
gallonm 3:454541a079f4 349 }
gallonm 3:454541a079f4 350 XTalkCompRate_KCps = Fix7_2_KCPs(u16);
gallonm 3:454541a079f4 351 VL6180xDevDataSet(dev, XTalkCompRate_KCps , XTalkCompRate_KCps );
gallonm 16:0d4776564733 352
gallonm 3:454541a079f4 353 dmax_status = _DMax_InitData(dev);
gallonm 3:454541a079f4 354 if( dmax_status < 0 ){
gallonm 3:454541a079f4 355 VL6180x_ErrLog("DMax init failure");
gallonm 3:454541a079f4 356 break;
gallonm 3:454541a079f4 357 }
gallonm 16:0d4776564733 358
gallonm 3:454541a079f4 359 /* Read or wait for fresh out of reset */
gallonm 7:2dc81120c917 360 status = VL6180x_RdByte(dev,SYSTEM_FRESH_OUT_OF_RESET, &FreshOutReset);
gallonm 3:454541a079f4 361 if( status ) {
gallonm 3:454541a079f4 362 VL6180x_ErrLog("SYSTEM_FRESH_OUT_OF_RESET rd fail");
gallonm 3:454541a079f4 363 break;
gallonm 3:454541a079f4 364 }
gallonm 3:454541a079f4 365 if( FreshOutReset!= 1 || dmax_status )
gallonm 3:454541a079f4 366 status = CALIBRATION_WARNING;
gallonm 16:0d4776564733 367
gallonm 3:454541a079f4 368 }
gallonm 3:454541a079f4 369 while(0);
gallonm 16:0d4776564733 370
gallonm 3:454541a079f4 371 LOG_FUNCTION_END(status);
gallonm 3:454541a079f4 372 return status;
gallonm 1:1de1ea2994d9 373 }
gallonm 16:0d4776564733 374
gallonm 7:2dc81120c917 375 int8_t VL6180X::VL6180x_GetOffsetCalibrationData(VL6180xDev_t dev)
gallonm 7:2dc81120c917 376 {
gallonm 7:2dc81120c917 377 int8_t offset;
gallonm 7:2dc81120c917 378 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 379 offset = VL6180xDevDataGet(dev, Part2PartOffsetNVM);
gallonm 7:2dc81120c917 380 LOG_FUNCTION_END( offset );
gallonm 7:2dc81120c917 381 return offset;
gallonm 7:2dc81120c917 382 }
gallonm 16:0d4776564733 383
gallonm 7:2dc81120c917 384 void VL6180X::VL6180x_SetOffsetCalibrationData(VL6180xDev_t dev, int8_t offset)
gallonm 7:2dc81120c917 385 {
gallonm 7:2dc81120c917 386 LOG_FUNCTION_START("%d", offset);
gallonm 7:2dc81120c917 387 VL6180xDevDataSet(dev, Part2PartOffsetNVM, offset);
gallonm 7:2dc81120c917 388 LOG_FUNCTION_END(0);
gallonm 7:2dc81120c917 389 }
gallonm 16:0d4776564733 390
gallonm 7:2dc81120c917 391 int VL6180X::VL6180x_SetXTalkCompensationRate(VL6180xDev_t dev, FixPoint97_t Rate)
gallonm 7:2dc81120c917 392 {
gallonm 7:2dc81120c917 393 int status;
gallonm 7:2dc81120c917 394 LOG_FUNCTION_START("%d", Rate);
gallonm 7:2dc81120c917 395 status = VL6180x_WrWord(dev, SYSRANGE_CROSSTALK_COMPENSATION_RATE, Rate);
gallonm 7:2dc81120c917 396 if( status ==0 ){
gallonm 7:2dc81120c917 397 uint32_t XTalkCompRate_KCps;
gallonm 7:2dc81120c917 398 XTalkCompRate_KCps = Fix7_2_KCPs(Rate);
gallonm 7:2dc81120c917 399 VL6180xDevDataSet(dev, XTalkCompRate_KCps , XTalkCompRate_KCps );
gallonm 7:2dc81120c917 400 /* update dmax whenever xtalk rate changes */
gallonm 7:2dc81120c917 401 status = _DMax_InitData(dev);
gallonm 7:2dc81120c917 402 }
gallonm 7:2dc81120c917 403 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 404 return status;
gallonm 7:2dc81120c917 405 }
gallonm 16:0d4776564733 406
gallonm 7:2dc81120c917 407 int VL6180X::VL6180x_SetI2CAddress(VL6180xDev_t dev, uint8_t NewAddress){
gallonm 7:2dc81120c917 408 int status;
gallonm 7:2dc81120c917 409 LOG_FUNCTION_START("");
gallonm 16:0d4776564733 410
licio.mapelli@st.com 8:f943a1fca15f 411 status = VL6180x_WrByte(dev, I2C_SLAVE_DEVICE_ADDRESS, NewAddress);
gallonm 7:2dc81120c917 412 if( status ){
gallonm 7:2dc81120c917 413 VL6180x_ErrLog("new i2c addr Wr fail");
gallonm 7:2dc81120c917 414 }
gallonm 7:2dc81120c917 415 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 416 return status;
gallonm 7:2dc81120c917 417 }
gallonm 16:0d4776564733 418
gallonm 16:0d4776564733 419
gallonm 7:2dc81120c917 420 uint16_t VL6180X::VL6180x_GetUpperLimit(VL6180xDev_t dev) {
gallonm 7:2dc81120c917 421 uint16_t limit;
gallonm 7:2dc81120c917 422 int scaling;
gallonm 16:0d4776564733 423
gallonm 7:2dc81120c917 424 LOG_FUNCTION_START("");
gallonm 16:0d4776564733 425
gallonm 7:2dc81120c917 426 scaling = _GetUpscale(dev);
gallonm 7:2dc81120c917 427 /* FIXME we do assume here _GetUpscale is valid if user call us prior to init we may overflow the LUT mem area */
gallonm 7:2dc81120c917 428 limit = UpperLimitLookUP[scaling - 1];
gallonm 16:0d4776564733 429
gallonm 7:2dc81120c917 430 LOG_FUNCTION_END((int )limit);
gallonm 7:2dc81120c917 431 return limit;
gallonm 7:2dc81120c917 432 }
gallonm 16:0d4776564733 433
gallonm 16:0d4776564733 434
gallonm 16:0d4776564733 435
gallonm 7:2dc81120c917 436 int VL6180X::VL6180x_StaticInit(VL6180xDev_t dev){
gallonm 7:2dc81120c917 437 int status=0, init_status;
gallonm 7:2dc81120c917 438 LOG_FUNCTION_START("");
gallonm 16:0d4776564733 439
gallonm 7:2dc81120c917 440 /* TODO doc When using configurable scaling but using 1x as start condition
gallonm 7:2dc81120c917 441 * load tunning upscale or not ??? */
gallonm 7:2dc81120c917 442 if( _GetUpscale(dev) == 1 && !(VL6180x_UPSCALE_SUPPORT<0))
gallonm 16:0d4776564733 443 init_status=VL6180x_RangeStaticInit(dev);
gallonm 7:2dc81120c917 444 else
gallonm 16:0d4776564733 445 init_status=VL6180x_UpscaleStaticInit(dev);
gallonm 16:0d4776564733 446
gallonm 7:2dc81120c917 447 if( init_status <0 ){
gallonm 16:0d4776564733 448 VL6180x_ErrLog("StaticInit fail");
gallonm 16:0d4776564733 449 goto error;
gallonm 7:2dc81120c917 450 }
gallonm 7:2dc81120c917 451 else if(init_status > 0){
gallonm 16:0d4776564733 452 VL6180x_ErrLog("StaticInit warning");
gallonm 7:2dc81120c917 453 }
gallonm 16:0d4776564733 454
gallonm 7:2dc81120c917 455 #if REFRESH_CACHED_DATA_AFTER_INIT
gallonm 7:2dc81120c917 456 /* update cached value after tuning applied */
gallonm 7:2dc81120c917 457 do{
gallonm 7:2dc81120c917 458 #ifdef VL6180x_HAVE_ALS_DATA
gallonm 7:2dc81120c917 459 uint8_t data;
gallonm 7:2dc81120c917 460 status= VL6180x_RdByte(dev, FW_ALS_RESULT_SCALER, &data);
gallonm 7:2dc81120c917 461 if( status ) break;
gallonm 7:2dc81120c917 462 VL6180xDevDataSet(dev, AlsScaler, data);
gallonm 16:0d4776564733 463
gallonm 7:2dc81120c917 464 status= VL6180x_RdByte(dev, SYSALS_ANALOGUE_GAIN, &data);
gallonm 7:2dc81120c917 465 if( status ) break;
gallonm 7:2dc81120c917 466 VL6180x_AlsSetAnalogueGain(dev, data);
gallonm 7:2dc81120c917 467 #endif
gallonm 7:2dc81120c917 468 }
gallonm 7:2dc81120c917 469 while(0);
gallonm 7:2dc81120c917 470 #endif /* REFRESH_CACHED_DATA_AFTER_INIT */
gallonm 7:2dc81120c917 471 if( status < 0 ){
gallonm 7:2dc81120c917 472 VL6180x_ErrLog("StaticInit fail");
gallonm 7:2dc81120c917 473 }
gallonm 7:2dc81120c917 474 if( !status && init_status){
gallonm 16:0d4776564733 475 status = init_status;
gallonm 7:2dc81120c917 476 }
gallonm 7:2dc81120c917 477 error:
gallonm 7:2dc81120c917 478 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 479 return status;
gallonm 7:2dc81120c917 480 }
gallonm 16:0d4776564733 481
gallonm 16:0d4776564733 482
gallonm 7:2dc81120c917 483 int VL6180X::VL6180x_SetGroupParamHold(VL6180xDev_t dev, int Hold)
gallonm 7:2dc81120c917 484 {
gallonm 7:2dc81120c917 485 int status;
gallonm 7:2dc81120c917 486 uint8_t value;
gallonm 16:0d4776564733 487
gallonm 7:2dc81120c917 488 LOG_FUNCTION_START("%d", Hold);
gallonm 7:2dc81120c917 489 if( Hold )
gallonm 7:2dc81120c917 490 value = 1;
gallonm 7:2dc81120c917 491 else
gallonm 7:2dc81120c917 492 value = 0;
gallonm 7:2dc81120c917 493 status = VL6180x_WrByte(dev, SYSTEM_GROUPED_PARAMETER_HOLD, value);
gallonm 16:0d4776564733 494
gallonm 7:2dc81120c917 495 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 496 return status;
gallonm 16:0d4776564733 497
gallonm 7:2dc81120c917 498 }
gallonm 16:0d4776564733 499
gallonm 7:2dc81120c917 500 int VL6180X::VL6180x_Prepare(VL6180xDev_t dev)
gallonm 7:2dc81120c917 501 {
gallonm 7:2dc81120c917 502 int status;
gallonm 7:2dc81120c917 503 LOG_FUNCTION_START("");
gallonm 16:0d4776564733 504
gallonm 7:2dc81120c917 505 do{
gallonm 7:2dc81120c917 506 status=VL6180x_StaticInit(dev);
gallonm 7:2dc81120c917 507 if( status<0) break;
gallonm 16:0d4776564733 508
gallonm 7:2dc81120c917 509 /* set range InterruptMode to new sample */
gallonm 14:0effa0bbf192 510 status=VL6180x_RangeConfigInterrupt(dev, CONFIG_GPIO_INTERRUPT_DISABLED );
gallonm 7:2dc81120c917 511 if( status)
gallonm 7:2dc81120c917 512 break;
gallonm 16:0d4776564733 513
gallonm 7:2dc81120c917 514 /* set default threshold */
gallonm 7:2dc81120c917 515 status=VL6180x_RangeSetRawThresholds(dev, 10, 200);
gallonm 7:2dc81120c917 516 if( status ){
gallonm 7:2dc81120c917 517 VL6180x_ErrLog("VL6180x_RangeSetRawThresholds fail");
gallonm 7:2dc81120c917 518 break;
gallonm 7:2dc81120c917 519 }
gallonm 7:2dc81120c917 520 #if VL6180x_ALS_SUPPORT
gallonm 7:2dc81120c917 521 status =VL6180x_AlsSetIntegrationPeriod(dev, 100);
gallonm 7:2dc81120c917 522 if( status ) break;
gallonm 7:2dc81120c917 523 status = VL6180x_AlsSetInterMeasurementPeriod(dev, 200);
gallonm 7:2dc81120c917 524 if( status ) break;
gallonm 7:2dc81120c917 525 status = VL6180x_AlsSetAnalogueGain(dev, 0);
gallonm 7:2dc81120c917 526 if( status ) break;
gallonm 7:2dc81120c917 527 status = VL6180x_AlsSetThresholds(dev, 0, 0xFF);
gallonm 7:2dc81120c917 528 if( status ) break;
gallonm 7:2dc81120c917 529 /* set Als InterruptMode to new sample */
gallonm 14:0effa0bbf192 530 status=VL6180x_AlsConfigInterrupt(dev, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 7:2dc81120c917 531 if( status ) {
gallonm 7:2dc81120c917 532 VL6180x_ErrLog("VL6180x_AlsConfigInterrupt fail");
gallonm 7:2dc81120c917 533 break;
gallonm 7:2dc81120c917 534 }
gallonm 7:2dc81120c917 535 #endif
gallonm 7:2dc81120c917 536 #if VL6180x_WRAP_AROUND_FILTER_SUPPORT
gallonm 7:2dc81120c917 537 _filter_Init(dev);
gallonm 7:2dc81120c917 538 #endif
gallonm 7:2dc81120c917 539 /* make sure to reset any left previous condition that can hangs first poll */
gallonm 7:2dc81120c917 540 status=VL6180x_ClearAllInterrupt(dev);
gallonm 7:2dc81120c917 541 }
gallonm 7:2dc81120c917 542 while(0);
gallonm 7:2dc81120c917 543 LOG_FUNCTION_END(status);
gallonm 16:0d4776564733 544
gallonm 7:2dc81120c917 545 return status;
gallonm 7:2dc81120c917 546 }
gallonm 16:0d4776564733 547
gallonm 7:2dc81120c917 548 #if VL6180x_ALS_SUPPORT
gallonm 7:2dc81120c917 549 int VL6180X::VL6180x_AlsGetLux(VL6180xDev_t dev, lux_t *pLux)
gallonm 7:2dc81120c917 550 {
gallonm 7:2dc81120c917 551 int status;
gallonm 7:2dc81120c917 552 uint16_t RawAls;
gallonm 7:2dc81120c917 553 uint32_t luxValue = 0;
gallonm 7:2dc81120c917 554 uint32_t IntPeriod;
gallonm 7:2dc81120c917 555 uint32_t AlsAnGain;
gallonm 7:2dc81120c917 556 uint32_t GainFix;
gallonm 7:2dc81120c917 557 uint32_t AlsScaler;
gallonm 16:0d4776564733 558
gallonm 7:2dc81120c917 559 #if LUXRES_FIX_PREC != GAIN_FIX_PREC
gallonm 7:2dc81120c917 560 #error "LUXRES_FIX_PREC != GAIN_FIX_PREC review these code to be correct"
gallonm 7:2dc81120c917 561 #endif
gallonm 7:2dc81120c917 562 const uint32_t LuxResxIntIme =(uint32_t)(0.56f* DEF_INT_PEFRIOD *(1<<LUXRES_FIX_PREC));
gallonm 16:0d4776564733 563
gallonm 7:2dc81120c917 564 LOG_FUNCTION_START("%p", pLux);
gallonm 16:0d4776564733 565
gallonm 7:2dc81120c917 566 status = VL6180x_RdWord( dev, RESULT_ALS_VAL, &RawAls);
gallonm 7:2dc81120c917 567 if( !status){
gallonm 7:2dc81120c917 568 /* wer are yet here at no fix point */
gallonm 7:2dc81120c917 569 IntPeriod=VL6180xDevDataGet(dev, IntegrationPeriod);
gallonm 7:2dc81120c917 570 AlsScaler=VL6180xDevDataGet(dev, AlsScaler);
gallonm 7:2dc81120c917 571 IntPeriod++; /* what stored is real time ms -1 and it can be 0 for or 0 or 1ms */
gallonm 7:2dc81120c917 572 luxValue = (uint32_t)RawAls * LuxResxIntIme; /* max # 16+8bits + 6bit (0.56*100) */
gallonm 7:2dc81120c917 573 luxValue /= IntPeriod; /* max # 16+8bits + 6bit 16+8+1 to 9 bit */
gallonm 7:2dc81120c917 574 /* between 29 - 21 bit */
gallonm 7:2dc81120c917 575 AlsAnGain = VL6180xDevDataGet(dev, AlsGainCode);
gallonm 7:2dc81120c917 576 GainFix = AlsGainLookUp[AlsAnGain];
gallonm 7:2dc81120c917 577 luxValue = luxValue / (AlsScaler * GainFix);
gallonm 7:2dc81120c917 578 *pLux=luxValue;
gallonm 7:2dc81120c917 579 }
gallonm 16:0d4776564733 580
gallonm 7:2dc81120c917 581 LOG_FUNCTION_END_FMT(status, "%x",(int)*pLux);
gallonm 7:2dc81120c917 582 return status;
gallonm 7:2dc81120c917 583 }
gallonm 16:0d4776564733 584
gallonm 7:2dc81120c917 585 int VL6180X::VL6180x_AlsGetMeasurement(VL6180xDev_t dev, VL6180x_AlsData_t *pAlsData)
gallonm 7:2dc81120c917 586 {
gallonm 7:2dc81120c917 587 int status;
gallonm 7:2dc81120c917 588 uint8_t ErrStatus;
gallonm 16:0d4776564733 589
gallonm 7:2dc81120c917 590 LOG_FUNCTION_START("%p", pAlsData);
gallonm 16:0d4776564733 591
gallonm 7:2dc81120c917 592 status = VL6180x_AlsGetLux(dev, &pAlsData->lux);
gallonm 7:2dc81120c917 593 if( !status ){
gallonm 7:2dc81120c917 594 status = VL6180x_RdByte(dev, RESULT_ALS_STATUS, & ErrStatus);
gallonm 7:2dc81120c917 595 pAlsData->errorStatus = ErrStatus>>4;
gallonm 7:2dc81120c917 596 }
gallonm 7:2dc81120c917 597 LOG_FUNCTION_END_FMT(status,"%d %d", (int)pAlsData->lux, (int)pAlsData->errorStatus);
gallonm 16:0d4776564733 598
gallonm 7:2dc81120c917 599 return status;
gallonm 7:2dc81120c917 600 }
gallonm 16:0d4776564733 601
gallonm 16:0d4776564733 602
gallonm 7:2dc81120c917 603 int VL6180X::VL6180x_AlsPollMeasurement(VL6180xDev_t dev, VL6180x_AlsData_t *pAlsData) {
gallonm 7:2dc81120c917 604 int status;
gallonm 7:2dc81120c917 605 int ClrStatus;
gallonm 7:2dc81120c917 606 uint8_t IntStatus;
gallonm 16:0d4776564733 607
gallonm 7:2dc81120c917 608 LOG_FUNCTION_START("%p", pAlsData);
gallonm 7:2dc81120c917 609 #if VL6180X_SAFE_POLLING_ENTER
gallonm 7:2dc81120c917 610 /* if device get stopped with left interrupt uncleared , it is required to clear them now or poll for new condition will never occur*/
gallonm 7:2dc81120c917 611 status=VL6180x_AlsClearInterrupt(dev);
gallonm 7:2dc81120c917 612 if(status){
gallonm 7:2dc81120c917 613 VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
gallonm 7:2dc81120c917 614 goto over;
gallonm 7:2dc81120c917 615 }
gallonm 7:2dc81120c917 616 #endif
gallonm 16:0d4776564733 617
gallonm 7:2dc81120c917 618 status=VL6180x_AlsSetSystemMode(dev, MODE_START_STOP|MODE_SINGLESHOT);
gallonm 7:2dc81120c917 619 if( status){
gallonm 7:2dc81120c917 620 VL6180x_ErrLog("VL6180x_AlsSetSystemMode fail");
gallonm 7:2dc81120c917 621 goto over;
gallonm 7:2dc81120c917 622 }
gallonm 16:0d4776564733 623
gallonm 7:2dc81120c917 624 /* poll for new sample ready */
gallonm 7:2dc81120c917 625 while (1 ) {
gallonm 7:2dc81120c917 626 status = VL6180x_AlsGetInterruptStatus(dev, &IntStatus);
gallonm 7:2dc81120c917 627 if (status) {
gallonm 7:2dc81120c917 628 break;
gallonm 7:2dc81120c917 629 }
gallonm 7:2dc81120c917 630 if (IntStatus == RES_INT_STAT_GPIO_NEW_SAMPLE_READY) {
gallonm 7:2dc81120c917 631 break; /* break on new data (status is 0) */
gallonm 7:2dc81120c917 632 }
gallonm 16:0d4776564733 633
gallonm 7:2dc81120c917 634 VL6180x_PollDelay(dev);
gallonm 7:2dc81120c917 635 };
gallonm 16:0d4776564733 636
gallonm 7:2dc81120c917 637 if (!status) {
gallonm 7:2dc81120c917 638 status = VL6180x_AlsGetMeasurement(dev, pAlsData);
gallonm 7:2dc81120c917 639 }
gallonm 16:0d4776564733 640
gallonm 7:2dc81120c917 641 ClrStatus = VL6180x_AlsClearInterrupt(dev);
gallonm 7:2dc81120c917 642 if (ClrStatus) {
gallonm 7:2dc81120c917 643 VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
gallonm 7:2dc81120c917 644 if (!status) {
gallonm 7:2dc81120c917 645 status = ClrStatus; /* leave previous if already on error */
gallonm 7:2dc81120c917 646 }
gallonm 7:2dc81120c917 647 }
gallonm 7:2dc81120c917 648 over:
gallonm 7:2dc81120c917 649 LOG_FUNCTION_END(status);
gallonm 16:0d4776564733 650
gallonm 7:2dc81120c917 651 return status;
gallonm 7:2dc81120c917 652 }
gallonm 16:0d4776564733 653
gallonm 7:2dc81120c917 654 int VL6180X::VL6180x_AlsGetInterruptStatus(VL6180xDev_t dev, uint8_t *pIntStatus) {
gallonm 7:2dc81120c917 655 int status;
gallonm 7:2dc81120c917 656 uint8_t IntStatus;
gallonm 7:2dc81120c917 657 LOG_FUNCTION_START("%p", pIntStatus);
gallonm 16:0d4776564733 658
gallonm 7:2dc81120c917 659 status = VL6180x_RdByte(dev, RESULT_INTERRUPT_STATUS_GPIO, &IntStatus);
gallonm 7:2dc81120c917 660 *pIntStatus= (IntStatus>>3)&0x07;
gallonm 16:0d4776564733 661
gallonm 7:2dc81120c917 662 LOG_FUNCTION_END_FMT(status, "%d", (int)*pIntStatus);
gallonm 7:2dc81120c917 663 return status;
gallonm 7:2dc81120c917 664 }
gallonm 16:0d4776564733 665
gallonm 7:2dc81120c917 666 int VL6180X::VL6180x_AlsWaitDeviceReady(VL6180xDev_t dev, int MaxLoop ){
gallonm 7:2dc81120c917 667 int status;
gallonm 7:2dc81120c917 668 int n;
gallonm 7:2dc81120c917 669 uint8_t u8;
gallonm 7:2dc81120c917 670 LOG_FUNCTION_START("%d", (int)MaxLoop);
gallonm 7:2dc81120c917 671 if( MaxLoop<1){
gallonm 7:2dc81120c917 672 status=INVALID_PARAMS;
gallonm 7:2dc81120c917 673 }
gallonm 7:2dc81120c917 674 else{
gallonm 7:2dc81120c917 675 for( n=0; n < MaxLoop ; n++){
gallonm 7:2dc81120c917 676 status=VL6180x_RdByte(dev, RESULT_ALS_STATUS, &u8);
gallonm 7:2dc81120c917 677 if( status)
gallonm 7:2dc81120c917 678 break;
gallonm 7:2dc81120c917 679 u8 = u8 & ALS_DEVICE_READY_MASK;
gallonm 7:2dc81120c917 680 if( u8 )
gallonm 7:2dc81120c917 681 break;
gallonm 16:0d4776564733 682
gallonm 7:2dc81120c917 683 }
gallonm 7:2dc81120c917 684 if( !status && !u8 ){
gallonm 7:2dc81120c917 685 status = TIME_OUT;
gallonm 7:2dc81120c917 686 }
gallonm 7:2dc81120c917 687 }
gallonm 7:2dc81120c917 688 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 689 return status;
gallonm 7:2dc81120c917 690 }
gallonm 16:0d4776564733 691
gallonm 7:2dc81120c917 692 int VL6180X::VL6180x_AlsSetSystemMode(VL6180xDev_t dev, uint8_t mode)
gallonm 7:2dc81120c917 693 {
gallonm 7:2dc81120c917 694 int status;
gallonm 7:2dc81120c917 695 LOG_FUNCTION_START("%d", (int)mode);
gallonm 7:2dc81120c917 696 /* FIXME if we are called back to back real fast we are not checking
gallonm 7:2dc81120c917 697 * if previous mode "set" got absorbed => bit 0 must be 0 so that wr 1 work */
gallonm 7:2dc81120c917 698 if( mode <= 3){
gallonm 7:2dc81120c917 699 status=VL6180x_WrByte(dev, SYSALS_START, mode);
gallonm 7:2dc81120c917 700 }
gallonm 7:2dc81120c917 701 else{
gallonm 7:2dc81120c917 702 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 703 }
gallonm 7:2dc81120c917 704 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 705 return status;
gallonm 7:2dc81120c917 706 }
gallonm 16:0d4776564733 707
gallonm 7:2dc81120c917 708 int VL6180X::VL6180x_AlsConfigInterrupt(VL6180xDev_t dev, uint8_t ConfigGpioInt)
gallonm 7:2dc81120c917 709 {
gallonm 7:2dc81120c917 710 int status;
gallonm 16:0d4776564733 711
gallonm 7:2dc81120c917 712 if( ConfigGpioInt<= CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY){
gallonm 7:2dc81120c917 713 status = VL6180x_UpdateByte(dev, SYSTEM_INTERRUPT_CONFIG_GPIO, (uint8_t)(~CONFIG_GPIO_ALS_MASK), (ConfigGpioInt<<3));
gallonm 7:2dc81120c917 714 }
gallonm 7:2dc81120c917 715 else{
gallonm 7:2dc81120c917 716 VL6180x_ErrLog("Invalid config mode param %d", (int)ConfigGpioInt);
gallonm 7:2dc81120c917 717 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 718 }
gallonm 7:2dc81120c917 719 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 720 return status;
gallonm 7:2dc81120c917 721 }
gallonm 16:0d4776564733 722
gallonm 16:0d4776564733 723
gallonm 16:0d4776564733 724
gallonm 7:2dc81120c917 725 int VL6180X::VL6180x_AlsSetThresholds(VL6180xDev_t dev, uint8_t low, uint8_t high) {
gallonm 7:2dc81120c917 726 int status;
gallonm 16:0d4776564733 727
gallonm 7:2dc81120c917 728 LOG_FUNCTION_START("%d %d", (int )low, (int)high);
gallonm 16:0d4776564733 729
gallonm 14:0effa0bbf192 730 status = VL6180x_WrByte(dev, SYSALS_THRESH_LOW, low); //FIXME i valori passati devono essere uint16_t (vedi registri), inoltre i valori delle soglie NON sono in lux! bisogna invertire il calcolo fatto nella VL6180x_AlsGetLux()
gallonm 7:2dc81120c917 731 if(!status ){
gallonm 7:2dc81120c917 732 status = VL6180x_WrByte(dev, SYSALS_THRESH_HIGH, high);
gallonm 7:2dc81120c917 733 }
gallonm 16:0d4776564733 734
gallonm 7:2dc81120c917 735 LOG_FUNCTION_END(status) ;
gallonm 7:2dc81120c917 736 return status;
gallonm 7:2dc81120c917 737 }
gallonm 16:0d4776564733 738
gallonm 16:0d4776564733 739
gallonm 7:2dc81120c917 740 int VL6180X::VL6180x_AlsSetAnalogueGain(VL6180xDev_t dev, uint8_t gain) {
gallonm 7:2dc81120c917 741 int status;
gallonm 7:2dc81120c917 742 uint8_t GainTotal;
gallonm 16:0d4776564733 743
gallonm 7:2dc81120c917 744 LOG_FUNCTION_START("%d", (int )gain);
gallonm 7:2dc81120c917 745 gain&=~0x40;
gallonm 7:2dc81120c917 746 if (gain > 7) {
gallonm 7:2dc81120c917 747 gain = 7;
gallonm 7:2dc81120c917 748 }
gallonm 7:2dc81120c917 749 GainTotal = gain|0x40;
gallonm 16:0d4776564733 750
gallonm 7:2dc81120c917 751 status = VL6180x_WrByte(dev, SYSALS_ANALOGUE_GAIN, GainTotal);
gallonm 7:2dc81120c917 752 if( !status){
gallonm 7:2dc81120c917 753 VL6180xDevDataSet(dev, AlsGainCode, gain);
gallonm 7:2dc81120c917 754 }
gallonm 16:0d4776564733 755
gallonm 7:2dc81120c917 756 LOG_FUNCTION_END_FMT(status, "%d %d", (int ) gain, (int )GainTotal);
gallonm 7:2dc81120c917 757 return status;
gallonm 7:2dc81120c917 758 }
gallonm 16:0d4776564733 759
gallonm 7:2dc81120c917 760 int VL6180X::VL6180x_AlsSetInterMeasurementPeriod(VL6180xDev_t dev, uint16_t intermeasurement_period_ms)
gallonm 7:2dc81120c917 761 {
gallonm 7:2dc81120c917 762 int status;
gallonm 16:0d4776564733 763
gallonm 7:2dc81120c917 764 LOG_FUNCTION_START("%d",(int)intermeasurement_period_ms);
gallonm 7:2dc81120c917 765 /* clipping: range is 0-2550ms */
gallonm 7:2dc81120c917 766 if (intermeasurement_period_ms >= 255 *10)
gallonm 7:2dc81120c917 767 intermeasurement_period_ms = 255 *10;
gallonm 7:2dc81120c917 768 status=VL6180x_WrByte(dev, SYSALS_INTERMEASUREMENT_PERIOD, (uint8_t)(intermeasurement_period_ms/10));
gallonm 16:0d4776564733 769
gallonm 7:2dc81120c917 770 LOG_FUNCTION_END_FMT(status, "%d", (int) intermeasurement_period_ms);
gallonm 7:2dc81120c917 771 return status;
gallonm 7:2dc81120c917 772 }
gallonm 16:0d4776564733 773
gallonm 16:0d4776564733 774
gallonm 7:2dc81120c917 775 int VL6180X::VL6180x_AlsSetIntegrationPeriod(VL6180xDev_t dev, uint16_t period_ms)
gallonm 7:2dc81120c917 776 {
gallonm 7:2dc81120c917 777 int status;
gallonm 7:2dc81120c917 778 uint16_t SetIntegrationPeriod;
gallonm 16:0d4776564733 779
gallonm 7:2dc81120c917 780 LOG_FUNCTION_START("%d", (int)period_ms);
gallonm 16:0d4776564733 781
gallonm 7:2dc81120c917 782 if( period_ms>=1 )
gallonm 7:2dc81120c917 783 SetIntegrationPeriod = period_ms - 1;
gallonm 7:2dc81120c917 784 else
gallonm 7:2dc81120c917 785 SetIntegrationPeriod = period_ms;
gallonm 16:0d4776564733 786
gallonm 7:2dc81120c917 787 if (SetIntegrationPeriod > 464) {
gallonm 7:2dc81120c917 788 SetIntegrationPeriod = 464;
gallonm 7:2dc81120c917 789 }
gallonm 7:2dc81120c917 790 else if (SetIntegrationPeriod == 255) {
gallonm 7:2dc81120c917 791 SetIntegrationPeriod++; /* can't write 255 since this causes the device to lock out.*/
gallonm 7:2dc81120c917 792 }
gallonm 16:0d4776564733 793
gallonm 7:2dc81120c917 794 status =VL6180x_WrWord(dev, SYSALS_INTEGRATION_PERIOD, SetIntegrationPeriod);
gallonm 7:2dc81120c917 795 if( !status ){
gallonm 7:2dc81120c917 796 VL6180xDevDataSet(dev, IntegrationPeriod, SetIntegrationPeriod) ;
gallonm 7:2dc81120c917 797 }
gallonm 7:2dc81120c917 798 LOG_FUNCTION_END_FMT(status, "%d", (int)SetIntegrationPeriod);
gallonm 7:2dc81120c917 799 return status;
gallonm 7:2dc81120c917 800 }
gallonm 16:0d4776564733 801
gallonm 7:2dc81120c917 802 #endif /* HAVE_ALS_SUPPORT */
gallonm 16:0d4776564733 803
gallonm 16:0d4776564733 804
gallonm 7:2dc81120c917 805 int VL6180X::VL6180x_RangePollMeasurement(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData)
gallonm 7:2dc81120c917 806 {
gallonm 7:2dc81120c917 807 int status;
gallonm 7:2dc81120c917 808 int ClrStatus;
gallonm 7:2dc81120c917 809 IntrStatus_t IntStatus;
gallonm 16:0d4776564733 810
gallonm 7:2dc81120c917 811 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 812 /* start single range measurement */
gallonm 16:0d4776564733 813
gallonm 16:0d4776564733 814
gallonm 7:2dc81120c917 815 #if VL6180X_SAFE_POLLING_ENTER
gallonm 7:2dc81120c917 816 /* if device get stopped with left interrupt uncleared , it is required to clear them now or poll for new condition will never occur*/
gallonm 7:2dc81120c917 817 status=VL6180x_RangeClearInterrupt(dev);
gallonm 7:2dc81120c917 818 if(status){
gallonm 7:2dc81120c917 819 VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
gallonm 7:2dc81120c917 820 goto done;
gallonm 7:2dc81120c917 821 }
gallonm 7:2dc81120c917 822 #endif
gallonm 7:2dc81120c917 823 /* //![single_shot_snipet] */
gallonm 7:2dc81120c917 824 status=VL6180x_RangeSetSystemMode(dev, MODE_START_STOP|MODE_SINGLESHOT);
gallonm 7:2dc81120c917 825 if( status ){
gallonm 7:2dc81120c917 826 VL6180x_ErrLog("VL6180x_RangeSetSystemMode fail");
gallonm 7:2dc81120c917 827 goto done;
gallonm 7:2dc81120c917 828 }
gallonm 16:0d4776564733 829
gallonm 7:2dc81120c917 830 /* poll for new sample ready */
gallonm 7:2dc81120c917 831 while(1 ){
gallonm 7:2dc81120c917 832 status=VL6180x_RangeGetInterruptStatus(dev, &IntStatus.val);
gallonm 7:2dc81120c917 833 if( status ){
gallonm 7:2dc81120c917 834 break;
gallonm 7:2dc81120c917 835 }
gallonm 7:2dc81120c917 836 if( IntStatus.status.Error !=0 ){
gallonm 7:2dc81120c917 837 VL6180x_ErrLog("GPIO int Error report %d",(int)IntStatus.val);
gallonm 7:2dc81120c917 838 status = RANGE_ERROR;
gallonm 7:2dc81120c917 839 break;
gallonm 7:2dc81120c917 840 }
gallonm 7:2dc81120c917 841 else
gallonm 7:2dc81120c917 842 if( IntStatus.status.Range == RES_INT_STAT_GPIO_NEW_SAMPLE_READY){
gallonm 7:2dc81120c917 843 break;
gallonm 7:2dc81120c917 844 }
gallonm 12:71d589e6fd2c 845
gallonm 7:2dc81120c917 846 VL6180x_PollDelay(dev);
gallonm 7:2dc81120c917 847 }
gallonm 7:2dc81120c917 848 /* //![single_shot_snipet] */
gallonm 16:0d4776564733 849
gallonm 7:2dc81120c917 850 if ( !status ){
gallonm 7:2dc81120c917 851 status = VL6180x_RangeGetMeasurement(dev, pRangeData);
gallonm 7:2dc81120c917 852 }
gallonm 16:0d4776564733 853
gallonm 7:2dc81120c917 854 /* clear range interrupt source */
gallonm 7:2dc81120c917 855 ClrStatus = VL6180x_RangeClearInterrupt(dev);
gallonm 7:2dc81120c917 856 if( ClrStatus ){
gallonm 7:2dc81120c917 857 VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
gallonm 7:2dc81120c917 858 /* leave initial status if already in error */
gallonm 7:2dc81120c917 859 if( !status ){
gallonm 7:2dc81120c917 860 status=ClrStatus;
gallonm 7:2dc81120c917 861 }
gallonm 7:2dc81120c917 862 }
gallonm 7:2dc81120c917 863 done:
gallonm 7:2dc81120c917 864 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 865 return status;
gallonm 7:2dc81120c917 866 }
gallonm 16:0d4776564733 867
gallonm 16:0d4776564733 868
gallonm 16:0d4776564733 869
gallonm 7:2dc81120c917 870 int VL6180X::VL6180x_RangeGetMeasurement(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData)
gallonm 7:2dc81120c917 871 {
gallonm 7:2dc81120c917 872 int status;
gallonm 7:2dc81120c917 873 uint16_t RawRate;
gallonm 7:2dc81120c917 874 uint8_t RawStatus;
gallonm 16:0d4776564733 875
gallonm 7:2dc81120c917 876 LOG_FUNCTION_START("");
gallonm 16:0d4776564733 877
gallonm 7:2dc81120c917 878 status = VL6180x_RangeGetResult(dev, &pRangeData->range_mm);
gallonm 7:2dc81120c917 879 if( !status ){
gallonm 7:2dc81120c917 880 status = VL6180x_RdWord(dev,RESULT_RANGE_SIGNAL_RATE, &RawRate );
gallonm 7:2dc81120c917 881 if( !status ){
gallonm 7:2dc81120c917 882 pRangeData->signalRate_mcps = VL6180x_9to7Conv(RawRate);
gallonm 7:2dc81120c917 883 status = VL6180x_RdByte(dev, RESULT_RANGE_STATUS, &RawStatus);
gallonm 7:2dc81120c917 884 if( !status ){
gallonm 7:2dc81120c917 885 pRangeData->errorStatus = RawStatus >>4;
gallonm 7:2dc81120c917 886 }
gallonm 7:2dc81120c917 887 else{
gallonm 7:2dc81120c917 888 VL6180x_ErrLog("Rd RESULT_RANGE_STATUS fail");
gallonm 7:2dc81120c917 889 }
gallonm 16:0d4776564733 890 #if VL6180x_WRAP_AROUND_FILTER_SUPPORT || VL6180x_HAVE_DMAX_RANGING
gallonm 7:2dc81120c917 891 status = _GetRateResult(dev, pRangeData);
gallonm 7:2dc81120c917 892 if( status )
gallonm 16:0d4776564733 893 goto error;
gallonm 16:0d4776564733 894 #endif
gallonm 7:2dc81120c917 895 #if VL6180x_WRAP_AROUND_FILTER_SUPPORT
gallonm 7:2dc81120c917 896 /* if enabled run filter */
gallonm 7:2dc81120c917 897 if( _IsWrapArroundActive(dev) ){
gallonm 7:2dc81120c917 898 status=_filter_GetResult(dev, pRangeData);
gallonm 7:2dc81120c917 899 if( !status){
gallonm 7:2dc81120c917 900 /* patch the range status and measure if it is filtered */
gallonm 7:2dc81120c917 901 if( pRangeData->range_mm != pRangeData->FilteredData.range_mm) {
gallonm 7:2dc81120c917 902 pRangeData->errorStatus=RangingFiltered;
gallonm 7:2dc81120c917 903 pRangeData->range_mm = pRangeData->FilteredData.range_mm;
gallonm 7:2dc81120c917 904 }
gallonm 7:2dc81120c917 905 }
gallonm 7:2dc81120c917 906 }
gallonm 7:2dc81120c917 907 #endif
gallonm 16:0d4776564733 908
gallonm 7:2dc81120c917 909 #if VL6180x_HAVE_DMAX_RANGING
gallonm 7:2dc81120c917 910 if(_IsDMaxActive(dev) ){
gallonm 7:2dc81120c917 911 _DMax_Compute(dev, pRangeData);
gallonm 7:2dc81120c917 912 }
gallonm 7:2dc81120c917 913 #endif
gallonm 7:2dc81120c917 914 }
gallonm 7:2dc81120c917 915 else{
gallonm 7:2dc81120c917 916 VL6180x_ErrLog("Rd RESULT_RANGE_SIGNAL_RATE fail");
gallonm 7:2dc81120c917 917 }
gallonm 7:2dc81120c917 918 }
gallonm 7:2dc81120c917 919 else{
gallonm 7:2dc81120c917 920 VL6180x_ErrLog("VL6180x_GetRangeResult fail");
gallonm 7:2dc81120c917 921 }
gallonm 7:2dc81120c917 922 error:
gallonm 7:2dc81120c917 923 LOG_FUNCTION_END_FMT(status, "%d %d %d", (int)pRangeData->range_mm, (int)pRangeData->signalRate_mcps, (int)pRangeData->errorStatus) ;
gallonm 7:2dc81120c917 924 return status;
gallonm 7:2dc81120c917 925 }
gallonm 16:0d4776564733 926
gallonm 16:0d4776564733 927
gallonm 7:2dc81120c917 928 int VL6180X::VL6180x_RangeGetMeasurementIfReady(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData)
gallonm 7:2dc81120c917 929 {
gallonm 7:2dc81120c917 930 int status;
gallonm 7:2dc81120c917 931 IntrStatus_t IntStatus;
gallonm 16:0d4776564733 932
gallonm 7:2dc81120c917 933 LOG_FUNCTION_START();
gallonm 16:0d4776564733 934
gallonm 7:2dc81120c917 935 status = VL6180x_RangeGetInterruptStatus(dev, &IntStatus.val);
gallonm 7:2dc81120c917 936 if( status ==0 ){
gallonm 7:2dc81120c917 937 if( IntStatus.status.Error !=0 ){
gallonm 7:2dc81120c917 938 VL6180x_ErrLog("GPIO int Error report %d",(int)IntStatus.val);
gallonm 7:2dc81120c917 939 status = RANGE_ERROR;
gallonm 7:2dc81120c917 940 }
gallonm 7:2dc81120c917 941 else
gallonm 7:2dc81120c917 942 if( IntStatus.status.Range == RES_INT_STAT_GPIO_NEW_SAMPLE_READY){
gallonm 7:2dc81120c917 943 status = VL6180x_RangeGetMeasurement(dev,pRangeData );
gallonm 7:2dc81120c917 944 if( status == 0){
gallonm 7:2dc81120c917 945 /* clear range interrupt source */
gallonm 7:2dc81120c917 946 status = VL6180x_RangeClearInterrupt(dev);
gallonm 7:2dc81120c917 947 if( status ){
gallonm 7:2dc81120c917 948 VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
gallonm 7:2dc81120c917 949 }
gallonm 7:2dc81120c917 950 }
gallonm 7:2dc81120c917 951 }
gallonm 7:2dc81120c917 952 else{
gallonm 7:2dc81120c917 953 status = NOT_READY;
gallonm 7:2dc81120c917 954 }
gallonm 7:2dc81120c917 955 }
gallonm 7:2dc81120c917 956 else{
gallonm 7:2dc81120c917 957 VL6180x_ErrLog("fail to get interrupt status");
gallonm 7:2dc81120c917 958 }
gallonm 7:2dc81120c917 959 LOG_FUNCTION_END(status) ;
gallonm 7:2dc81120c917 960 return status;
gallonm 7:2dc81120c917 961 }
gallonm 16:0d4776564733 962
gallonm 7:2dc81120c917 963 int VL6180X::VL6180x_FilterSetState(VL6180xDev_t dev, int state){
gallonm 7:2dc81120c917 964 int status;
gallonm 7:2dc81120c917 965 LOG_FUNCTION_START("%d", state);
gallonm 7:2dc81120c917 966 #if VL6180x_WRAP_AROUND_FILTER_SUPPORT
gallonm 7:2dc81120c917 967 VL6180xDevDataSet(dev,WrapAroundFilterActive, state);
gallonm 7:2dc81120c917 968 status = 0;
gallonm 7:2dc81120c917 969 #else
gallonm 7:2dc81120c917 970 status = NOT_SUPPORTED;
gallonm 7:2dc81120c917 971 #endif
gallonm 7:2dc81120c917 972 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 973 return status;
gallonm 7:2dc81120c917 974 }
gallonm 16:0d4776564733 975
gallonm 7:2dc81120c917 976 int VL6180X::VL6180x_FilterGetState(VL6180xDev_t dev){
gallonm 7:2dc81120c917 977 int status;
gallonm 7:2dc81120c917 978 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 979 #if VL6180x_WRAP_AROUND_FILTER_SUPPORT
gallonm 7:2dc81120c917 980 status = VL6180xDevDataGet(dev,WrapAroundFilterActive);
gallonm 7:2dc81120c917 981 #else
gallonm 7:2dc81120c917 982 status = 0;
gallonm 7:2dc81120c917 983 #endif
gallonm 7:2dc81120c917 984 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 985 return status;
gallonm 7:2dc81120c917 986 }
gallonm 16:0d4776564733 987
gallonm 7:2dc81120c917 988 int VL6180X::VL6180x_RangeGetResult(VL6180xDev_t dev, int32_t *pRange_mm) {
gallonm 7:2dc81120c917 989 int status;
gallonm 7:2dc81120c917 990 uint8_t RawRange;
gallonm 7:2dc81120c917 991 int32_t Upscale;
gallonm 16:0d4776564733 992
gallonm 7:2dc81120c917 993 LOG_FUNCTION_START("%p",pRange_mm);
gallonm 16:0d4776564733 994
gallonm 7:2dc81120c917 995 status = VL6180x_RdByte(dev, RESULT_RANGE_VAL, &RawRange);
gallonm 7:2dc81120c917 996 if( !status ){
gallonm 10:4954b09b72d8 997 Upscale = _GetUpscale(dev);
gallonm 7:2dc81120c917 998 *pRange_mm= Upscale*(int32_t)RawRange;
gallonm 7:2dc81120c917 999 }
gallonm 7:2dc81120c917 1000 LOG_FUNCTION_END_FMT(status, "%d", (int)*pRange_mm);
gallonm 7:2dc81120c917 1001 return status;
gallonm 7:2dc81120c917 1002 }
gallonm 16:0d4776564733 1003
gallonm 7:2dc81120c917 1004 int VL6180X::VL6180x_RangeSetRawThresholds(VL6180xDev_t dev, uint8_t low, uint8_t high)
gallonm 7:2dc81120c917 1005 {
gallonm 7:2dc81120c917 1006 int status;
gallonm 7:2dc81120c917 1007 LOG_FUNCTION_START("%d %d", (int) low, (int)high);
gallonm 7:2dc81120c917 1008 /* TODO we can optimize here grouping high/low in a word but that's cpu endianness dependent */
gallonm 7:2dc81120c917 1009 status=VL6180x_WrByte(dev, SYSRANGE_THRESH_HIGH,high);
gallonm 7:2dc81120c917 1010 if( !status){
gallonm 7:2dc81120c917 1011 status=VL6180x_WrByte(dev, SYSRANGE_THRESH_LOW, low);
gallonm 7:2dc81120c917 1012 }
gallonm 16:0d4776564733 1013
gallonm 7:2dc81120c917 1014 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1015 return status;
gallonm 7:2dc81120c917 1016 }
gallonm 16:0d4776564733 1017
gallonm 7:2dc81120c917 1018 int VL6180X::VL6180x_RangeSetThresholds(VL6180xDev_t dev, uint16_t low, uint16_t high, int UseSafeParamHold)
gallonm 7:2dc81120c917 1019 {
gallonm 7:2dc81120c917 1020 int status;
gallonm 7:2dc81120c917 1021 int scale;
gallonm 7:2dc81120c917 1022 LOG_FUNCTION_START("%d %d", (int) low, (int)high);
gallonm 7:2dc81120c917 1023 scale=_GetUpscale(dev,UpscaleFactor);
gallonm 7:2dc81120c917 1024 if( low>scale*255 || high >scale*255){
gallonm 7:2dc81120c917 1025 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1026 }
gallonm 7:2dc81120c917 1027 else{
gallonm 7:2dc81120c917 1028 do{
gallonm 7:2dc81120c917 1029 if( UseSafeParamHold ){
gallonm 7:2dc81120c917 1030 status=VL6180x_SetGroupParamHold(dev, 1);
gallonm 7:2dc81120c917 1031 if( status )
gallonm 7:2dc81120c917 1032 break;
gallonm 7:2dc81120c917 1033 }
gallonm 7:2dc81120c917 1034 status=VL6180x_RangeSetRawThresholds(dev, (uint8_t)(low/scale), (uint8_t)(high/scale));
gallonm 7:2dc81120c917 1035 if( status ){
gallonm 7:2dc81120c917 1036 VL6180x_ErrLog("VL6180x_RangeSetRawThresholds fail");
gallonm 7:2dc81120c917 1037 }
gallonm 7:2dc81120c917 1038 if( UseSafeParamHold ){
gallonm 7:2dc81120c917 1039 int HoldStatus;
gallonm 7:2dc81120c917 1040 /* tryt to unset param hold vene if previous fail */
gallonm 7:2dc81120c917 1041 HoldStatus=VL6180x_SetGroupParamHold(dev, 0);
gallonm 7:2dc81120c917 1042 if( !status)
gallonm 7:2dc81120c917 1043 status=HoldStatus;
gallonm 7:2dc81120c917 1044 }
gallonm 7:2dc81120c917 1045 }
gallonm 7:2dc81120c917 1046 while(0);
gallonm 7:2dc81120c917 1047 }
gallonm 16:0d4776564733 1048
gallonm 7:2dc81120c917 1049 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1050 return status;
gallonm 7:2dc81120c917 1051 }
gallonm 16:0d4776564733 1052
gallonm 16:0d4776564733 1053
gallonm 7:2dc81120c917 1054 int VL6180X::VL6180x_RangeGetThresholds(VL6180xDev_t dev, uint16_t *low, uint16_t *high)
gallonm 7:2dc81120c917 1055 {
gallonm 7:2dc81120c917 1056 int status;
gallonm 7:2dc81120c917 1057 uint8_t RawLow, RawHigh;
gallonm 7:2dc81120c917 1058 int scale;
gallonm 16:0d4776564733 1059
gallonm 7:2dc81120c917 1060 LOG_FUNCTION_START("%p %p", low , high);
gallonm 16:0d4776564733 1061
gallonm 7:2dc81120c917 1062 scale=_GetUpscale(dev,UpscaleFactor);
gallonm 7:2dc81120c917 1063 do{
gallonm 7:2dc81120c917 1064 if( high != NULL ){
gallonm 7:2dc81120c917 1065 status=VL6180x_RdByte(dev, SYSRANGE_THRESH_HIGH,&RawHigh);
gallonm 7:2dc81120c917 1066 if( status ){
gallonm 7:2dc81120c917 1067 VL6180x_ErrLog("rd SYSRANGE_THRESH_HIGH fail");
gallonm 7:2dc81120c917 1068 break;
gallonm 7:2dc81120c917 1069 }
gallonm 7:2dc81120c917 1070 *high=(uint16_t)RawHigh*scale;
gallonm 7:2dc81120c917 1071 }
gallonm 7:2dc81120c917 1072 if( low != NULL ) {
gallonm 7:2dc81120c917 1073 status=VL6180x_RdByte(dev, SYSRANGE_THRESH_LOW, &RawLow);
gallonm 7:2dc81120c917 1074 if( status ){
gallonm 7:2dc81120c917 1075 VL6180x_ErrLog("rd SYSRANGE_THRESH_LOW fail");
gallonm 7:2dc81120c917 1076 break;
gallonm 7:2dc81120c917 1077 }
gallonm 7:2dc81120c917 1078 *low=(uint16_t)RawLow*scale;
gallonm 7:2dc81120c917 1079 }
gallonm 7:2dc81120c917 1080 }
gallonm 7:2dc81120c917 1081 while(0);
gallonm 7:2dc81120c917 1082 LOG_FUNCTION_END_FMT(status, "%d %d",(int)*low ,(int)*high);
gallonm 7:2dc81120c917 1083 return status;
gallonm 7:2dc81120c917 1084 }
gallonm 16:0d4776564733 1085
gallonm 16:0d4776564733 1086
gallonm 7:2dc81120c917 1087 int VL6180X::VL6180x_RangeGetInterruptStatus(VL6180xDev_t dev, uint8_t *pIntStatus) {
gallonm 7:2dc81120c917 1088 int status;
gallonm 7:2dc81120c917 1089 uint8_t IntStatus;
gallonm 7:2dc81120c917 1090 LOG_FUNCTION_START("%p", pIntStatus);
gallonm 7:2dc81120c917 1091 /* FIXME we are grouping "error" with over status the user must check implicitly for it
gallonm 7:2dc81120c917 1092 * not just new sample or over status , that will nevr show up in case of error*/
gallonm 7:2dc81120c917 1093 status = VL6180x_RdByte(dev, RESULT_INTERRUPT_STATUS_GPIO, &IntStatus);
gallonm 7:2dc81120c917 1094 *pIntStatus= IntStatus&0xC7;
gallonm 16:0d4776564733 1095
gallonm 7:2dc81120c917 1096 LOG_FUNCTION_END_FMT(status, "%d", (int)*pIntStatus);
gallonm 7:2dc81120c917 1097 return status;
gallonm 7:2dc81120c917 1098 }
gallonm 16:0d4776564733 1099
gallonm 16:0d4776564733 1100
gallonm 7:2dc81120c917 1101 int VL6180X::VL6180x_GetInterruptStatus(VL6180xDev_t dev, uint8_t *IntStatus)
gallonm 7:2dc81120c917 1102 {
gallonm 7:2dc81120c917 1103 int status;
gallonm 7:2dc81120c917 1104 LOG_FUNCTION_START("%p" , IntStatus);
gallonm 7:2dc81120c917 1105 status = VL6180x_RdByte(dev, RESULT_INTERRUPT_STATUS_GPIO, IntStatus);
gallonm 7:2dc81120c917 1106 LOG_FUNCTION_END_FMT(status, "%d", (int)*IntStatus);
gallonm 7:2dc81120c917 1107 return status;
gallonm 7:2dc81120c917 1108 }
gallonm 16:0d4776564733 1109
gallonm 7:2dc81120c917 1110 int VL6180X::VL6180x_ClearInterrupt(VL6180xDev_t dev, uint8_t IntClear )
gallonm 7:2dc81120c917 1111 {
gallonm 7:2dc81120c917 1112 int status;
gallonm 7:2dc81120c917 1113 LOG_FUNCTION_START("%d" ,(int)IntClear);
gallonm 7:2dc81120c917 1114 if( IntClear <= 7 ){
gallonm 7:2dc81120c917 1115 status=VL6180x_WrByte( dev, SYSTEM_INTERRUPT_CLEAR, IntClear);
gallonm 7:2dc81120c917 1116 }
gallonm 7:2dc81120c917 1117 else{
gallonm 7:2dc81120c917 1118 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1119 }
gallonm 7:2dc81120c917 1120 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1121 return status;
gallonm 7:2dc81120c917 1122 }
gallonm 16:0d4776564733 1123
gallonm 16:0d4776564733 1124
gallonm 7:2dc81120c917 1125 int VL6180X::VL6180x_RangeStaticInit(VL6180xDev_t dev)
gallonm 7:2dc81120c917 1126 {
gallonm 7:2dc81120c917 1127 int status;
gallonm 7:2dc81120c917 1128 LOG_FUNCTION_START("");
gallonm 16:0d4776564733 1129
gallonm 7:2dc81120c917 1130 /* REGISTER_TUNING_SR03_270514_CustomerView.txt */
gallonm 7:2dc81120c917 1131 VL6180x_WrByte( dev, 0x0207, 0x01);
gallonm 7:2dc81120c917 1132 VL6180x_WrByte( dev, 0x0208, 0x01);
gallonm 7:2dc81120c917 1133 VL6180x_WrByte( dev, 0x0096, 0x00);
gallonm 7:2dc81120c917 1134 VL6180x_WrByte( dev, 0x0097, 0xfd);
gallonm 7:2dc81120c917 1135 VL6180x_WrByte( dev, 0x00e3, 0x00);
gallonm 7:2dc81120c917 1136 VL6180x_WrByte( dev, 0x00e4, 0x04);
gallonm 7:2dc81120c917 1137 VL6180x_WrByte( dev, 0x00e5, 0x02);
gallonm 7:2dc81120c917 1138 VL6180x_WrByte( dev, 0x00e6, 0x01);
gallonm 7:2dc81120c917 1139 VL6180x_WrByte( dev, 0x00e7, 0x03);
gallonm 7:2dc81120c917 1140 VL6180x_WrByte( dev, 0x00f5, 0x02);
gallonm 7:2dc81120c917 1141 VL6180x_WrByte( dev, 0x00d9, 0x05);
gallonm 7:2dc81120c917 1142 VL6180x_WrByte( dev, 0x00db, 0xce);
gallonm 7:2dc81120c917 1143 VL6180x_WrByte( dev, 0x00dc, 0x03);
gallonm 7:2dc81120c917 1144 VL6180x_WrByte( dev, 0x00dd, 0xf8);
gallonm 7:2dc81120c917 1145 VL6180x_WrByte( dev, 0x009f, 0x00);
gallonm 7:2dc81120c917 1146 VL6180x_WrByte( dev, 0x00a3, 0x3c);
gallonm 7:2dc81120c917 1147 VL6180x_WrByte( dev, 0x00b7, 0x00);
gallonm 7:2dc81120c917 1148 VL6180x_WrByte( dev, 0x00bb, 0x3c);
gallonm 7:2dc81120c917 1149 VL6180x_WrByte( dev, 0x00b2, 0x09);
gallonm 7:2dc81120c917 1150 VL6180x_WrByte( dev, 0x00ca, 0x09);
gallonm 7:2dc81120c917 1151 VL6180x_WrByte( dev, 0x0198, 0x01);
gallonm 7:2dc81120c917 1152 VL6180x_WrByte( dev, 0x01b0, 0x17);
gallonm 7:2dc81120c917 1153 VL6180x_WrByte( dev, 0x01ad, 0x00);
gallonm 7:2dc81120c917 1154 VL6180x_WrByte( dev, 0x00ff, 0x05);
gallonm 7:2dc81120c917 1155 VL6180x_WrByte( dev, 0x0100, 0x05);
gallonm 7:2dc81120c917 1156 VL6180x_WrByte( dev, 0x0199, 0x05);
gallonm 7:2dc81120c917 1157 VL6180x_WrByte( dev, 0x01a6, 0x1b);
gallonm 7:2dc81120c917 1158 VL6180x_WrByte( dev, 0x01ac, 0x3e);
gallonm 7:2dc81120c917 1159 VL6180x_WrByte( dev, 0x01a7, 0x1f);
gallonm 7:2dc81120c917 1160 VL6180x_WrByte( dev, 0x0030, 0x00);
gallonm 16:0d4776564733 1161
gallonm 7:2dc81120c917 1162 /* Recommended : Public registers - See data sheet for more detail */
gallonm 7:2dc81120c917 1163 VL6180x_WrByte( dev, 0x0011, 0x10); /* Enables polling for New Sample ready when measurement completes */
gallonm 7:2dc81120c917 1164 VL6180x_WrByte( dev, 0x010a, 0x30); /* Set the averaging sample period (compromise between lower noise and increased execution time) */
gallonm 7:2dc81120c917 1165 VL6180x_WrByte( dev, 0x003f, 0x46); /* Sets the light and dark gain (upper nibble). Dark gain should not be changed.*/
gallonm 7:2dc81120c917 1166 VL6180x_WrByte( dev, 0x0031, 0xFF); /* sets the # of range measurements after which auto calibration of system is performed */
gallonm 7:2dc81120c917 1167 VL6180x_WrByte( dev, 0x0040, 0x63); /* Set ALS integration time to 100ms */
gallonm 7:2dc81120c917 1168 VL6180x_WrByte( dev, 0x002e, 0x01); /* perform a single temperature calibration of the ranging sensor */
gallonm 16:0d4776564733 1169
gallonm 7:2dc81120c917 1170 /* Optional: Public registers - See data sheet for more detail */
gallonm 7:2dc81120c917 1171 VL6180x_WrByte( dev, 0x001b, 0x09); /* Set default ranging inter-measurement period to 100ms */
gallonm 7:2dc81120c917 1172 VL6180x_WrByte( dev, 0x003e, 0x31); /* Set default ALS inter-measurement period to 500ms */
gallonm 7:2dc81120c917 1173 VL6180x_WrByte( dev, 0x0014, 0x24); /* Configures interrupt on New sample ready */
gallonm 16:0d4776564733 1174
gallonm 16:0d4776564733 1175
gallonm 7:2dc81120c917 1176 status=VL6180x_RangeSetMaxConvergenceTime(dev, 50); /* Calculate ece value on initialization (use max conv) */
gallonm 7:2dc81120c917 1177 LOG_FUNCTION_END(status);
gallonm 16:0d4776564733 1178
gallonm 7:2dc81120c917 1179 return status;
gallonm 7:2dc81120c917 1180 }
gallonm 16:0d4776564733 1181
gallonm 7:2dc81120c917 1182 #if VL6180x_UPSCALE_SUPPORT != 1
gallonm 16:0d4776564733 1183
gallonm 7:2dc81120c917 1184 int VL6180X::_UpscaleInitPatch0(VL6180xDev_t dev){
gallonm 7:2dc81120c917 1185 int status;
gallonm 7:2dc81120c917 1186 uint32_t CalValue=0;
gallonm 7:2dc81120c917 1187 CalValue= VL6180xDevDataGet(dev, Part2PartAmbNVM);
gallonm 7:2dc81120c917 1188 status=VL6180x_WrDWord( dev, 0xDA, CalValue);
gallonm 7:2dc81120c917 1189 return status;
gallonm 7:2dc81120c917 1190 }
gallonm 16:0d4776564733 1191
gallonm 7:2dc81120c917 1192 /* only include up-scaling register setting when up-scale support is configured in */
gallonm 7:2dc81120c917 1193 int VL6180X::VL6180x_UpscaleRegInit(VL6180xDev_t dev)
gallonm 7:2dc81120c917 1194 {
gallonm 7:2dc81120c917 1195 /* apply REGISTER_TUNING_ER02_100614_CustomerView.txt */
gallonm 7:2dc81120c917 1196 VL6180x_WrByte( dev, 0x0207, 0x01);
gallonm 7:2dc81120c917 1197 VL6180x_WrByte( dev, 0x0208, 0x01);
gallonm 7:2dc81120c917 1198 VL6180x_WrByte( dev, 0x0096, 0x00);
gallonm 7:2dc81120c917 1199 VL6180x_WrByte( dev, 0x0097, 0x54);
gallonm 7:2dc81120c917 1200 VL6180x_WrByte( dev, 0x00e3, 0x00);
gallonm 7:2dc81120c917 1201 VL6180x_WrByte( dev, 0x00e4, 0x04);
gallonm 7:2dc81120c917 1202 VL6180x_WrByte( dev, 0x00e5, 0x02);
gallonm 7:2dc81120c917 1203 VL6180x_WrByte( dev, 0x00e6, 0x01);
gallonm 7:2dc81120c917 1204 VL6180x_WrByte( dev, 0x00e7, 0x03);
gallonm 7:2dc81120c917 1205 VL6180x_WrByte( dev, 0x00f5, 0x02);
gallonm 7:2dc81120c917 1206 VL6180x_WrByte( dev, 0x00d9, 0x05);
gallonm 16:0d4776564733 1207
gallonm 7:2dc81120c917 1208 _UpscaleInitPatch0(dev);
gallonm 16:0d4776564733 1209
gallonm 7:2dc81120c917 1210 VL6180x_WrByte( dev, 0x009f, 0x00);
gallonm 7:2dc81120c917 1211 VL6180x_WrByte( dev, 0x00a3, 0x28);
gallonm 7:2dc81120c917 1212 VL6180x_WrByte( dev, 0x00b7, 0x00);
gallonm 7:2dc81120c917 1213 VL6180x_WrByte( dev, 0x00bb, 0x28);
gallonm 7:2dc81120c917 1214 VL6180x_WrByte( dev, 0x00b2, 0x09);
gallonm 7:2dc81120c917 1215 VL6180x_WrByte( dev, 0x00ca, 0x09);
gallonm 7:2dc81120c917 1216 VL6180x_WrByte( dev, 0x0198, 0x01);
gallonm 7:2dc81120c917 1217 VL6180x_WrByte( dev, 0x01b0, 0x17);
gallonm 7:2dc81120c917 1218 VL6180x_WrByte( dev, 0x01ad, 0x00);
gallonm 7:2dc81120c917 1219 VL6180x_WrByte( dev, 0x00ff, 0x05);
gallonm 7:2dc81120c917 1220 VL6180x_WrByte( dev, 0x0100, 0x05);
gallonm 7:2dc81120c917 1221 VL6180x_WrByte( dev, 0x0199, 0x05);
gallonm 7:2dc81120c917 1222 VL6180x_WrByte( dev, 0x01a6, 0x1b);
gallonm 7:2dc81120c917 1223 VL6180x_WrByte( dev, 0x01ac, 0x3e);
gallonm 7:2dc81120c917 1224 VL6180x_WrByte( dev, 0x01a7, 0x1f);
gallonm 7:2dc81120c917 1225 VL6180x_WrByte( dev, 0x0030, 0x00);
gallonm 7:2dc81120c917 1226 VL6180x_WrByte( dev, 0x0011, 0x10);
gallonm 7:2dc81120c917 1227 VL6180x_WrByte( dev, 0x010a, 0x30);
gallonm 7:2dc81120c917 1228 VL6180x_WrByte( dev, 0x003f, 0x46);
gallonm 7:2dc81120c917 1229 VL6180x_WrByte( dev, 0x0031, 0xFF);
gallonm 7:2dc81120c917 1230 VL6180x_WrByte( dev, 0x0040, 0x63);
gallonm 7:2dc81120c917 1231 VL6180x_WrByte( dev, 0x002e, 0x01);
gallonm 7:2dc81120c917 1232 VL6180x_WrByte( dev, 0x002c, 0xff);
gallonm 7:2dc81120c917 1233 VL6180x_WrByte( dev, 0x001b, 0x09);
gallonm 7:2dc81120c917 1234 VL6180x_WrByte( dev, 0x003e, 0x31);
gallonm 7:2dc81120c917 1235 VL6180x_WrByte( dev, 0x0014, 0x24);
gallonm 7:2dc81120c917 1236 #if VL6180x_EXTENDED_RANGE
gallonm 7:2dc81120c917 1237 VL6180x_RangeSetMaxConvergenceTime(dev, 63);
gallonm 7:2dc81120c917 1238 #else
gallonm 7:2dc81120c917 1239 VL6180x_RangeSetMaxConvergenceTime(dev, 50);
gallonm 7:2dc81120c917 1240 #endif
gallonm 7:2dc81120c917 1241 return 0;
gallonm 7:2dc81120c917 1242 }
gallonm 7:2dc81120c917 1243 #else
gallonm 7:2dc81120c917 1244 #define VL6180x_UpscaleRegInit(...) -1
gallonm 7:2dc81120c917 1245 #endif
gallonm 16:0d4776564733 1246
gallonm 7:2dc81120c917 1247 int VL6180X::VL6180x_UpscaleSetScaling(VL6180xDev_t dev, uint8_t scaling)
gallonm 7:2dc81120c917 1248 {
gallonm 7:2dc81120c917 1249 int status;
gallonm 7:2dc81120c917 1250 uint16_t Scaler;
gallonm 7:2dc81120c917 1251 int8_t Offset;
gallonm 16:0d4776564733 1252
gallonm 7:2dc81120c917 1253 LOG_FUNCTION_START("%d",(int) scaling);
gallonm 16:0d4776564733 1254
gallonm 7:2dc81120c917 1255 #ifdef VL6180x_HAVE_UPSCALE_DATA
gallonm 7:2dc81120c917 1256 #define min_scaling 1
gallonm 7:2dc81120c917 1257 #define max_scaling sizeof(ScalerLookUP)/sizeof(ScalerLookUP[0])
gallonm 7:2dc81120c917 1258 #else
gallonm 7:2dc81120c917 1259 /* we are in fixed config so only allow configured factor */
gallonm 7:2dc81120c917 1260 #define min_scaling VL6180x_UPSCALE_SUPPORT
gallonm 7:2dc81120c917 1261 #define max_scaling VL6180x_UPSCALE_SUPPORT
gallonm 7:2dc81120c917 1262 #endif
gallonm 16:0d4776564733 1263
gallonm 7:2dc81120c917 1264 if( scaling>=min_scaling && scaling<= max_scaling ){
gallonm 16:0d4776564733 1265
gallonm 7:2dc81120c917 1266 Scaler = ScalerLookUP[scaling-1];
gallonm 7:2dc81120c917 1267 status = VL6180x_WrWord(dev, RANGE_SCALER, Scaler);
gallonm 7:2dc81120c917 1268 _SetUpscale(dev, scaling );
gallonm 16:0d4776564733 1269
gallonm 7:2dc81120c917 1270 /* Apply scaling on part-2-part offset */
gallonm 7:2dc81120c917 1271 Offset = VL6180xDevDataGet(dev, Part2PartOffsetNVM)/scaling;
gallonm 7:2dc81120c917 1272 status = VL6180x_WrByte(dev, SYSRANGE_PART_TO_PART_RANGE_OFFSET, Offset);
gallonm 7:2dc81120c917 1273 #if ! VL6180x_EXTENDED_RANGE
gallonm 7:2dc81120c917 1274 if( status ==0 ){
gallonm 7:2dc81120c917 1275 status = VL6180x_RangeSetEceState(dev, scaling == 1); /* enable ece only at 1x scaling */
gallonm 7:2dc81120c917 1276 }
gallonm 7:2dc81120c917 1277 if( status == 0 && !VL6180x_EXTENDED_RANGE && scaling!=1 ){
gallonm 16:0d4776564733 1278 status = NOT_GUARANTEED ;
gallonm 7:2dc81120c917 1279 }
gallonm 7:2dc81120c917 1280 #endif
gallonm 7:2dc81120c917 1281 }
gallonm 7:2dc81120c917 1282 else{
gallonm 7:2dc81120c917 1283 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1284 }
gallonm 7:2dc81120c917 1285 #undef min_scaling
gallonm 7:2dc81120c917 1286 #undef max_scaling
gallonm 7:2dc81120c917 1287 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1288 return status;
gallonm 7:2dc81120c917 1289 }
gallonm 16:0d4776564733 1290
gallonm 16:0d4776564733 1291
gallonm 7:2dc81120c917 1292 int VL6180X::VL6180x_UpscaleGetScaling(VL6180xDev_t dev)
gallonm 7:2dc81120c917 1293 {
gallonm 7:2dc81120c917 1294 int status;
gallonm 7:2dc81120c917 1295 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 1296 status=_GetUpscale(dev );
gallonm 7:2dc81120c917 1297 LOG_FUNCTION_END(status);
gallonm 16:0d4776564733 1298
gallonm 7:2dc81120c917 1299 return status;
gallonm 7:2dc81120c917 1300 }
gallonm 16:0d4776564733 1301
gallonm 16:0d4776564733 1302
gallonm 7:2dc81120c917 1303 int VL6180X::VL6180x_UpscaleStaticInit(VL6180xDev_t dev)
gallonm 7:2dc81120c917 1304 {
gallonm 7:2dc81120c917 1305 /* todo make these a fail macro in case only 1x is suppoted */
gallonm 7:2dc81120c917 1306 int status;
gallonm 16:0d4776564733 1307
gallonm 7:2dc81120c917 1308 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 1309 do{
gallonm 7:2dc81120c917 1310 status=VL6180x_UpscaleRegInit(dev);
gallonm 7:2dc81120c917 1311 if( status){
gallonm 7:2dc81120c917 1312 VL6180x_ErrLog("regInit fail");
gallonm 7:2dc81120c917 1313 break;
gallonm 7:2dc81120c917 1314 }
gallonm 7:2dc81120c917 1315 #if VL6180x_EXTENDED_RANGE
gallonm 7:2dc81120c917 1316 status = VL6180x_RangeSetEceState(dev, 0);
gallonm 7:2dc81120c917 1317 if( status){
gallonm 7:2dc81120c917 1318 VL6180x_ErrLog("VL6180x_RangeSetEceState fail");
gallonm 7:2dc81120c917 1319 break;
gallonm 7:2dc81120c917 1320 }
gallonm 7:2dc81120c917 1321 #endif
gallonm 7:2dc81120c917 1322 } while(0);
gallonm 7:2dc81120c917 1323 if( !status){
gallonm 7:2dc81120c917 1324 /* must write the scaler at least once to the device to ensure the scaler is in a known state. */
gallonm 7:2dc81120c917 1325 status=VL6180x_UpscaleSetScaling(dev, _GetUpscale(dev));
gallonm 14:0effa0bbf192 1326 VL6180x_WrByte( dev, SYSTEM_FRESH_OUT_OF_RESET, 0x00); /* change fresh out of set status to 0 */
gallonm 7:2dc81120c917 1327 }
gallonm 7:2dc81120c917 1328 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1329 return status;
gallonm 7:2dc81120c917 1330 }
gallonm 16:0d4776564733 1331
gallonm 16:0d4776564733 1332
gallonm 7:2dc81120c917 1333 int VL6180X::VL6180x_SetGPIOxPolarity(VL6180xDev_t dev, int pin, int active_high)
gallonm 7:2dc81120c917 1334 {
gallonm 7:2dc81120c917 1335 int status;
gallonm 7:2dc81120c917 1336 LOG_FUNCTION_START("%d %d",(int) pin, (int)active_high);
gallonm 16:0d4776564733 1337
gallonm 7:2dc81120c917 1338 if( pin ==0 || pin ==1 ){
gallonm 7:2dc81120c917 1339 uint16_t RegIndex;
gallonm 7:2dc81120c917 1340 uint8_t DataSet;
gallonm 7:2dc81120c917 1341 if( pin==0 )
gallonm 7:2dc81120c917 1342 RegIndex= SYSTEM_MODE_GPIO0;
gallonm 7:2dc81120c917 1343 else
gallonm 7:2dc81120c917 1344 RegIndex= SYSTEM_MODE_GPIO1;
gallonm 16:0d4776564733 1345
gallonm 7:2dc81120c917 1346 if (active_high )
gallonm 7:2dc81120c917 1347 DataSet = GPIOx_POLARITY_SELECT_MASK;
gallonm 7:2dc81120c917 1348 else
gallonm 7:2dc81120c917 1349 DataSet = 0;
gallonm 16:0d4776564733 1350
gallonm 7:2dc81120c917 1351 status = VL6180x_UpdateByte(dev, RegIndex, (uint8_t)~GPIOx_POLARITY_SELECT_MASK, DataSet);
gallonm 7:2dc81120c917 1352 }
gallonm 7:2dc81120c917 1353 else{
gallonm 7:2dc81120c917 1354 VL6180x_ErrLog("Invalid pin param %d", (int)pin);
gallonm 7:2dc81120c917 1355 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1356 }
gallonm 16:0d4776564733 1357
gallonm 7:2dc81120c917 1358 LOG_FUNCTION_END(status);
gallonm 16:0d4776564733 1359
gallonm 7:2dc81120c917 1360 return status;
gallonm 7:2dc81120c917 1361 }
gallonm 16:0d4776564733 1362
gallonm 7:2dc81120c917 1363 int VL6180X::VL6180x_SetGPIOxFunctionality(VL6180xDev_t dev, int pin, uint8_t functionality)
gallonm 7:2dc81120c917 1364 {
gallonm 7:2dc81120c917 1365 int status;
gallonm 16:0d4776564733 1366
gallonm 7:2dc81120c917 1367 LOG_FUNCTION_START("%d %d",(int) pin, (int)functionality);
gallonm 16:0d4776564733 1368
gallonm 7:2dc81120c917 1369 if( ((pin ==0) || (pin ==1)) && IsValidGPIOFunction(functionality) ){
gallonm 7:2dc81120c917 1370 uint16_t RegIndex;
gallonm 16:0d4776564733 1371
gallonm 7:2dc81120c917 1372 if( pin==0 )
gallonm 7:2dc81120c917 1373 RegIndex= SYSTEM_MODE_GPIO0;
gallonm 7:2dc81120c917 1374 else
gallonm 7:2dc81120c917 1375 RegIndex= SYSTEM_MODE_GPIO1;
gallonm 16:0d4776564733 1376
gallonm 7:2dc81120c917 1377 status = VL6180x_UpdateByte(dev, RegIndex, (uint8_t)~GPIOx_FUNCTIONALITY_SELECT_MASK, functionality<<GPIOx_FUNCTIONALITY_SELECT_SHIFT);
gallonm 7:2dc81120c917 1378 if( status){
gallonm 7:2dc81120c917 1379 VL6180x_ErrLog("Update SYSTEM_MODE_GPIO%d fail", (int)pin);
gallonm 7:2dc81120c917 1380 }
gallonm 7:2dc81120c917 1381 }
gallonm 7:2dc81120c917 1382 else{
gallonm 7:2dc81120c917 1383 VL6180x_ErrLog("Invalid pin %d or function %d", (int)pin, (int) functionality);
gallonm 7:2dc81120c917 1384 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1385 }
gallonm 16:0d4776564733 1386
gallonm 7:2dc81120c917 1387 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1388 return status;
gallonm 7:2dc81120c917 1389 }
gallonm 16:0d4776564733 1390
gallonm 16:0d4776564733 1391
gallonm 7:2dc81120c917 1392 int VL6180X::VL6180x_SetupGPIOx(VL6180xDev_t dev, int pin, uint8_t IntFunction, int ActiveHigh)
gallonm 7:2dc81120c917 1393 {
gallonm 7:2dc81120c917 1394 int status;
gallonm 16:0d4776564733 1395
gallonm 7:2dc81120c917 1396 LOG_FUNCTION_START("%d %d",(int) pin, (int)IntFunction);
gallonm 16:0d4776564733 1397
gallonm 7:2dc81120c917 1398 if( ((pin ==0) || (pin ==1)) && IsValidGPIOFunction(IntFunction) ){
gallonm 7:2dc81120c917 1399 uint16_t RegIndex;
gallonm 7:2dc81120c917 1400 uint8_t value=0;
gallonm 16:0d4776564733 1401
gallonm 7:2dc81120c917 1402 if( pin==0 )
gallonm 7:2dc81120c917 1403 RegIndex= SYSTEM_MODE_GPIO0;
gallonm 7:2dc81120c917 1404 else
gallonm 7:2dc81120c917 1405 RegIndex= SYSTEM_MODE_GPIO1;
gallonm 16:0d4776564733 1406
gallonm 7:2dc81120c917 1407 if( ActiveHigh )
gallonm 7:2dc81120c917 1408 value|=GPIOx_POLARITY_SELECT_MASK;
gallonm 16:0d4776564733 1409
gallonm 7:2dc81120c917 1410 value |= IntFunction<<GPIOx_FUNCTIONALITY_SELECT_SHIFT;
gallonm 7:2dc81120c917 1411 status = VL6180x_WrByte(dev, RegIndex, value);
gallonm 7:2dc81120c917 1412 if( status ){
gallonm 7:2dc81120c917 1413 VL6180x_ErrLog("SYSTEM_MODE_GPIO%d wr fail", (int)pin-SYSTEM_MODE_GPIO0);
gallonm 7:2dc81120c917 1414 }
gallonm 7:2dc81120c917 1415 }
gallonm 7:2dc81120c917 1416 else{
gallonm 7:2dc81120c917 1417 VL6180x_ErrLog("Invalid pin %d or function %d", (int)pin, (int) IntFunction);
gallonm 7:2dc81120c917 1418 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1419 }
gallonm 16:0d4776564733 1420
gallonm 7:2dc81120c917 1421 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1422 return status;
gallonm 7:2dc81120c917 1423 }
gallonm 16:0d4776564733 1424
gallonm 16:0d4776564733 1425
gallonm 7:2dc81120c917 1426 int VL6180X::VL6180x_DisableGPIOxOut(VL6180xDev_t dev, int pin) {
gallonm 7:2dc81120c917 1427 int status;
gallonm 16:0d4776564733 1428
gallonm 7:2dc81120c917 1429 LOG_FUNCTION_START("%d",(int)pin);
gallonm 16:0d4776564733 1430
gallonm 7:2dc81120c917 1431 status=VL6180x_SetGPIOxFunctionality(dev, pin, GPIOx_SELECT_OFF);
gallonm 16:0d4776564733 1432
gallonm 7:2dc81120c917 1433 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1434 return status;
gallonm 7:2dc81120c917 1435 }
gallonm 16:0d4776564733 1436
gallonm 16:0d4776564733 1437
gallonm 7:2dc81120c917 1438 int VL6180X::VL6180x_SetupGPIO1(VL6180xDev_t dev, uint8_t IntFunction, int ActiveHigh)
gallonm 7:2dc81120c917 1439 {
gallonm 7:2dc81120c917 1440 int status;
gallonm 7:2dc81120c917 1441 LOG_FUNCTION_START("%d %d",(int)IntFunction, (int)ActiveHigh );
gallonm 7:2dc81120c917 1442 status=VL6180x_SetupGPIOx(dev, 1 , IntFunction, ActiveHigh);
gallonm 7:2dc81120c917 1443 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1444 return status;
gallonm 7:2dc81120c917 1445 }
gallonm 16:0d4776564733 1446
gallonm 7:2dc81120c917 1447 int VL6180X::VL6180x_RangeConfigInterrupt(VL6180xDev_t dev, uint8_t ConfigGpioInt)
gallonm 7:2dc81120c917 1448 {
gallonm 7:2dc81120c917 1449 int status;
gallonm 16:0d4776564733 1450
gallonm 7:2dc81120c917 1451 if( ConfigGpioInt<= CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY){
gallonm 7:2dc81120c917 1452 status = VL6180x_UpdateByte(dev, SYSTEM_INTERRUPT_CONFIG_GPIO, (uint8_t)(~CONFIG_GPIO_RANGE_MASK), ConfigGpioInt);
gallonm 7:2dc81120c917 1453 }
gallonm 7:2dc81120c917 1454 else{
gallonm 7:2dc81120c917 1455 VL6180x_ErrLog("Invalid config mode param %d", (int)ConfigGpioInt);
gallonm 7:2dc81120c917 1456 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1457 }
gallonm 7:2dc81120c917 1458 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1459 return status;
gallonm 7:2dc81120c917 1460 }
gallonm 16:0d4776564733 1461
gallonm 16:0d4776564733 1462
gallonm 7:2dc81120c917 1463 int VL6180X::VL6180x_RangeSetEceFactor(VL6180xDev_t dev, uint16_t FactorM, uint16_t FactorD){
gallonm 7:2dc81120c917 1464 int status;
gallonm 7:2dc81120c917 1465 uint8_t u8;
gallonm 16:0d4776564733 1466
gallonm 7:2dc81120c917 1467 LOG_FUNCTION_START("%d %d", (int)FactorM, (int)FactorD );
gallonm 7:2dc81120c917 1468 do{
gallonm 7:2dc81120c917 1469 /* D cannot be 0 M must be <=D and >= 0 */
gallonm 7:2dc81120c917 1470 if( FactorM <= FactorD && FactorD> 0){
gallonm 7:2dc81120c917 1471 VL6180xDevDataSet(dev, EceFactorM, FactorM);
gallonm 7:2dc81120c917 1472 VL6180xDevDataSet(dev, EceFactorD, FactorD);
gallonm 7:2dc81120c917 1473 /* read and re-apply max conv time to get new ece factor set */
gallonm 7:2dc81120c917 1474 status = VL6180x_RdByte(dev, SYSRANGE_MAX_CONVERGENCE_TIME, &u8);
gallonm 7:2dc81120c917 1475 if( status){
gallonm 7:2dc81120c917 1476 VL6180x_ErrLog("SYSRANGE_MAX_CONVERGENCE_TIME rd fail ");
gallonm 7:2dc81120c917 1477 break;
gallonm 7:2dc81120c917 1478 }
gallonm 7:2dc81120c917 1479 status = VL6180x_RangeSetMaxConvergenceTime(dev, u8);
gallonm 7:2dc81120c917 1480 if( status <0 ){
gallonm 7:2dc81120c917 1481 VL6180x_ErrLog("fail to apply time after ece m/d change");
gallonm 7:2dc81120c917 1482 break;
gallonm 7:2dc81120c917 1483 }
gallonm 7:2dc81120c917 1484 }
gallonm 7:2dc81120c917 1485 else{
gallonm 7:2dc81120c917 1486 VL6180x_ErrLog("invalid factor %d/%d", (int)FactorM, (int)FactorD );
gallonm 7:2dc81120c917 1487 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1488 }
gallonm 7:2dc81120c917 1489 }
gallonm 7:2dc81120c917 1490 while(0);
gallonm 7:2dc81120c917 1491 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1492 return status;
gallonm 7:2dc81120c917 1493 }
gallonm 16:0d4776564733 1494
gallonm 7:2dc81120c917 1495 int VL6180X::VL6180x_RangeSetEceState(VL6180xDev_t dev, int enable ){
gallonm 7:2dc81120c917 1496 int status;
gallonm 7:2dc81120c917 1497 uint8_t or_mask;
gallonm 16:0d4776564733 1498
gallonm 7:2dc81120c917 1499 LOG_FUNCTION_START("%d", (int)enable);
gallonm 7:2dc81120c917 1500 if( enable )
gallonm 7:2dc81120c917 1501 or_mask = RANGE_CHECK_ECE_ENABLE_MASK;
gallonm 7:2dc81120c917 1502 else
gallonm 7:2dc81120c917 1503 or_mask = 0;
gallonm 16:0d4776564733 1504
gallonm 7:2dc81120c917 1505 status =VL6180x_UpdateByte(dev, SYSRANGE_RANGE_CHECK_ENABLES, ~RANGE_CHECK_ECE_ENABLE_MASK, or_mask);
gallonm 7:2dc81120c917 1506 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1507 return status;
gallonm 7:2dc81120c917 1508 }
gallonm 16:0d4776564733 1509
gallonm 16:0d4776564733 1510
gallonm 7:2dc81120c917 1511 int VL6180X::VL6180x_RangeSetMaxConvergenceTime(VL6180xDev_t dev, uint8_t MaxConTime_msec)
gallonm 7:2dc81120c917 1512 {
gallonm 7:2dc81120c917 1513 int status = 0;
gallonm 7:2dc81120c917 1514 LOG_FUNCTION_START("%d",(int)MaxConTime_msec);
gallonm 7:2dc81120c917 1515 do{
gallonm 7:2dc81120c917 1516 status=VL6180x_WrByte(dev, SYSRANGE_MAX_CONVERGENCE_TIME, MaxConTime_msec);
gallonm 7:2dc81120c917 1517 if( status ){
gallonm 7:2dc81120c917 1518 break;
gallonm 7:2dc81120c917 1519 }
gallonm 7:2dc81120c917 1520 status=VL6180x_RangeSetEarlyConvergenceEestimateThreshold(dev);
gallonm 7:2dc81120c917 1521 if( status){
gallonm 7:2dc81120c917 1522 break;
gallonm 7:2dc81120c917 1523 }
gallonm 7:2dc81120c917 1524 status = _DMax_InitData(dev);
gallonm 7:2dc81120c917 1525 }
gallonm 7:2dc81120c917 1526 while(0);
gallonm 7:2dc81120c917 1527 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1528 return status;
gallonm 7:2dc81120c917 1529 }
gallonm 16:0d4776564733 1530
gallonm 7:2dc81120c917 1531 int VL6180X::VL6180x_RangeSetInterMeasPeriod(VL6180xDev_t dev, uint32_t InterMeasTime_msec){
gallonm 7:2dc81120c917 1532 uint8_t SetTime;
gallonm 7:2dc81120c917 1533 int status;
gallonm 16:0d4776564733 1534
gallonm 7:2dc81120c917 1535 LOG_FUNCTION_START("%d",(int)InterMeasTime_msec);
gallonm 7:2dc81120c917 1536 do {
gallonm 7:2dc81120c917 1537 if( InterMeasTime_msec > 2550 ){
gallonm 7:2dc81120c917 1538 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1539 break;
gallonm 7:2dc81120c917 1540 }
gallonm 7:2dc81120c917 1541 /* doc in not 100% clear and confusing about the limit practically all value are OK but 0
gallonm 7:2dc81120c917 1542 * that can hang device in continuous mode */
gallonm 7:2dc81120c917 1543 if( InterMeasTime_msec < 10 ) {
gallonm 7:2dc81120c917 1544 InterMeasTime_msec=10;
gallonm 7:2dc81120c917 1545 }
gallonm 7:2dc81120c917 1546 SetTime=(uint8_t)(InterMeasTime_msec/10);
gallonm 7:2dc81120c917 1547 status=VL6180x_WrByte(dev, SYSRANGE_INTERMEASUREMENT_PERIOD, SetTime);
gallonm 7:2dc81120c917 1548 if( status ){
gallonm 7:2dc81120c917 1549 VL6180x_ErrLog("SYSRANGE_INTERMEASUREMENT_PERIOD wr fail");
gallonm 7:2dc81120c917 1550 }
gallonm 7:2dc81120c917 1551 else
gallonm 7:2dc81120c917 1552 if( SetTime != InterMeasTime_msec /10 ) {
gallonm 7:2dc81120c917 1553 status = MIN_CLIPED; /* on success change status to clip if it did */
gallonm 7:2dc81120c917 1554 }
gallonm 7:2dc81120c917 1555 }while(0);
gallonm 7:2dc81120c917 1556 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1557 return status;
gallonm 7:2dc81120c917 1558 }
gallonm 16:0d4776564733 1559
gallonm 16:0d4776564733 1560
gallonm 7:2dc81120c917 1561 int VL6180X::VL6180x_RangeGetDeviceReady(VL6180xDev_t dev, int * Ready){
gallonm 7:2dc81120c917 1562 int status;
gallonm 7:2dc81120c917 1563 uint8_t u8;
gallonm 7:2dc81120c917 1564 LOG_FUNCTION_START("%p", (int)Ready);
gallonm 7:2dc81120c917 1565 status=VL6180x_RdByte(dev, RESULT_RANGE_STATUS, &u8);
gallonm 7:2dc81120c917 1566 if( !status)
gallonm 7:2dc81120c917 1567 *Ready = u8&RANGE_DEVICE_READY_MASK;
gallonm 7:2dc81120c917 1568 LOG_FUNCTION_END_FMT(status,"%d", *Ready);
gallonm 7:2dc81120c917 1569 return status;
gallonm 7:2dc81120c917 1570 }
gallonm 16:0d4776564733 1571
gallonm 16:0d4776564733 1572
gallonm 7:2dc81120c917 1573 int VL6180X::VL6180x_RangeWaitDeviceReady(VL6180xDev_t dev, int MaxLoop ){
gallonm 7:2dc81120c917 1574 int status; /* if user specify an invalid <=0 loop count we'll return error */
gallonm 7:2dc81120c917 1575 int n;
gallonm 7:2dc81120c917 1576 uint8_t u8;
gallonm 7:2dc81120c917 1577 LOG_FUNCTION_START("%d", (int)MaxLoop);
gallonm 7:2dc81120c917 1578 if( MaxLoop<1){
gallonm 7:2dc81120c917 1579 status=INVALID_PARAMS;
gallonm 7:2dc81120c917 1580 }
gallonm 7:2dc81120c917 1581 else{
gallonm 7:2dc81120c917 1582 for( n=0; n < MaxLoop ; n++){
gallonm 7:2dc81120c917 1583 status=VL6180x_RdByte(dev, RESULT_RANGE_STATUS, &u8);
gallonm 7:2dc81120c917 1584 if( status)
gallonm 7:2dc81120c917 1585 break;
gallonm 7:2dc81120c917 1586 u8 = u8 & RANGE_DEVICE_READY_MASK;
gallonm 7:2dc81120c917 1587 if( u8 )
gallonm 7:2dc81120c917 1588 break;
gallonm 16:0d4776564733 1589
gallonm 7:2dc81120c917 1590 }
gallonm 7:2dc81120c917 1591 if( !status && !u8 ){
gallonm 7:2dc81120c917 1592 status = TIME_OUT;
gallonm 7:2dc81120c917 1593 }
gallonm 7:2dc81120c917 1594 }
gallonm 7:2dc81120c917 1595 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1596 return status;
gallonm 7:2dc81120c917 1597 }
gallonm 16:0d4776564733 1598
gallonm 7:2dc81120c917 1599 int VL6180X::VL6180x_RangeSetSystemMode(VL6180xDev_t dev, uint8_t mode)
gallonm 7:2dc81120c917 1600 {
gallonm 7:2dc81120c917 1601 int status;
gallonm 7:2dc81120c917 1602 LOG_FUNCTION_START("%d", (int)mode);
gallonm 7:2dc81120c917 1603 /* FIXME we are not checking device is ready via @a VL6180x_RangeWaitDeviceReady
gallonm 7:2dc81120c917 1604 * so if called back to back real fast we are not checking
gallonm 7:2dc81120c917 1605 * if previous mode "set" got absorbed => bit 0 must be 0 so that it work
gallonm 7:2dc81120c917 1606 */
gallonm 7:2dc81120c917 1607 if( mode <= 3){
gallonm 7:2dc81120c917 1608 status=VL6180x_WrByte(dev, SYSRANGE_START, mode);
gallonm 7:2dc81120c917 1609 if( status ){
gallonm 7:2dc81120c917 1610 VL6180x_ErrLog("SYSRANGE_START wr fail");
gallonm 7:2dc81120c917 1611 }
gallonm 7:2dc81120c917 1612 }
gallonm 7:2dc81120c917 1613 else{
gallonm 7:2dc81120c917 1614 status = INVALID_PARAMS;
gallonm 7:2dc81120c917 1615 }
gallonm 7:2dc81120c917 1616 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1617 return status;
gallonm 7:2dc81120c917 1618 }
gallonm 16:0d4776564733 1619
gallonm 16:0d4776564733 1620
gallonm 7:2dc81120c917 1621 int VL6180X::VL6180x_RangeStartContinuousMode(VL6180xDev_t dev)
gallonm 7:2dc81120c917 1622 {
gallonm 7:2dc81120c917 1623 int status;
gallonm 7:2dc81120c917 1624 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 1625 status= VL6180x_RangeSetSystemMode(dev, MODE_START_STOP | MODE_CONTINUOUS);
gallonm 7:2dc81120c917 1626 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1627 return status;
gallonm 7:2dc81120c917 1628 }
gallonm 16:0d4776564733 1629
gallonm 7:2dc81120c917 1630 int VL6180X::VL6180x_RangeStartSingleShot(VL6180xDev_t dev) {
gallonm 7:2dc81120c917 1631 int status;
gallonm 7:2dc81120c917 1632 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 1633 status = VL6180x_RangeSetSystemMode(dev, MODE_START_STOP|MODE_SINGLESHOT);
gallonm 7:2dc81120c917 1634 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1635 return status;
gallonm 7:2dc81120c917 1636 }
gallonm 16:0d4776564733 1637
gallonm 16:0d4776564733 1638
gallonm 7:2dc81120c917 1639 int VL6180X::VL6180x_RangeSetEarlyConvergenceEestimateThreshold(VL6180xDev_t dev)
gallonm 7:2dc81120c917 1640 {
gallonm 7:2dc81120c917 1641 int status;
gallonm 16:0d4776564733 1642
gallonm 7:2dc81120c917 1643 const uint32_t cMicroSecPerMilliSec = 1000;
gallonm 7:2dc81120c917 1644 const uint32_t cEceSampleTime_us = 500;
gallonm 7:2dc81120c917 1645 uint32_t ece_factor_m = VL6180xDevDataGet(dev, EceFactorM);
gallonm 7:2dc81120c917 1646 uint32_t ece_factor_d = VL6180xDevDataGet(dev, EceFactorD);
gallonm 7:2dc81120c917 1647 uint32_t convergTime_us;
gallonm 7:2dc81120c917 1648 uint32_t fineThresh;
gallonm 7:2dc81120c917 1649 uint32_t eceThresh;
gallonm 7:2dc81120c917 1650 uint8_t u8;
gallonm 7:2dc81120c917 1651 uint32_t maxConv_ms;
gallonm 7:2dc81120c917 1652 int32_t AveTime;
gallonm 16:0d4776564733 1653
gallonm 7:2dc81120c917 1654 LOG_FUNCTION_START("");
gallonm 16:0d4776564733 1655
gallonm 7:2dc81120c917 1656 do{
gallonm 7:2dc81120c917 1657 status = VL6180x_RdByte(dev, SYSRANGE_MAX_CONVERGENCE_TIME, &u8);
gallonm 7:2dc81120c917 1658 if( status ){
gallonm 7:2dc81120c917 1659 VL6180x_ErrLog("SYSRANGE_MAX_CONVERGENCE_TIME rd fail");
gallonm 7:2dc81120c917 1660 break;
gallonm 7:2dc81120c917 1661 }
gallonm 7:2dc81120c917 1662 maxConv_ms = u8;
gallonm 7:2dc81120c917 1663 AveTime = _GetAveTotalTime(dev);
gallonm 7:2dc81120c917 1664 if( AveTime <0 ){
gallonm 7:2dc81120c917 1665 status=-1;
gallonm 7:2dc81120c917 1666 break;
gallonm 7:2dc81120c917 1667 }
gallonm 16:0d4776564733 1668
gallonm 7:2dc81120c917 1669 convergTime_us = maxConv_ms * cMicroSecPerMilliSec - AveTime;
gallonm 7:2dc81120c917 1670 status = VL6180x_RdDWord(dev, 0xB8, &fineThresh);
gallonm 7:2dc81120c917 1671 if( status ) {
gallonm 7:2dc81120c917 1672 VL6180x_ErrLog("reg 0xB8 rd fail");
gallonm 7:2dc81120c917 1673 break;
gallonm 7:2dc81120c917 1674 }
gallonm 7:2dc81120c917 1675 fineThresh*=256;
gallonm 7:2dc81120c917 1676 eceThresh = ece_factor_m * cEceSampleTime_us * fineThresh/(convergTime_us * ece_factor_d);
gallonm 16:0d4776564733 1677
gallonm 7:2dc81120c917 1678 status=VL6180x_WrWord(dev, SYSRANGE_EARLY_CONVERGENCE_ESTIMATE, (uint16_t)eceThresh);
gallonm 7:2dc81120c917 1679 }
gallonm 7:2dc81120c917 1680 while(0);
gallonm 16:0d4776564733 1681
gallonm 7:2dc81120c917 1682 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 1683 return status;
gallonm 7:2dc81120c917 1684 }
gallonm 16:0d4776564733 1685
gallonm 7:2dc81120c917 1686 /*
gallonm 7:2dc81120c917 1687 * Return >0 = time
gallonm 7:2dc81120c917 1688 * <0 1 if fail to get read data from device to compute time
gallonm 7:2dc81120c917 1689 */
gallonm 7:2dc81120c917 1690 int32_t VL6180X::_GetAveTotalTime(VL6180xDev_t dev) {
gallonm 7:2dc81120c917 1691 uint32_t cFwOverhead_us = 24;
gallonm 7:2dc81120c917 1692 uint32_t cVcpSetupTime_us = 70;
gallonm 7:2dc81120c917 1693 uint32_t cPLL2_StartupDelay_us = 200;
gallonm 7:2dc81120c917 1694 uint8_t cMeasMask = 0x07;
gallonm 7:2dc81120c917 1695 uint32_t Samples;
gallonm 7:2dc81120c917 1696 uint32_t SamplePeriod;
gallonm 7:2dc81120c917 1697 uint32_t SingleTime_us;
gallonm 7:2dc81120c917 1698 int32_t TotalAveTime_us;
gallonm 7:2dc81120c917 1699 uint8_t u8;
gallonm 7:2dc81120c917 1700 int status;
gallonm 16:0d4776564733 1701
gallonm 7:2dc81120c917 1702 LOG_FUNCTION_START("");
gallonm 16:0d4776564733 1703
gallonm 7:2dc81120c917 1704 status = VL6180x_RdByte(dev, 0x109, &u8);
gallonm 7:2dc81120c917 1705 if (status) {
gallonm 7:2dc81120c917 1706 VL6180x_ErrLog("rd 0x109 fail");
gallonm 7:2dc81120c917 1707 return -1;
gallonm 7:2dc81120c917 1708 }
gallonm 7:2dc81120c917 1709 Samples = u8 & cMeasMask;
gallonm 7:2dc81120c917 1710 status = VL6180x_RdByte(dev, READOUT_AVERAGING_SAMPLE_PERIOD, &u8);
gallonm 7:2dc81120c917 1711 if (status) {
gallonm 7:2dc81120c917 1712 VL6180x_ErrLog("i2c READOUT_AVERAGING_SAMPLE_PERIOD fail");
gallonm 7:2dc81120c917 1713 return -1;
gallonm 7:2dc81120c917 1714 }
gallonm 7:2dc81120c917 1715 SamplePeriod = u8;
gallonm 7:2dc81120c917 1716 SingleTime_us = cFwOverhead_us + cVcpSetupTime_us + (SamplePeriod * 10);
gallonm 7:2dc81120c917 1717 TotalAveTime_us = (Samples + 1) * SingleTime_us + cPLL2_StartupDelay_us;
gallonm 16:0d4776564733 1718
gallonm 7:2dc81120c917 1719 LOG_FUNCTION_END(TotalAveTime_us);
gallonm 7:2dc81120c917 1720 return TotalAveTime_us;
gallonm 7:2dc81120c917 1721 }
gallonm 16:0d4776564733 1722
gallonm 7:2dc81120c917 1723 #if VL6180x_HAVE_DMAX_RANGING
gallonm 7:2dc81120c917 1724 #define _GetDMaxDataRetSignalAt400mm(dev) VL6180xDevDataGet(dev, DMaxData.retSignalAt400mm)
gallonm 7:2dc81120c917 1725 #else
gallonm 7:2dc81120c917 1726 #define _GetDMaxDataRetSignalAt400mm(dev) 375 // Use a default high value
gallonm 7:2dc81120c917 1727 #endif
gallonm 16:0d4776564733 1728
gallonm 16:0d4776564733 1729
gallonm 7:2dc81120c917 1730 #if VL6180x_WRAP_AROUND_FILTER_SUPPORT
gallonm 16:0d4776564733 1731
gallonm 7:2dc81120c917 1732 #define FILTER_STDDEV_SAMPLES 6
gallonm 7:2dc81120c917 1733 #define MIN_FILTER_STDDEV_SAMPLES 3
gallonm 7:2dc81120c917 1734 #define MIN_FILTER_VALID_STDDEV_SAMPLES 3
gallonm 7:2dc81120c917 1735 #define FILTER_INVALID_DISTANCE 65535
gallonm 16:0d4776564733 1736
gallonm 7:2dc81120c917 1737 #define _FilterData(field) VL6180xDevDataGet(dev, FilterData.field)
gallonm 7:2dc81120c917 1738 /*
gallonm 7:2dc81120c917 1739 * One time init
gallonm 7:2dc81120c917 1740 */
gallonm 7:2dc81120c917 1741 int _filter_Init( VL6180xDev_t dev) {
gallonm 7:2dc81120c917 1742 int i;
gallonm 7:2dc81120c917 1743 _FilterData(MeasurementIndex) = 0;
gallonm 16:0d4776564733 1744
gallonm 7:2dc81120c917 1745 _FilterData(Default_ZeroVal) = 0;
gallonm 7:2dc81120c917 1746 _FilterData(Default_VAVGVal) = 0;
gallonm 7:2dc81120c917 1747 _FilterData(NoDelay_ZeroVal) = 0;
gallonm 7:2dc81120c917 1748 _FilterData(NoDelay_VAVGVal) = 0;
gallonm 7:2dc81120c917 1749 _FilterData(Previous_VAVGDiff) = 0;
gallonm 16:0d4776564733 1750
gallonm 7:2dc81120c917 1751 _FilterData(StdFilteredReads) = 0;
gallonm 16:0d4776564733 1752
gallonm 7:2dc81120c917 1753 for (i = 0; i < FILTER_NBOF_SAMPLES; i++) {
gallonm 7:2dc81120c917 1754 _FilterData(LastTrueRange)[i] = FILTER_INVALID_DISTANCE;
gallonm 7:2dc81120c917 1755 _FilterData(LastReturnRates)[i] = 0;
gallonm 7:2dc81120c917 1756 }
gallonm 7:2dc81120c917 1757 return 0;
gallonm 7:2dc81120c917 1758 }
gallonm 16:0d4776564733 1759
gallonm 16:0d4776564733 1760
gallonm 7:2dc81120c917 1761 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) {
gallonm 7:2dc81120c917 1762 uint32_t newStdDev;
gallonm 7:2dc81120c917 1763 uint16_t SNR;
gallonm 16:0d4776564733 1764
gallonm 7:2dc81120c917 1765 if (AmbientRate > 0)
gallonm 7:2dc81120c917 1766 SNR = (uint16_t) ((100 * SignalRate) / AmbientRate);
gallonm 7:2dc81120c917 1767 else
gallonm 7:2dc81120c917 1768 SNR = 9999;
gallonm 16:0d4776564733 1769
gallonm 7:2dc81120c917 1770 if (SNR >= StdDevLimitLowLightSNR) {
gallonm 7:2dc81120c917 1771 newStdDev = StdDevLimitLowLight;
gallonm 7:2dc81120c917 1772 } else {
gallonm 7:2dc81120c917 1773 if (SNR <= StdDevLimitHighLightSNR)
gallonm 7:2dc81120c917 1774 newStdDev = StdDevLimitHighLight;
gallonm 7:2dc81120c917 1775 else {
gallonm 7:2dc81120c917 1776 newStdDev = (uint32_t) (StdDevLimitHighLight + (SNR - StdDevLimitHighLightSNR) * (int) (StdDevLimitLowLight - StdDevLimitHighLight) / (StdDevLimitLowLightSNR - StdDevLimitHighLightSNR));
gallonm 7:2dc81120c917 1777 }
gallonm 7:2dc81120c917 1778 }
gallonm 16:0d4776564733 1779
gallonm 7:2dc81120c917 1780 return newStdDev;
gallonm 7:2dc81120c917 1781 }
gallonm 16:0d4776564733 1782
gallonm 16:0d4776564733 1783
gallonm 7:2dc81120c917 1784 /*
gallonm 7:2dc81120c917 1785 * Return <0 on error
gallonm 7:2dc81120c917 1786 */
gallonm 7:2dc81120c917 1787 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) {
gallonm 7:2dc81120c917 1788 int status;
gallonm 7:2dc81120c917 1789 uint16_t m_newTrueRange_mm = 0;
gallonm 16:0d4776564733 1790
gallonm 7:2dc81120c917 1791 uint16_t i;
gallonm 7:2dc81120c917 1792 uint16_t bypassFilter = 0;
gallonm 16:0d4776564733 1793
gallonm 7:2dc81120c917 1794 uint16_t registerValue;
gallonm 16:0d4776564733 1795
gallonm 7:2dc81120c917 1796 uint32_t register32BitsValue1;
gallonm 7:2dc81120c917 1797 uint32_t register32BitsValue2;
gallonm 16:0d4776564733 1798
gallonm 7:2dc81120c917 1799 uint16_t ValidDistance = 0;
gallonm 16:0d4776564733 1800
gallonm 7:2dc81120c917 1801 uint16_t WrapAroundFlag = 0;
gallonm 7:2dc81120c917 1802 uint16_t NoWrapAroundFlag = 0;
gallonm 7:2dc81120c917 1803 uint16_t NoWrapAroundHighConfidenceFlag = 0;
gallonm 16:0d4776564733 1804
gallonm 7:2dc81120c917 1805 uint16_t FlushFilter = 0;
gallonm 7:2dc81120c917 1806 uint32_t RateChange = 0;
gallonm 16:0d4776564733 1807
gallonm 7:2dc81120c917 1808 uint16_t StdDevSamples = 0;
gallonm 7:2dc81120c917 1809 uint32_t StdDevDistanceSum = 0;
gallonm 7:2dc81120c917 1810 uint32_t StdDevDistanceMean = 0;
gallonm 7:2dc81120c917 1811 uint32_t StdDevDistance = 0;
gallonm 7:2dc81120c917 1812 uint32_t StdDevRateSum = 0;
gallonm 7:2dc81120c917 1813 uint32_t StdDevRateMean = 0;
gallonm 7:2dc81120c917 1814 uint32_t StdDevRate = 0;
gallonm 7:2dc81120c917 1815 uint32_t StdDevLimitWithTargetMove = 0;
gallonm 16:0d4776564733 1816
gallonm 7:2dc81120c917 1817 uint32_t VAVGDiff;
gallonm 7:2dc81120c917 1818 uint32_t IdealVAVGDiff;
gallonm 7:2dc81120c917 1819 uint32_t MinVAVGDiff;
gallonm 7:2dc81120c917 1820 uint32_t MaxVAVGDiff;
gallonm 16:0d4776564733 1821
gallonm 7:2dc81120c917 1822 /* Filter Parameters */
gallonm 7:2dc81120c917 1823 static const uint16_t ROMABLE_DATA WrapAroundLowRawRangeLimit = 60;
gallonm 7:2dc81120c917 1824 static const uint32_t ROMABLE_DATA WrapAroundLowReturnRateLimit_ROM = 800; // Shall be adapted depending on crossTalk
gallonm 7:2dc81120c917 1825 static const uint16_t ROMABLE_DATA WrapAroundLowRawRangeLimit2 = 165;
gallonm 7:2dc81120c917 1826 static const uint32_t ROMABLE_DATA WrapAroundLowReturnRateLimit2_ROM = 180; // Shall be adapted depending on crossTalk and device sensitivity
gallonm 16:0d4776564733 1827
gallonm 7:2dc81120c917 1828 static const uint32_t ROMABLE_DATA WrapAroundLowReturnRateFilterLimit_ROM = 850; // Shall be adapted depending on crossTalk and device sensitivity
gallonm 7:2dc81120c917 1829 static const uint16_t ROMABLE_DATA WrapAroundHighRawRangeFilterLimit = 350;
gallonm 7:2dc81120c917 1830 static const uint32_t ROMABLE_DATA WrapAroundHighReturnRateFilterLimit_ROM = 1400; // Shall be adapted depending on crossTalk and device sensitivity
gallonm 16:0d4776564733 1831
gallonm 7:2dc81120c917 1832 static const uint32_t ROMABLE_DATA WrapAroundMaximumAmbientRateFilterLimit = 7500;
gallonm 16:0d4776564733 1833
gallonm 7:2dc81120c917 1834 /* Temporal filter data and flush values */
gallonm 7:2dc81120c917 1835 static const uint32_t ROMABLE_DATA MinReturnRateFilterFlush = 75;
gallonm 7:2dc81120c917 1836 static const uint32_t ROMABLE_DATA MaxReturnRateChangeFilterFlush = 50;
gallonm 16:0d4776564733 1837
gallonm 7:2dc81120c917 1838 /* STDDEV values and damper values */
gallonm 16:0d4776564733 1839
gallonm 7:2dc81120c917 1840 static const uint32_t ROMABLE_DATA StdDevLimitLowLight = 300;
gallonm 7:2dc81120c917 1841 static const uint32_t ROMABLE_DATA StdDevLimitLowLightSNR = 30; /* 0.3 */
gallonm 7:2dc81120c917 1842 static const uint32_t ROMABLE_DATA StdDevLimitHighLight = 2500;
gallonm 7:2dc81120c917 1843 static const uint32_t ROMABLE_DATA StdDevLimitHighLightSNR = 5; /* 0.05 */
gallonm 16:0d4776564733 1844
gallonm 7:2dc81120c917 1845 static const uint32_t ROMABLE_DATA StdDevHighConfidenceSNRLimit = 8;
gallonm 16:0d4776564733 1846
gallonm 7:2dc81120c917 1847 static const uint32_t ROMABLE_DATA StdDevMovingTargetStdDevLimit = 90000;
gallonm 16:0d4776564733 1848
gallonm 7:2dc81120c917 1849 static const uint32_t ROMABLE_DATA StdDevMovingTargetReturnRateLimit = 3500;
gallonm 7:2dc81120c917 1850 static const uint32_t ROMABLE_DATA StdDevMovingTargetStdDevForReturnRateLimit = 5000;
gallonm 16:0d4776564733 1851
gallonm 7:2dc81120c917 1852 static const uint32_t ROMABLE_DATA MAX_VAVGDiff = 1800;
gallonm 16:0d4776564733 1853
gallonm 7:2dc81120c917 1854 /* WrapAroundDetection variables */
gallonm 7:2dc81120c917 1855 static const uint16_t ROMABLE_DATA WrapAroundNoDelayCheckPeriod = 2;
gallonm 7:2dc81120c917 1856 static const uint16_t ROMABLE_DATA StdFilteredReadsIncrement = 2;
gallonm 7:2dc81120c917 1857 static const uint16_t ROMABLE_DATA StdMaxFilteredReads = 4;
gallonm 7:2dc81120c917 1858
gallonm 7:2dc81120c917 1859 uint32_t SignalRateDMax;
gallonm 7:2dc81120c917 1860 uint32_t WrapAroundLowReturnRateLimit;
gallonm 7:2dc81120c917 1861 uint32_t WrapAroundLowReturnRateLimit2;
gallonm 7:2dc81120c917 1862 uint32_t WrapAroundLowReturnRateFilterLimit;
gallonm 7:2dc81120c917 1863 uint32_t WrapAroundHighReturnRateFilterLimit;
gallonm 16:0d4776564733 1864
gallonm 7:2dc81120c917 1865 uint8_t u8, u8_2;
gallonm 7:2dc81120c917 1866 uint32_t XTalkCompRate_KCps;
gallonm 7:2dc81120c917 1867 uint32_t StdDevLimit = 300;
gallonm 7:2dc81120c917 1868 uint32_t MaxOrInvalidDistance = 255*_GetUpscale(dev);
gallonm 7:2dc81120c917 1869 /* #define MaxOrInvalidDistance (uint16_t) (255 * 3) */
gallonm 16:0d4776564733 1870
gallonm 7:2dc81120c917 1871 /* Check if distance is Valid or not */
gallonm 7:2dc81120c917 1872 switch (errorCode) {
gallonm 7:2dc81120c917 1873 case 0x0C:
gallonm 7:2dc81120c917 1874 m_trueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 1875 ValidDistance = 0;
gallonm 7:2dc81120c917 1876 break;
gallonm 7:2dc81120c917 1877 case 0x0D:
gallonm 7:2dc81120c917 1878 m_trueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 1879 ValidDistance = 1;
gallonm 7:2dc81120c917 1880 break;
gallonm 7:2dc81120c917 1881 case 0x0F:
gallonm 7:2dc81120c917 1882 m_trueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 1883 ValidDistance = 1;
gallonm 7:2dc81120c917 1884 break;
gallonm 7:2dc81120c917 1885 default:
gallonm 7:2dc81120c917 1886 if (m_rawRange_mm >= MaxOrInvalidDistance) {
gallonm 7:2dc81120c917 1887 ValidDistance = 0;
gallonm 7:2dc81120c917 1888 } else {
gallonm 7:2dc81120c917 1889 ValidDistance = 1;
gallonm 7:2dc81120c917 1890 }
gallonm 7:2dc81120c917 1891 break;
gallonm 7:2dc81120c917 1892 }
gallonm 7:2dc81120c917 1893 m_newTrueRange_mm = m_trueRange_mm;
gallonm 7:2dc81120c917 1894
gallonm 7:2dc81120c917 1895 XTalkCompRate_KCps = VL6180xDevDataGet(dev, XTalkCompRate_KCps );
gallonm 16:0d4776564733 1896
gallonm 7:2dc81120c917 1897
gallonm 7:2dc81120c917 1898 //Update signal rate limits depending on crosstalk
gallonm 7:2dc81120c917 1899 SignalRateDMax = (uint32_t)_GetDMaxDataRetSignalAt400mm(dev) + XTalkCompRate_KCps;
gallonm 7:2dc81120c917 1900 WrapAroundLowReturnRateLimit = WrapAroundLowReturnRateLimit_ROM + XTalkCompRate_KCps;
gallonm 7:2dc81120c917 1901 WrapAroundLowReturnRateLimit2 = ((WrapAroundLowReturnRateLimit2_ROM * SignalRateDMax) / 312) + XTalkCompRate_KCps;
gallonm 7:2dc81120c917 1902 WrapAroundLowReturnRateFilterLimit = ((WrapAroundLowReturnRateFilterLimit_ROM * SignalRateDMax) / 312) + XTalkCompRate_KCps;
gallonm 7:2dc81120c917 1903 WrapAroundHighReturnRateFilterLimit = ((WrapAroundHighReturnRateFilterLimit_ROM * SignalRateDMax) / 312) + XTalkCompRate_KCps;
gallonm 16:0d4776564733 1904
gallonm 16:0d4776564733 1905
gallonm 7:2dc81120c917 1906 /* Checks on low range data */
gallonm 7:2dc81120c917 1907 if ((m_rawRange_mm < WrapAroundLowRawRangeLimit) && (m_rtnSignalRate < WrapAroundLowReturnRateLimit)) {
gallonm 7:2dc81120c917 1908 m_newTrueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 1909 bypassFilter = 1;
gallonm 7:2dc81120c917 1910 }
gallonm 7:2dc81120c917 1911 if ((m_rawRange_mm < WrapAroundLowRawRangeLimit2) && (m_rtnSignalRate < WrapAroundLowReturnRateLimit2)) {
gallonm 7:2dc81120c917 1912 m_newTrueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 1913 bypassFilter = 1;
gallonm 7:2dc81120c917 1914 }
gallonm 16:0d4776564733 1915
gallonm 7:2dc81120c917 1916 /* Checks on Ambient rate level */
gallonm 7:2dc81120c917 1917 if (m_rtnAmbientRate > WrapAroundMaximumAmbientRateFilterLimit) {
gallonm 7:2dc81120c917 1918 /* Too high ambient rate */
gallonm 7:2dc81120c917 1919 FlushFilter = 1;
gallonm 7:2dc81120c917 1920 bypassFilter = 1;
gallonm 7:2dc81120c917 1921 }
gallonm 7:2dc81120c917 1922 /* Checks on Filter flush */
gallonm 7:2dc81120c917 1923 if (m_rtnSignalRate < MinReturnRateFilterFlush) {
gallonm 7:2dc81120c917 1924 /* Completely lost target, so flush the filter */
gallonm 7:2dc81120c917 1925 FlushFilter = 1;
gallonm 7:2dc81120c917 1926 bypassFilter = 1;
gallonm 7:2dc81120c917 1927 }
gallonm 7:2dc81120c917 1928 if (_FilterData(LastReturnRates)[0] != 0) {
gallonm 7:2dc81120c917 1929 if (m_rtnSignalRate > _FilterData(LastReturnRates)[0])
gallonm 7:2dc81120c917 1930 RateChange = (100 * (m_rtnSignalRate - _FilterData(LastReturnRates)[0])) / _FilterData(LastReturnRates)[0];
gallonm 7:2dc81120c917 1931 else
gallonm 7:2dc81120c917 1932 RateChange = (100 * (_FilterData(LastReturnRates)[0] - m_rtnSignalRate)) / _FilterData(LastReturnRates)[0];
gallonm 7:2dc81120c917 1933 } else
gallonm 7:2dc81120c917 1934 RateChange = 0;
gallonm 7:2dc81120c917 1935 if (RateChange > MaxReturnRateChangeFilterFlush) {
gallonm 7:2dc81120c917 1936 FlushFilter = 1;
gallonm 7:2dc81120c917 1937 }
gallonm 7:2dc81120c917 1938 /* TODO optimize filter using circular buffer */
gallonm 7:2dc81120c917 1939 if (FlushFilter == 1) {
gallonm 7:2dc81120c917 1940 _FilterData(MeasurementIndex) = 0;
gallonm 7:2dc81120c917 1941 for (i = 0; i < FILTER_NBOF_SAMPLES; i++) {
gallonm 7:2dc81120c917 1942 _FilterData(LastTrueRange)[i] = FILTER_INVALID_DISTANCE;
gallonm 7:2dc81120c917 1943 _FilterData(LastReturnRates)[i] = 0;
gallonm 7:2dc81120c917 1944 }
gallonm 7:2dc81120c917 1945 } else {
gallonm 7:2dc81120c917 1946 for (i = (uint16_t) (FILTER_NBOF_SAMPLES - 1); i > 0; i--) {
gallonm 7:2dc81120c917 1947 _FilterData(LastTrueRange)[i] = _FilterData(LastTrueRange)[i - 1];
gallonm 7:2dc81120c917 1948 _FilterData(LastReturnRates)[i] = _FilterData(LastReturnRates)[i - 1];
gallonm 7:2dc81120c917 1949 }
gallonm 7:2dc81120c917 1950 }
gallonm 7:2dc81120c917 1951 if (ValidDistance == 1)
gallonm 7:2dc81120c917 1952 _FilterData(LastTrueRange)[0] = m_trueRange_mm;
gallonm 7:2dc81120c917 1953 else
gallonm 7:2dc81120c917 1954 _FilterData(LastTrueRange)[0] = FILTER_INVALID_DISTANCE;
gallonm 7:2dc81120c917 1955 _FilterData(LastReturnRates)[0] = m_rtnSignalRate;
gallonm 16:0d4776564733 1956
gallonm 7:2dc81120c917 1957 /* Check if we need to go through the filter or not */
gallonm 7:2dc81120c917 1958 if (!(((m_rawRange_mm < WrapAroundHighRawRangeFilterLimit) && (m_rtnSignalRate < WrapAroundLowReturnRateFilterLimit)) || ((m_rawRange_mm >= WrapAroundHighRawRangeFilterLimit) && (m_rtnSignalRate < WrapAroundHighReturnRateFilterLimit))))
gallonm 7:2dc81120c917 1959 bypassFilter = 1;
gallonm 16:0d4776564733 1960
gallonm 7:2dc81120c917 1961 /* Check which kind of measurement has been made */
gallonm 7:2dc81120c917 1962 status = VL6180x_RdByte(dev, 0x01AC, &u8 );
gallonm 7:2dc81120c917 1963 if( status ){
gallonm 7:2dc81120c917 1964 VL6180x_ErrLog("0x01AC rd fail");
gallonm 7:2dc81120c917 1965 goto done_err;
gallonm 7:2dc81120c917 1966 }
gallonm 7:2dc81120c917 1967 registerValue =u8;
gallonm 16:0d4776564733 1968
gallonm 7:2dc81120c917 1969 /* Read data for filtering */
gallonm 7:2dc81120c917 1970 status = VL6180x_RdByte(dev, 0x10C, &u8 ); /* read only 8 lsb bits */
gallonm 7:2dc81120c917 1971 if( status ){
gallonm 7:2dc81120c917 1972 VL6180x_ErrLog("0x010C rd fail");
gallonm 7:2dc81120c917 1973 goto done_err;
gallonm 7:2dc81120c917 1974 }
gallonm 7:2dc81120c917 1975 register32BitsValue1=u8;
gallonm 7:2dc81120c917 1976 status = VL6180x_RdByte(dev, 0x0110, &u8); /* read only 8 lsb bits */
gallonm 7:2dc81120c917 1977 if( status ){
gallonm 7:2dc81120c917 1978 VL6180x_ErrLog("0x0110 rd fail");
gallonm 7:2dc81120c917 1979 goto done_err;
gallonm 7:2dc81120c917 1980 }
gallonm 7:2dc81120c917 1981 register32BitsValue2 = u8;
gallonm 16:0d4776564733 1982
gallonm 7:2dc81120c917 1983 if (registerValue == 0x3E) {
gallonm 7:2dc81120c917 1984 _FilterData(Default_ZeroVal) = register32BitsValue1;
gallonm 7:2dc81120c917 1985 _FilterData(Default_VAVGVal) = register32BitsValue2;
gallonm 7:2dc81120c917 1986 } else {
gallonm 7:2dc81120c917 1987 _FilterData(NoDelay_ZeroVal) = register32BitsValue1;
gallonm 7:2dc81120c917 1988 _FilterData(NoDelay_VAVGVal) = register32BitsValue2;
gallonm 7:2dc81120c917 1989 }
gallonm 16:0d4776564733 1990
gallonm 7:2dc81120c917 1991 if (bypassFilter == 1) {
gallonm 7:2dc81120c917 1992 /* Do not go through the filter */
gallonm 7:2dc81120c917 1993 if (registerValue != 0x3E) {
gallonm 7:2dc81120c917 1994 status = VL6180x_WrByte(dev, 0x1AC, 0x3E);
gallonm 7:2dc81120c917 1995 if( status ){
gallonm 7:2dc81120c917 1996 VL6180x_ErrLog("0x01AC bypass wr fail");
gallonm 7:2dc81120c917 1997 goto done_err;
gallonm 7:2dc81120c917 1998 }
gallonm 7:2dc81120c917 1999 status = VL6180x_WrByte(dev, 0x0F2, 0x01);
gallonm 7:2dc81120c917 2000 if( status ){
gallonm 7:2dc81120c917 2001 VL6180x_ErrLog("0x0F2 bypass wr fail");
gallonm 7:2dc81120c917 2002 goto done_err;
gallonm 7:2dc81120c917 2003 }
gallonm 7:2dc81120c917 2004 }
gallonm 7:2dc81120c917 2005 /* Set both Default and NoDelay To same value */
gallonm 7:2dc81120c917 2006 _FilterData(Default_ZeroVal) = register32BitsValue1;
gallonm 7:2dc81120c917 2007 _FilterData(Default_VAVGVal) = register32BitsValue2;
gallonm 7:2dc81120c917 2008 _FilterData(NoDelay_ZeroVal) = register32BitsValue1;
gallonm 7:2dc81120c917 2009 _FilterData(NoDelay_VAVGVal) = register32BitsValue2;
gallonm 7:2dc81120c917 2010 _FilterData(MeasurementIndex) = 0;
gallonm 16:0d4776564733 2011
gallonm 7:2dc81120c917 2012 return m_newTrueRange_mm;
gallonm 7:2dc81120c917 2013 }
gallonm 16:0d4776564733 2014
gallonm 7:2dc81120c917 2015 if (_FilterData(MeasurementIndex) % WrapAroundNoDelayCheckPeriod == 0) {
gallonm 7:2dc81120c917 2016 u8=0x3C;
gallonm 16:0d4776564733 2017 u8_2 = 0x05;
gallonm 7:2dc81120c917 2018 } else {
gallonm 7:2dc81120c917 2019 u8=0x3E;
gallonm 7:2dc81120c917 2020 u8_2 = 0x01;
gallonm 7:2dc81120c917 2021 }
gallonm 7:2dc81120c917 2022 status = VL6180x_WrByte(dev, 0x01AC, u8);
gallonm 7:2dc81120c917 2023 if( status ){
gallonm 7:2dc81120c917 2024 VL6180x_ErrLog("0x01AC wr fail");
gallonm 7:2dc81120c917 2025 goto done_err;
gallonm 7:2dc81120c917 2026 }
gallonm 7:2dc81120c917 2027 status = VL6180x_WrByte(dev, 0x0F2, u8_2);
gallonm 7:2dc81120c917 2028 if( status ){
gallonm 7:2dc81120c917 2029 VL6180x_ErrLog("0x0F2 wr fail");
gallonm 7:2dc81120c917 2030 goto done_err;
gallonm 7:2dc81120c917 2031 }
gallonm 16:0d4776564733 2032
gallonm 16:0d4776564733 2033
gallonm 7:2dc81120c917 2034 _FilterData(MeasurementIndex)++;
gallonm 16:0d4776564733 2035
gallonm 7:2dc81120c917 2036 /* Computes current VAVGDiff */
gallonm 7:2dc81120c917 2037 if (_FilterData(Default_VAVGVal) > _FilterData(NoDelay_VAVGVal))
gallonm 7:2dc81120c917 2038 VAVGDiff = _FilterData(Default_VAVGVal) - _FilterData(NoDelay_VAVGVal);
gallonm 7:2dc81120c917 2039 else
gallonm 7:2dc81120c917 2040 VAVGDiff = 0;
gallonm 7:2dc81120c917 2041 _FilterData(Previous_VAVGDiff) = VAVGDiff;
gallonm 16:0d4776564733 2042
gallonm 7:2dc81120c917 2043 /* Check the VAVGDiff */
gallonm 7:2dc81120c917 2044 if (_FilterData(Default_ZeroVal) > _FilterData(NoDelay_ZeroVal))
gallonm 7:2dc81120c917 2045 IdealVAVGDiff = _FilterData(Default_ZeroVal) - _FilterData(NoDelay_ZeroVal);
gallonm 7:2dc81120c917 2046 else
gallonm 7:2dc81120c917 2047 IdealVAVGDiff = _FilterData(NoDelay_ZeroVal) - _FilterData(Default_ZeroVal);
gallonm 7:2dc81120c917 2048 if (IdealVAVGDiff > MAX_VAVGDiff)
gallonm 7:2dc81120c917 2049 MinVAVGDiff = IdealVAVGDiff - MAX_VAVGDiff;
gallonm 7:2dc81120c917 2050 else
gallonm 7:2dc81120c917 2051 MinVAVGDiff = 0;
gallonm 7:2dc81120c917 2052 MaxVAVGDiff = IdealVAVGDiff + MAX_VAVGDiff;
gallonm 7:2dc81120c917 2053 if (VAVGDiff < MinVAVGDiff || VAVGDiff > MaxVAVGDiff) {
gallonm 7:2dc81120c917 2054 WrapAroundFlag = 1;
gallonm 7:2dc81120c917 2055 } else {
gallonm 7:2dc81120c917 2056 /* Go through filtering check */
gallonm 16:0d4776564733 2057
gallonm 7:2dc81120c917 2058 /* StdDevLimit Damper on SNR */
gallonm 7:2dc81120c917 2059 StdDevLimit = _filter_StdDevDamper(m_rtnAmbientRate, m_rtnSignalRate, StdDevLimitLowLight, StdDevLimitLowLightSNR, StdDevLimitHighLight, StdDevLimitHighLightSNR);
gallonm 16:0d4776564733 2060
gallonm 7:2dc81120c917 2061 /* Standard deviations computations */
gallonm 7:2dc81120c917 2062 StdDevSamples = 0;
gallonm 7:2dc81120c917 2063 StdDevDistanceSum = 0;
gallonm 7:2dc81120c917 2064 StdDevDistanceMean = 0;
gallonm 7:2dc81120c917 2065 StdDevDistance = 0;
gallonm 7:2dc81120c917 2066 StdDevRateSum = 0;
gallonm 7:2dc81120c917 2067 StdDevRateMean = 0;
gallonm 7:2dc81120c917 2068 StdDevRate = 0;
gallonm 7:2dc81120c917 2069 for (i = 0; (i < FILTER_NBOF_SAMPLES) && (StdDevSamples < FILTER_STDDEV_SAMPLES); i++) {
gallonm 7:2dc81120c917 2070 if (_FilterData(LastTrueRange)[i] != FILTER_INVALID_DISTANCE) {
gallonm 7:2dc81120c917 2071 StdDevSamples = (uint16_t) (StdDevSamples + 1);
gallonm 7:2dc81120c917 2072 StdDevDistanceSum = (uint32_t) (StdDevDistanceSum + _FilterData(LastTrueRange)[i]);
gallonm 7:2dc81120c917 2073 StdDevRateSum = (uint32_t) (StdDevRateSum + _FilterData(LastReturnRates)[i]);
gallonm 7:2dc81120c917 2074 }
gallonm 7:2dc81120c917 2075 }
gallonm 7:2dc81120c917 2076 if (StdDevSamples > 0) {
gallonm 7:2dc81120c917 2077 StdDevDistanceMean = (uint32_t) (StdDevDistanceSum / StdDevSamples);
gallonm 7:2dc81120c917 2078 StdDevRateMean = (uint32_t) (StdDevRateSum / StdDevSamples);
gallonm 7:2dc81120c917 2079 }
gallonm 7:2dc81120c917 2080 /* TODO optimize shorten Std dev in aisngle loop computation using sum of x2 - (sum of x)2 */
gallonm 7:2dc81120c917 2081 StdDevSamples = 0;
gallonm 7:2dc81120c917 2082 StdDevDistanceSum = 0;
gallonm 7:2dc81120c917 2083 StdDevRateSum = 0;
gallonm 7:2dc81120c917 2084 for (i = 0; (i < FILTER_NBOF_SAMPLES) && (StdDevSamples < FILTER_STDDEV_SAMPLES); i++) {
gallonm 7:2dc81120c917 2085 if (_FilterData(LastTrueRange)[i] != FILTER_INVALID_DISTANCE) {
gallonm 7:2dc81120c917 2086 StdDevSamples = (uint16_t) (StdDevSamples + 1);
gallonm 7:2dc81120c917 2087 StdDevDistanceSum = (uint32_t) (StdDevDistanceSum + (int) (_FilterData(LastTrueRange)[i] - StdDevDistanceMean) * (int) (_FilterData(LastTrueRange)[i] - StdDevDistanceMean));
gallonm 7:2dc81120c917 2088 StdDevRateSum = (uint32_t) (StdDevRateSum + (int) (_FilterData(LastReturnRates)[i] - StdDevRateMean) * (int) (_FilterData(LastReturnRates)[i] - StdDevRateMean));
gallonm 7:2dc81120c917 2089 }
gallonm 7:2dc81120c917 2090 }
gallonm 7:2dc81120c917 2091 if (StdDevSamples >= MIN_FILTER_STDDEV_SAMPLES) {
gallonm 7:2dc81120c917 2092 StdDevDistance = (uint16_t) (StdDevDistanceSum / StdDevSamples);
gallonm 7:2dc81120c917 2093 StdDevRate = (uint16_t) (StdDevRateSum / StdDevSamples);
gallonm 7:2dc81120c917 2094 } else {
gallonm 7:2dc81120c917 2095 StdDevDistance = 0;
gallonm 7:2dc81120c917 2096 StdDevRate = 0;
gallonm 7:2dc81120c917 2097 }
gallonm 16:0d4776564733 2098
gallonm 7:2dc81120c917 2099 /* Check Return rate standard deviation */
gallonm 7:2dc81120c917 2100 if (StdDevRate < StdDevMovingTargetStdDevLimit) {
gallonm 7:2dc81120c917 2101 if (StdDevSamples < MIN_FILTER_VALID_STDDEV_SAMPLES) {
gallonm 7:2dc81120c917 2102 m_newTrueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 2103 } else {
gallonm 7:2dc81120c917 2104 /* Check distance standard deviation */
gallonm 7:2dc81120c917 2105 if (StdDevRate < StdDevMovingTargetReturnRateLimit)
gallonm 7:2dc81120c917 2106 StdDevLimitWithTargetMove = StdDevLimit + (((StdDevMovingTargetStdDevForReturnRateLimit - StdDevLimit) * StdDevRate) / StdDevMovingTargetReturnRateLimit);
gallonm 7:2dc81120c917 2107 else
gallonm 7:2dc81120c917 2108 StdDevLimitWithTargetMove = StdDevMovingTargetStdDevForReturnRateLimit;
gallonm 16:0d4776564733 2109
gallonm 7:2dc81120c917 2110 if ((StdDevDistance * StdDevHighConfidenceSNRLimit) < StdDevLimitWithTargetMove) {
gallonm 7:2dc81120c917 2111 NoWrapAroundHighConfidenceFlag = 1;
gallonm 7:2dc81120c917 2112 } else {
gallonm 7:2dc81120c917 2113 if (StdDevDistance < StdDevLimitWithTargetMove) {
gallonm 7:2dc81120c917 2114 if (StdDevSamples >= MIN_FILTER_VALID_STDDEV_SAMPLES) {
gallonm 7:2dc81120c917 2115 NoWrapAroundFlag = 1;
gallonm 7:2dc81120c917 2116 } else {
gallonm 7:2dc81120c917 2117 m_newTrueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 2118 }
gallonm 7:2dc81120c917 2119 } else {
gallonm 7:2dc81120c917 2120 WrapAroundFlag = 1;
gallonm 7:2dc81120c917 2121 }
gallonm 7:2dc81120c917 2122 }
gallonm 7:2dc81120c917 2123 }
gallonm 7:2dc81120c917 2124 } else {
gallonm 7:2dc81120c917 2125 WrapAroundFlag = 1;
gallonm 7:2dc81120c917 2126 }
gallonm 7:2dc81120c917 2127 }
gallonm 16:0d4776564733 2128
gallonm 7:2dc81120c917 2129 if (m_newTrueRange_mm == MaxOrInvalidDistance) {
gallonm 7:2dc81120c917 2130 if (_FilterData(StdFilteredReads) > 0)
gallonm 7:2dc81120c917 2131 _FilterData(StdFilteredReads) = (uint16_t) (_FilterData(StdFilteredReads) - 1);
gallonm 7:2dc81120c917 2132 } else {
gallonm 7:2dc81120c917 2133 if (WrapAroundFlag == 1) {
gallonm 7:2dc81120c917 2134 m_newTrueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 2135 _FilterData(StdFilteredReads) = (uint16_t) (_FilterData(StdFilteredReads) + StdFilteredReadsIncrement);
gallonm 7:2dc81120c917 2136 if (_FilterData(StdFilteredReads) > StdMaxFilteredReads)
gallonm 7:2dc81120c917 2137 _FilterData(StdFilteredReads) = StdMaxFilteredReads;
gallonm 7:2dc81120c917 2138 } else {
gallonm 7:2dc81120c917 2139 if (NoWrapAroundFlag == 1) {
gallonm 7:2dc81120c917 2140 if (_FilterData(StdFilteredReads) > 0) {
gallonm 7:2dc81120c917 2141 m_newTrueRange_mm = MaxOrInvalidDistance;
gallonm 7:2dc81120c917 2142 if (_FilterData(StdFilteredReads) > StdFilteredReadsIncrement)
gallonm 7:2dc81120c917 2143 _FilterData(StdFilteredReads) = (uint16_t) (_FilterData(StdFilteredReads) - StdFilteredReadsIncrement);
gallonm 7:2dc81120c917 2144 else
gallonm 7:2dc81120c917 2145 _FilterData(StdFilteredReads) = 0;
gallonm 7:2dc81120c917 2146 }
gallonm 7:2dc81120c917 2147 } else {
gallonm 7:2dc81120c917 2148 if (NoWrapAroundHighConfidenceFlag == 1) {
gallonm 7:2dc81120c917 2149 _FilterData(StdFilteredReads) = 0;
gallonm 7:2dc81120c917 2150 }
gallonm 7:2dc81120c917 2151 }
gallonm 7:2dc81120c917 2152 }
gallonm 7:2dc81120c917 2153 }
gallonm 16:0d4776564733 2154
gallonm 7:2dc81120c917 2155 return m_newTrueRange_mm;
gallonm 7:2dc81120c917 2156 done_err:
gallonm 7:2dc81120c917 2157 return -1;
gallonm 16:0d4776564733 2158
gallonm 7:2dc81120c917 2159 #undef MaxOrInvalidDistance
gallonm 7:2dc81120c917 2160 }
gallonm 16:0d4776564733 2161
gallonm 16:0d4776564733 2162
gallonm 7:2dc81120c917 2163 int VL6180X::_filter_GetResult(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData) {
gallonm 7:2dc81120c917 2164 uint32_t m_rawRange_mm = 0;
gallonm 7:2dc81120c917 2165 int32_t FilteredRange;
gallonm 7:2dc81120c917 2166 const uint8_t scaler = _GetUpscale(dev);
gallonm 7:2dc81120c917 2167 uint8_t u8;
gallonm 7:2dc81120c917 2168 int status;
gallonm 16:0d4776564733 2169
gallonm 7:2dc81120c917 2170 do {
gallonm 7:2dc81120c917 2171 status = VL6180x_RdByte(dev, RESULT_RANGE_RAW, &u8);
gallonm 7:2dc81120c917 2172 if (status) {
gallonm 7:2dc81120c917 2173 VL6180x_ErrLog("RESULT_RANGE_RAW rd fail");
gallonm 7:2dc81120c917 2174 break;
gallonm 7:2dc81120c917 2175 }
gallonm 7:2dc81120c917 2176 m_rawRange_mm = u8;
gallonm 16:0d4776564733 2177
gallonm 7:2dc81120c917 2178 FilteredRange = _filter_Start(dev, pRangeData->range_mm, (m_rawRange_mm * scaler), pRangeData->rtnRate, pRangeData->rtnAmbRate, pRangeData->errorStatus);
gallonm 7:2dc81120c917 2179 if( FilteredRange<0 ){
gallonm 7:2dc81120c917 2180 status = -1;
gallonm 7:2dc81120c917 2181 break;
gallonm 7:2dc81120c917 2182 }
gallonm 7:2dc81120c917 2183 pRangeData->FilteredData.range_mm= FilteredRange;
gallonm 7:2dc81120c917 2184 pRangeData->FilteredData.rawRange_mm = m_rawRange_mm * scaler;
gallonm 7:2dc81120c917 2185 } while (0);
gallonm 7:2dc81120c917 2186 return status;
gallonm 7:2dc81120c917 2187 }
gallonm 16:0d4776564733 2188
gallonm 7:2dc81120c917 2189 #undef _FilterData
gallonm 7:2dc81120c917 2190 #undef FILTER_STDDEV_SAMPLES
gallonm 7:2dc81120c917 2191 #undef MIN_FILTER_STDDEV_SAMPLES
gallonm 7:2dc81120c917 2192 #undef MIN_FILTER_VALID_STDDEV_SAMPLES
gallonm 7:2dc81120c917 2193 #undef FILTER_INVALID_DISTANCE
gallonm 16:0d4776564733 2194
gallonm 7:2dc81120c917 2195 #endif /* VL6180x_WRAP_AROUND_FILTER_SUPPORT */
gallonm 16:0d4776564733 2196
gallonm 7:2dc81120c917 2197 #ifdef VL6180x_HAVE_RATE_DATA
gallonm 16:0d4776564733 2198
gallonm 7:2dc81120c917 2199 int VL6180X::_GetRateResult(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData) {
gallonm 7:2dc81120c917 2200 uint32_t m_rtnConvTime = 0;
gallonm 7:2dc81120c917 2201 uint32_t m_rtnSignalRate = 0;
gallonm 7:2dc81120c917 2202 uint32_t m_rtnAmbientRate = 0;
gallonm 7:2dc81120c917 2203 uint32_t m_rtnSignalCount = 0;
gallonm 7:2dc81120c917 2204 uint32_t m_rtnAmbientCount = 0;
gallonm 7:2dc81120c917 2205 uint32_t m_refConvTime = 0;
gallonm 7:2dc81120c917 2206 uint32_t cRtnSignalCountMax = 0x7FFFFFFF;
gallonm 7:2dc81120c917 2207 uint32_t cDllPeriods = 6;
gallonm 7:2dc81120c917 2208 uint32_t calcConvTime = 0;
gallonm 16:0d4776564733 2209
gallonm 7:2dc81120c917 2210 int status;
gallonm 16:0d4776564733 2211
gallonm 7:2dc81120c917 2212 do {
gallonm 16:0d4776564733 2213
gallonm 7:2dc81120c917 2214 status = VL6180x_RdDWord(dev, RESULT_RANGE_RETURN_SIGNAL_COUNT, &m_rtnSignalCount);
gallonm 7:2dc81120c917 2215 if (status) {
gallonm 7:2dc81120c917 2216 VL6180x_ErrLog("RESULT_RANGE_RETURN_SIGNAL_COUNT rd fail");
gallonm 7:2dc81120c917 2217 break;
gallonm 7:2dc81120c917 2218 }
gallonm 7:2dc81120c917 2219 if (m_rtnSignalCount > cRtnSignalCountMax) {
gallonm 7:2dc81120c917 2220 m_rtnSignalCount = 0;
gallonm 7:2dc81120c917 2221 }
gallonm 16:0d4776564733 2222
gallonm 7:2dc81120c917 2223 status = VL6180x_RdDWord(dev, RESULT_RANGE_RETURN_AMB_COUNT, &m_rtnAmbientCount);
gallonm 7:2dc81120c917 2224 if (status) {
gallonm 7:2dc81120c917 2225 VL6180x_ErrLog("RESULT_RANGE_RETURN_AMB_COUNTrd fail");
gallonm 7:2dc81120c917 2226 break;
gallonm 7:2dc81120c917 2227 }
gallonm 16:0d4776564733 2228
gallonm 16:0d4776564733 2229
gallonm 7:2dc81120c917 2230 status = VL6180x_RdDWord(dev, RESULT_RANGE_RETURN_CONV_TIME, &m_rtnConvTime);
gallonm 7:2dc81120c917 2231 if (status) {
gallonm 7:2dc81120c917 2232 VL6180x_ErrLog("RESULT_RANGE_RETURN_CONV_TIME rd fail");
gallonm 7:2dc81120c917 2233 break;
gallonm 7:2dc81120c917 2234 }
gallonm 16:0d4776564733 2235
gallonm 7:2dc81120c917 2236 status = VL6180x_RdDWord(dev, RESULT_RANGE_REFERENCE_CONV_TIME, &m_refConvTime);
gallonm 7:2dc81120c917 2237 if (status) {
gallonm 7:2dc81120c917 2238 VL6180x_ErrLog("RESULT_RANGE_REFERENCE_CONV_TIME rd fail");
gallonm 7:2dc81120c917 2239 break;
gallonm 7:2dc81120c917 2240 }
gallonm 16:0d4776564733 2241
gallonm 7:2dc81120c917 2242 pRangeData->rtnConvTime = m_rtnConvTime;
gallonm 7:2dc81120c917 2243 pRangeData->refConvTime = m_refConvTime;
gallonm 16:0d4776564733 2244
gallonm 7:2dc81120c917 2245 calcConvTime = m_refConvTime;
gallonm 7:2dc81120c917 2246 if (m_rtnConvTime > m_refConvTime) {
gallonm 7:2dc81120c917 2247 calcConvTime = m_rtnConvTime;
gallonm 7:2dc81120c917 2248 }
gallonm 7:2dc81120c917 2249 if (calcConvTime == 0)
gallonm 7:2dc81120c917 2250 calcConvTime = 63000;
gallonm 16:0d4776564733 2251
gallonm 7:2dc81120c917 2252 m_rtnSignalRate = (m_rtnSignalCount * 1000) / calcConvTime;
gallonm 7:2dc81120c917 2253 m_rtnAmbientRate = (m_rtnAmbientCount * cDllPeriods * 1000) / calcConvTime;
gallonm 16:0d4776564733 2254
gallonm 7:2dc81120c917 2255 pRangeData->rtnRate = m_rtnSignalRate;
gallonm 7:2dc81120c917 2256 pRangeData->rtnAmbRate = m_rtnAmbientRate;
gallonm 16:0d4776564733 2257
gallonm 16:0d4776564733 2258
gallonm 7:2dc81120c917 2259 } while (0);
gallonm 7:2dc81120c917 2260 return status;
gallonm 7:2dc81120c917 2261 }
gallonm 7:2dc81120c917 2262 #endif /* VL6180x_HAVE_RATE_DATA */
gallonm 16:0d4776564733 2263
gallonm 16:0d4776564733 2264
gallonm 7:2dc81120c917 2265 int VL6180X::VL6180x_DMaxSetState(VL6180xDev_t dev, int state){
gallonm 7:2dc81120c917 2266 int status;
gallonm 7:2dc81120c917 2267 LOG_FUNCTION_START("%d", state);
gallonm 7:2dc81120c917 2268 #if VL6180x_HAVE_DMAX_RANGING
gallonm 7:2dc81120c917 2269 VL6180xDevDataSet(dev,DMaxEnable, state);
gallonm 7:2dc81120c917 2270 if( state ){
gallonm 7:2dc81120c917 2271 status = _DMax_InitData(dev);
gallonm 7:2dc81120c917 2272 }
gallonm 7:2dc81120c917 2273 else {
gallonm 7:2dc81120c917 2274 status = 0;
gallonm 7:2dc81120c917 2275 }
gallonm 7:2dc81120c917 2276 #else
gallonm 7:2dc81120c917 2277 status = NOT_SUPPORTED;
gallonm 7:2dc81120c917 2278 #endif
gallonm 7:2dc81120c917 2279 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 2280 return status;
gallonm 7:2dc81120c917 2281 }
gallonm 16:0d4776564733 2282
gallonm 7:2dc81120c917 2283 int VL6180X::VL6180x_DMaxGetState(VL6180xDev_t dev){
gallonm 7:2dc81120c917 2284 int status;
gallonm 7:2dc81120c917 2285 LOG_FUNCTION_START("");
gallonm 7:2dc81120c917 2286 #if VL6180x_HAVE_DMAX_RANGING
gallonm 7:2dc81120c917 2287 status = VL6180xDevDataGet(dev,DMaxEnable);
gallonm 7:2dc81120c917 2288 #else
gallonm 7:2dc81120c917 2289 status = 0;
gallonm 7:2dc81120c917 2290 #endif
gallonm 7:2dc81120c917 2291 LOG_FUNCTION_END(status);
gallonm 7:2dc81120c917 2292 return status;
gallonm 7:2dc81120c917 2293 }
gallonm 16:0d4776564733 2294
gallonm 16:0d4776564733 2295
gallonm 7:2dc81120c917 2296 #if VL6180x_HAVE_DMAX_RANGING
gallonm 16:0d4776564733 2297
gallonm 4:a5abf7757947 2298 #define _DMaxData(field) VL6180xDevDataGet(dev, DMaxData.field)
gallonm 7:2dc81120c917 2299 /*
gallonm 7:2dc81120c917 2300 * Convert fix point x.7 to KCpount per sec
gallonm 7:2dc81120c917 2301 */
gallonm 16:0d4776564733 2302
gallonm 4:a5abf7757947 2303 #ifndef VL6180x_PLATFORM_PROVIDE_SQRT
gallonm 16:0d4776564733 2304
gallonm 7:2dc81120c917 2305 /*
gallonm 7:2dc81120c917 2306 * 32 bit integer square root with not so bad precision (integer result) and is quite fast
gallonm 7:2dc81120c917 2307 * see http://en.wikipedia.org/wiki/Methods_of_computing_square_roots
gallonm 7:2dc81120c917 2308 */
gallonm 7:2dc81120c917 2309 uint32_t VL6180x_SqrtUint32(uint32_t num) {
gallonm 4:a5abf7757947 2310 uint32_t res = 0;
gallonm 4:a5abf7757947 2311 uint32_t bit = 1 << 30; /* The second-to-top bit is set: 1 << 30 for 32 bits */
gallonm 16:0d4776564733 2312
gallonm 4:a5abf7757947 2313 /* "bit" starts at the highest power of four <= the argument. */
gallonm 4:a5abf7757947 2314 while (bit > num)
gallonm 4:a5abf7757947 2315 bit >>= 2;
gallonm 16:0d4776564733 2316
gallonm 4:a5abf7757947 2317 while (bit != 0) {
gallonm 4:a5abf7757947 2318 if (num >= res + bit) {
gallonm 4:a5abf7757947 2319 num -= res + bit;
gallonm 4:a5abf7757947 2320 res = (res >> 1) + bit;
gallonm 4:a5abf7757947 2321 }
gallonm 4:a5abf7757947 2322 else
gallonm 4:a5abf7757947 2323 res >>= 1;
gallonm 4:a5abf7757947 2324 bit >>= 2;
gallonm 1:1de1ea2994d9 2325 }
gallonm 4:a5abf7757947 2326 return res;
gallonm 4:a5abf7757947 2327 }
gallonm 4:a5abf7757947 2328 #endif
gallonm 16:0d4776564733 2329
gallonm 16:0d4776564733 2330
gallonm 7:2dc81120c917 2331 /* DMax one time init */
gallonm 7:2dc81120c917 2332 void _DMax_OneTimeInit(VL6180xDev_t dev){
gallonm 4:a5abf7757947 2333 _DMaxData(ambTuningWindowFactor_K)=DEF_AMBIENT_TUNING;
gallonm 1:1de1ea2994d9 2334 }
gallonm 16:0d4776564733 2335
gallonm 16:0d4776564733 2336
gallonm 7:2dc81120c917 2337 static uint32_t _DMax_RawValueAtRateKCps(VL6180xDev_t dev, int32_t rate){
gallonm 4:a5abf7757947 2338 uint32_t snrLimit_K;
gallonm 4:a5abf7757947 2339 int32_t DMaxSq;
gallonm 4:a5abf7757947 2340 uint32_t RawDMax;
gallonm 4:a5abf7757947 2341 DMaxFix_t retSignalAt400mm;
gallonm 4:a5abf7757947 2342 uint32_t ambTuningWindowFactor_K;
gallonm 16:0d4776564733 2343
gallonm 16:0d4776564733 2344
gallonm 4:a5abf7757947 2345 ambTuningWindowFactor_K = _DMaxData(ambTuningWindowFactor_K);
gallonm 4:a5abf7757947 2346 snrLimit_K = _DMaxData(snrLimit_K);
gallonm 4:a5abf7757947 2347 retSignalAt400mm = _DMaxData(retSignalAt400mm); /* 12 to 18 bits Kcps */
gallonm 4:a5abf7757947 2348 if( rate > 0 ){
gallonm 4:a5abf7757947 2349 DMaxSq = 400*400*1000 / rate -(400*400/330); /* K of (1/RtnAmb -1/330 )=> 30bit- (12-18)bit => 12-18 bits*/
gallonm 4:a5abf7757947 2350 if( DMaxSq<= 0){
gallonm 4:a5abf7757947 2351 RawDMax = 0;
gallonm 4:a5abf7757947 2352 }
gallonm 4:a5abf7757947 2353 else{
gallonm 4:a5abf7757947 2354 /* value can be more 32 bit so base on raneg apply *retSignalAt400mm before or after division to presevr accuracy */
gallonm 4:a5abf7757947 2355 if( DMaxSq< (2<<12) ){
gallonm 4:a5abf7757947 2356 DMaxSq = DMaxSq*retSignalAt400mm/(snrLimit_K+ambTuningWindowFactor_K); /* max 12 + 12 to 18 -10 => 12-26 bit */
gallonm 4:a5abf7757947 2357 }else{
gallonm 4:a5abf7757947 2358 DMaxSq = DMaxSq/(snrLimit_K+ambTuningWindowFactor_K)*retSignalAt400mm; /* 12 to 18 -10 + 12 to 18 *=> 12-26 bit */
gallonm 4:a5abf7757947 2359 }
gallonm 4:a5abf7757947 2360 RawDMax=VL6180x_SqrtUint32(DMaxSq);
gallonm 4:a5abf7757947 2361 }
gallonm 4:a5abf7757947 2362 }
gallonm 4:a5abf7757947 2363 else{
gallonm 4:a5abf7757947 2364 RawDMax = 0x7FFFFFFF; /* bigest possibmle 32bit signed value */
gallonm 4:a5abf7757947 2365 }
gallonm 4:a5abf7757947 2366 return RawDMax;
gallonm 4:a5abf7757947 2367 }
gallonm 16:0d4776564733 2368
gallonm 7:2dc81120c917 2369 /*
gallonm 7:2dc81120c917 2370 * fetch static data from register to avoid re-read
gallonm 7:2dc81120c917 2371 * precompute all intermediate constant and cliipings
gallonm 7:2dc81120c917 2372 *
gallonm 7:2dc81120c917 2373 * to be re-used/call on changes of :
gallonm 7:2dc81120c917 2374 * 0x2A
gallonm 7:2dc81120c917 2375 * SYSRANGE_MAX_AMBIENT_LEVEL_MULT
gallonm 7:2dc81120c917 2376 * Dev Data XtalkComRate_KCPs
gallonm 7:2dc81120c917 2377 * SYSRANGE_MAX_CONVERGENCE_TIME
gallonm 7:2dc81120c917 2378 * SYSRANGE_RANGE_CHECK_ENABLES mask RANGE_CHECK_RANGE_ENABLE_MASK
gallonm 7:2dc81120c917 2379 * range 0xb8-0xbb (0xbb)
gallonm 7:2dc81120c917 2380 */
gallonm 7:2dc81120c917 2381 int VL6180X::_DMax_InitData(VL6180xDev_t dev){
gallonm 3:454541a079f4 2382 int status, warning;
gallonm 3:454541a079f4 2383 uint8_t u8;
gallonm 3:454541a079f4 2384 uint16_t u16;
gallonm 3:454541a079f4 2385 uint32_t u32;
gallonm 3:454541a079f4 2386 uint32_t Reg2A_KCps;
gallonm 3:454541a079f4 2387 uint32_t RegB8;
gallonm 3:454541a079f4 2388 uint8_t MaxConvTime;
gallonm 3:454541a079f4 2389 uint32_t XTalkCompRate_KCps;
gallonm 3:454541a079f4 2390 uint32_t RangeIgnoreThreshold;
gallonm 3:454541a079f4 2391 int32_t minSignalNeeded;
gallonm 3:454541a079f4 2392 uint8_t SysRangeCheckEn;
gallonm 3:454541a079f4 2393 uint8_t snrLimit;
gallonm 3:454541a079f4 2394 warning=0;
gallonm 16:0d4776564733 2395
gallonm 3:454541a079f4 2396 static const int ROMABLE_DATA MaxConvTimeAdjust=-4;
gallonm 16:0d4776564733 2397
gallonm 3:454541a079f4 2398 LOG_FUNCTION_START("");
gallonm 3:454541a079f4 2399 do{
gallonm 7:2dc81120c917 2400 status = VL6180x_RdByte(dev, 0x02A ,&u8);
gallonm 3:454541a079f4 2401 if( status ){
gallonm 3:454541a079f4 2402 VL6180x_ErrLog("Reg 0x02A rd fail");
gallonm 3:454541a079f4 2403 break;
gallonm 3:454541a079f4 2404 }
gallonm 16:0d4776564733 2405
gallonm 3:454541a079f4 2406 if( u8 == 0 ) {
gallonm 3:454541a079f4 2407 warning = CALIBRATION_WARNING;
gallonm 3:454541a079f4 2408 u8 = 40; /* use a default average value */
gallonm 3:454541a079f4 2409 }
gallonm 3:454541a079f4 2410 Reg2A_KCps = Fix7_2_KCPs(u8); /* convert to KCPs */
gallonm 16:0d4776564733 2411
gallonm 7:2dc81120c917 2412 status = VL6180x_RdByte(dev, SYSRANGE_RANGE_CHECK_ENABLES, &SysRangeCheckEn);
gallonm 3:454541a079f4 2413 if (status) {
gallonm 3:454541a079f4 2414 VL6180x_ErrLog("SYSRANGE_RANGE_CHECK_ENABLES rd fail ");
gallonm 3:454541a079f4 2415 break;
gallonm 3:454541a079f4 2416 }
gallonm 16:0d4776564733 2417
gallonm 7:2dc81120c917 2418 status = VL6180x_RdByte(dev, SYSRANGE_MAX_CONVERGENCE_TIME, &MaxConvTime);
gallonm 3:454541a079f4 2419 if( status){
gallonm 3:454541a079f4 2420 VL6180x_ErrLog("SYSRANGE_MAX_CONVERGENCE_TIME rd fail ");
gallonm 3:454541a079f4 2421 break;
gallonm 3:454541a079f4 2422 }
gallonm 16:0d4776564733 2423
gallonm 7:2dc81120c917 2424 status = VL6180x_RdDWord(dev, 0x0B8, &RegB8);
gallonm 3:454541a079f4 2425 if( status ){
gallonm 3:454541a079f4 2426 VL6180x_ErrLog("reg 0x0B8 rd fail ");
gallonm 3:454541a079f4 2427 break;
gallonm 3:454541a079f4 2428 }
gallonm 16:0d4776564733 2429
gallonm 7:2dc81120c917 2430 status = VL6180x_RdByte(dev, SYSRANGE_MAX_AMBIENT_LEVEL_MULT, &snrLimit);
gallonm 3:454541a079f4 2431 if( status){
gallonm 3:454541a079f4 2432 VL6180x_ErrLog("SYSRANGE_MAX_AMBIENT_LEVEL_MULT rd fail ");
gallonm 3:454541a079f4 2433 break;
gallonm 3:454541a079f4 2434 }
gallonm 3:454541a079f4 2435 _DMaxData(snrLimit_K) = (int32_t)16*1000/snrLimit;
gallonm 3:454541a079f4 2436 XTalkCompRate_KCps = VL6180xDevDataGet(dev, XTalkCompRate_KCps );
gallonm 16:0d4776564733 2437
gallonm 3:454541a079f4 2438 if( Reg2A_KCps >= XTalkCompRate_KCps){
gallonm 3:454541a079f4 2439 _DMaxData(retSignalAt400mm)=( Reg2A_KCps - XTalkCompRate_KCps);
gallonm 3:454541a079f4 2440 }
gallonm 3:454541a079f4 2441 else{
gallonm 3:454541a079f4 2442 _DMaxData(retSignalAt400mm)=0; /* Reg2A_K - XTalkCompRate_KCp <0 is invalid */
gallonm 3:454541a079f4 2443 }
gallonm 16:0d4776564733 2444
gallonm 3:454541a079f4 2445 /* if xtalk range check is off omit it in snr clipping */
gallonm 3:454541a079f4 2446 if( SysRangeCheckEn&RANGE_CHECK_RANGE_ENABLE_MASK ){
gallonm 7:2dc81120c917 2447 status = VL6180x_RdWord(dev, SYSRANGE_RANGE_IGNORE_THRESHOLD, &u16);
gallonm 3:454541a079f4 2448 if( status){
gallonm 3:454541a079f4 2449 VL6180x_ErrLog("SYSRANGE_RANGE_IGNORE_THRESHOLD rd fail ");
gallonm 3:454541a079f4 2450 break;
gallonm 3:454541a079f4 2451 }
gallonm 3:454541a079f4 2452 RangeIgnoreThreshold = Fix7_2_KCPs(u16);
gallonm 3:454541a079f4 2453 }
gallonm 3:454541a079f4 2454 else{
gallonm 3:454541a079f4 2455 RangeIgnoreThreshold = 0;
gallonm 3:454541a079f4 2456 }
gallonm 16:0d4776564733 2457
gallonm 3:454541a079f4 2458 minSignalNeeded = (RegB8*256)/((int32_t)MaxConvTime+(int32_t)MaxConvTimeAdjust); /* KCps 8+8 bit -(1 to 6 bit) => 15-10 bit */
gallonm 3:454541a079f4 2459 /* minSignalNeeded = max ( minSignalNeeded, RangeIgnoreThreshold - XTalkCompRate_KCps) */
gallonm 3:454541a079f4 2460 if( minSignalNeeded <= RangeIgnoreThreshold - XTalkCompRate_KCps )
gallonm 3:454541a079f4 2461 minSignalNeeded = RangeIgnoreThreshold - XTalkCompRate_KCps;
gallonm 16:0d4776564733 2462
gallonm 3:454541a079f4 2463 u32 = (minSignalNeeded*(uint32_t)snrLimit)/16;
gallonm 3:454541a079f4 2464 _DMaxData(ClipSnrLimit ) = _DMax_RawValueAtRateKCps(dev, u32 ); /* clip to dmax to min signal snr limit rate*/
gallonm 3:454541a079f4 2465 }
gallonm 3:454541a079f4 2466 while(0);
gallonm 3:454541a079f4 2467 if( !status )
gallonm 3:454541a079f4 2468 status = warning;
gallonm 3:454541a079f4 2469 LOG_FUNCTION_END(status);
gallonm 3:454541a079f4 2470 return status;
gallonm 1:1de1ea2994d9 2471 }
gallonm 16:0d4776564733 2472
gallonm 7:2dc81120c917 2473 static int _DMax_Compute(VL6180xDev_t dev, VL6180x_RangeData_t *pRange){
gallonm 7:2dc81120c917 2474 uint32_t rtnAmbRate;
gallonm 7:2dc81120c917 2475 int32_t DMax;
gallonm 7:2dc81120c917 2476 int scaling;
gallonm 7:2dc81120c917 2477 uint16_t HwLimitAtScale;
gallonm 7:2dc81120c917 2478 static const int ROMABLE_DATA rtnAmbLowLimit_KCps=330*1000;
gallonm 16:0d4776564733 2479
gallonm 7:2dc81120c917 2480 rtnAmbRate = pRange->rtnAmbRate;
gallonm 7:2dc81120c917 2481 if( rtnAmbRate < rtnAmbLowLimit_KCps ){
gallonm 7:2dc81120c917 2482 DMax = _DMax_RawValueAtRateKCps( dev, rtnAmbRate);
gallonm 7:2dc81120c917 2483 scaling = _GetUpscale(dev);
gallonm 7:2dc81120c917 2484 HwLimitAtScale=UpperLimitLookUP[scaling - 1];
gallonm 16:0d4776564733 2485
gallonm 7:2dc81120c917 2486 if( DMax > _DMaxData(ClipSnrLimit) ){
gallonm 7:2dc81120c917 2487 DMax=_DMaxData(ClipSnrLimit);
gallonm 7:2dc81120c917 2488 }
gallonm 7:2dc81120c917 2489 if( DMax > HwLimitAtScale ){
gallonm 7:2dc81120c917 2490 DMax=HwLimitAtScale;
gallonm 7:2dc81120c917 2491 }
gallonm 7:2dc81120c917 2492 pRange->DMax=DMax;
gallonm 7:2dc81120c917 2493 }
gallonm 7:2dc81120c917 2494 else{
gallonm 7:2dc81120c917 2495 pRange->DMax = 0;
gallonm 7:2dc81120c917 2496 }
gallonm 7:2dc81120c917 2497 return 0;
gallonm 7:2dc81120c917 2498 }
gallonm 16:0d4776564733 2499
gallonm 7:2dc81120c917 2500 #undef _DMaxData
gallonm 3:454541a079f4 2501 #undef Fix7_2_KCPs
gallonm 16:0d4776564733 2502
gallonm 7:2dc81120c917 2503 #endif /* VL6180x_HAVE_DMAX_RANGING */
gallonm 16:0d4776564733 2504
gallonm 16:0d4776564733 2505
gallonm 7:2dc81120c917 2506 /******************************************************************************/
gallonm 7:2dc81120c917 2507 /******************************************************************************/
gallonm 16:0d4776564733 2508
gallonm 16:0d4776564733 2509
gallonm 16:0d4776564733 2510
gallonm 7:2dc81120c917 2511 /****************** Write and read functions from I2C *************************/
gallonm 16:0d4776564733 2512
gallonm 4:a5abf7757947 2513 int VL6180X::VL6180x_WrByte(VL6180xDev_t dev, uint16_t index, uint8_t data)
gallonm 4:a5abf7757947 2514 {
gallonm 16:0d4776564733 2515 int status;
gallonm 16:0d4776564733 2516
gallonm 16:0d4776564733 2517 status=VL6180x_I2CWrite(Device->I2cAddr, index, &data,(uint8_t)1);
gallonm 16:0d4776564733 2518 return status;
gallonm 4:a5abf7757947 2519 }
gallonm 16:0d4776564733 2520
gallonm 4:a5abf7757947 2521 int VL6180X::VL6180x_WrWord(VL6180xDev_t dev, uint16_t index, uint16_t data)
gallonm 4:a5abf7757947 2522 {
gallonm 16:0d4776564733 2523 int status;
gallonm 16:0d4776564733 2524
gallonm 16:0d4776564733 2525 status=VL6180x_I2CWrite(Device->I2cAddr, index, (uint8_t *)&data,(uint8_t)2);
gallonm 16:0d4776564733 2526 return status;
gallonm 4:a5abf7757947 2527 }
gallonm 16:0d4776564733 2528
gallonm 4:a5abf7757947 2529 int VL6180X::VL6180x_WrDWord(VL6180xDev_t dev, uint16_t index, uint32_t data)
gallonm 4:a5abf7757947 2530 {
gallonm 16:0d4776564733 2531 int status;
gallonm 16:0d4776564733 2532
gallonm 16:0d4776564733 2533 status=VL6180x_I2CWrite(Device->I2cAddr, index, (uint8_t *)&data,(uint8_t)4);
gallonm 16:0d4776564733 2534 return status;
gallonm 4:a5abf7757947 2535 }
gallonm 16:0d4776564733 2536
gallonm 4:a5abf7757947 2537 int VL6180X::VL6180x_RdByte(VL6180xDev_t dev, uint16_t index, uint8_t *data)
gallonm 4:a5abf7757947 2538 {
gallonm 16:0d4776564733 2539 int status;
gallonm 16:0d4776564733 2540
gallonm 16:0d4776564733 2541 uint8_t buffer;
gallonm 16:0d4776564733 2542 status=VL6180x_I2CRead(Device->I2cAddr, index, &buffer,1);
gallonm 16:0d4776564733 2543 if(!status)
gallonm 16:0d4776564733 2544 {
gallonm 16:0d4776564733 2545 *data=buffer;
gallonm 16:0d4776564733 2546 }
gallonm 16:0d4776564733 2547 return status;
gallonm 4:a5abf7757947 2548 }
gallonm 16:0d4776564733 2549
gallonm 4:a5abf7757947 2550 int VL6180X::VL6180x_RdWord(VL6180xDev_t dev, uint16_t index, uint16_t *data)
gallonm 4:a5abf7757947 2551 {
gallonm 16:0d4776564733 2552 int status;
gallonm 16:0d4776564733 2553
gallonm 16:0d4776564733 2554 uint8_t buffer[2];
gallonm 16:0d4776564733 2555 status=VL6180x_I2CRead(Device->I2cAddr, index, buffer, 2);
gallonm 16:0d4776564733 2556 if(!status)
gallonm 16:0d4776564733 2557 {
gallonm 16:0d4776564733 2558 memcpy(data, buffer, 2);
gallonm 16:0d4776564733 2559 }
gallonm 16:0d4776564733 2560 return status;
gallonm 4:a5abf7757947 2561 }
gallonm 16:0d4776564733 2562
gallonm 4:a5abf7757947 2563 int VL6180X::VL6180x_RdDWord(VL6180xDev_t dev, uint16_t index, uint32_t *data)
gallonm 4:a5abf7757947 2564 {
gallonm 16:0d4776564733 2565 int status;
gallonm 16:0d4776564733 2566 uint8_t buffer[4];
gallonm 16:0d4776564733 2567 status=VL6180x_I2CRead(Device->I2cAddr, index, buffer,4);
gallonm 16:0d4776564733 2568 if(!status)
gallonm 16:0d4776564733 2569 {
gallonm 16:0d4776564733 2570 memcpy(data, buffer, 4);
gallonm 16:0d4776564733 2571 }
gallonm 16:0d4776564733 2572 return status;
gallonm 4:a5abf7757947 2573 }
gallonm 16:0d4776564733 2574
licio.mapelli@st.com 8:f943a1fca15f 2575 int VL6180X::VL6180x_UpdateByte(VL6180xDev_t dev, uint16_t index, uint8_t AndData, uint8_t OrData)
licio.mapelli@st.com 8:f943a1fca15f 2576 {
gallonm 16:0d4776564733 2577 int status;
gallonm 16:0d4776564733 2578 uint8_t buffer;
gallonm 16:0d4776564733 2579
gallonm 16:0d4776564733 2580 status=VL6180x_I2CWrite(Device->I2cAddr, index, (uint8_t *)buffer,(uint8_t)0);
gallonm 16:0d4776564733 2581 if(!status)
gallonm 16:0d4776564733 2582 {
gallonm 16:0d4776564733 2583 /* read data direct onto buffer */
gallonm 16:0d4776564733 2584 status=VL6180x_I2CRead(Device->I2cAddr, index, &buffer,1);
gallonm 16:0d4776564733 2585 if(!status)
gallonm 16:0d4776564733 2586 {
gallonm 16:0d4776564733 2587 buffer=(buffer & AndData)|OrData;
gallonm 16:0d4776564733 2588 status=VL6180x_I2CWrite(Device->I2cAddr, index, &buffer, (uint8_t)1);
gallonm 16:0d4776564733 2589 }
gallonm 16:0d4776564733 2590 }
gallonm 16:0d4776564733 2591 return status;
gallonm 7:2dc81120c917 2592 }
gallonm 16:0d4776564733 2593
gallonm 4:a5abf7757947 2594 int VL6180X::VL6180x_I2CWrite(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t* pBuffer, uint16_t NumByteToWrite)
gallonm 4:a5abf7757947 2595 {
gallonm 16:0d4776564733 2596 int ret;
gallonm 16:0d4776564733 2597 int i;
gallonm 16:0d4776564733 2598 uint8_t tmp[TEMP_BUF_SIZE];
gallonm 16:0d4776564733 2599 uint16_t myRegisterAddr = RegisterAddr;
gallonm 16:0d4776564733 2600 uint16_t WriteDeviceAddr=0;
gallonm 16:0d4776564733 2601
gallonm 16:0d4776564733 2602 /* First, prepare 8 bits device address in 7bits i2ci format */
gallonm 16:0d4776564733 2603 WriteDeviceAddr=DeviceAddr*2;
gallonm 16:0d4776564733 2604 if(NumByteToWrite >= TEMP_BUF_SIZE) return -2;
gallonm 4:a5abf7757947 2605
gallonm 16:0d4776564733 2606 /* then prepare 16 bits register address in BE format. Then, send data and STOP condition */
gallonm 16:0d4776564733 2607 tmp[0] = *(((uint8_t*)&myRegisterAddr)+1);
gallonm 16:0d4776564733 2608 tmp[1] = (uint8_t)RegisterAddr;
gallonm 4:a5abf7757947 2609
gallonm 16:0d4776564733 2610 if(NumByteToWrite>1) /* swap data endianess */
gallonm 16:0d4776564733 2611 {
gallonm 16:0d4776564733 2612 for(i=0;i<NumByteToWrite;i++)
gallonm 16:0d4776564733 2613 {
gallonm 16:0d4776564733 2614 tmp[NumByteToWrite+sizeof(RegisterAddr)-1-i]=pBuffer[i];
gallonm 16:0d4776564733 2615 }
gallonm 16:0d4776564733 2616 }
gallonm 16:0d4776564733 2617 else
gallonm 16:0d4776564733 2618 {
gallonm 16:0d4776564733 2619 memcpy(tmp+sizeof(RegisterAddr), pBuffer, NumByteToWrite);
gallonm 16:0d4776564733 2620 }
gallonm 16:0d4776564733 2621 ret = dev_i2c.write(WriteDeviceAddr, (const char*)tmp, NumByteToWrite+sizeof(RegisterAddr), false);
gallonm 16:0d4776564733 2622
gallonm 16:0d4776564733 2623 if(ret)
gallonm 16:0d4776564733 2624 return -1;
gallonm 16:0d4776564733 2625 return 0;
gallonm 4:a5abf7757947 2626 }
gallonm 16:0d4776564733 2627
gallonm 4:a5abf7757947 2628 int VL6180X::VL6180x_I2CRead(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t* pBuffer, uint16_t NumByteToRead)
gallonm 4:a5abf7757947 2629 {
gallonm 16:0d4776564733 2630 int ret,i;
gallonm 16:0d4776564733 2631 uint8_t tmp[TEMP_BUF_SIZE];
gallonm 16:0d4776564733 2632 uint16_t myRegisterAddr = RegisterAddr;
gallonm 16:0d4776564733 2633 uint16_t myRegisterAddrBE;
gallonm 16:0d4776564733 2634 uint16_t ReadDeviceAddr=DeviceAddr;
gallonm 7:2dc81120c917 2635
gallonm 16:0d4776564733 2636 ReadDeviceAddr=DeviceAddr*2;
gallonm 16:0d4776564733 2637 myRegisterAddrBE = *(((uint8_t*)&myRegisterAddr)+1);
gallonm 16:0d4776564733 2638 *(((uint8_t*)&myRegisterAddrBE)+1) = (uint8_t)myRegisterAddr;
gallonm 4:a5abf7757947 2639
gallonm 16:0d4776564733 2640 /* Send 8 bits device address and 16 bits register address in BE format, with no STOP condition */
gallonm 16:0d4776564733 2641 ret = dev_i2c.write(ReadDeviceAddr, (const char*)&myRegisterAddrBE, sizeof(RegisterAddr), true);
gallonm 16:0d4776564733 2642 if(!ret)
gallonm 16:0d4776564733 2643 {
gallonm 16:0d4776564733 2644 ReadDeviceAddr|=0x001;
gallonm 16:0d4776564733 2645 /* Read data, with STOP condition */
gallonm 16:0d4776564733 2646 ret = dev_i2c.read(ReadDeviceAddr, (char*)tmp, NumByteToRead, false);
gallonm 16:0d4776564733 2647 }
gallonm 16:0d4776564733 2648 if(ret)
gallonm 16:0d4776564733 2649 return -1;
gallonm 16:0d4776564733 2650
gallonm 16:0d4776564733 2651 if(NumByteToRead>1) /* swap data endianess */
gallonm 16:0d4776564733 2652 {
gallonm 16:0d4776564733 2653 for(i=0;i<NumByteToRead;i++)
gallonm 16:0d4776564733 2654 {
gallonm 16:0d4776564733 2655 pBuffer[i] = tmp[NumByteToRead-1-i];
gallonm 16:0d4776564733 2656 }
gallonm 16:0d4776564733 2657 }
gallonm 16:0d4776564733 2658 else
gallonm 16:0d4776564733 2659 {
gallonm 16:0d4776564733 2660 memcpy(pBuffer, tmp, NumByteToRead);
gallonm 16:0d4776564733 2661 }
gallonm 16:0d4776564733 2662 return 0;
gallonm 4:a5abf7757947 2663 }
gallonm 16:0d4776564733 2664
gallonm 16:0d4776564733 2665
gallonm 10:4954b09b72d8 2666 int VL6180X::ReadID()
gallonm 4:a5abf7757947 2667 {
gallonm 16:0d4776564733 2668 int status;
gallonm 16:0d4776564733 2669 uint8_t rl_id=0;
gallonm 16:0d4776564733 2670
gallonm 16:0d4776564733 2671 status=VL6180x_RdByte(Device, IDENTIFICATION_MODEL_ID, &rl_id);
gallonm 16:0d4776564733 2672 if((status==0)&&(rl_id==0xB4))
gallonm 16:0d4776564733 2673 return status;
gallonm 16:0d4776564733 2674 else
gallonm 16:0d4776564733 2675 return INVALID_PARAMS;
gallonm 4:a5abf7757947 2676 }
gallonm 16:0d4776564733 2677
gallonm 16:0d4776564733 2678
gallonm 12:71d589e6fd2c 2679 int VL6180X::InitSensor(uint8_t NewAddr) //FIXME printf da sostituire con VL6180x_ErrLog e poi specificare il contenuto di questa funzione
gallonm 12:71d589e6fd2c 2680 {
gallonm 14:0effa0bbf192 2681 int status;
gallonm 16:0d4776564733 2682
gallonm 12:71d589e6fd2c 2683 VL6180x_Off();
gallonm 12:71d589e6fd2c 2684 VL6180x_On();
gallonm 16:0d4776564733 2685 /*status=VL6180x_WaitDeviceBooted(Device);
gallonm 16:0d4776564733 2686 if(status)
gallonm 16:0d4776564733 2687 printf("WaitDeviceBooted fail\n\r");*/
gallonm 12:71d589e6fd2c 2688 status=IsPresent();
gallonm 12:71d589e6fd2c 2689 if(!status)
gallonm 12:71d589e6fd2c 2690 {
gallonm 16:0d4776564733 2691 Device->Present=1;
gallonm 16:0d4776564733 2692 status=Init();
gallonm 16:0d4776564733 2693 if(status)
gallonm 16:0d4776564733 2694 {
gallonm 16:0d4776564733 2695 printf("Failed to init VL6180X sensor!\n\r");
gallonm 16:0d4776564733 2696 return status;
gallonm 16:0d4776564733 2697 }
gallonm 16:0d4776564733 2698 status=Prepare();
gallonm 16:0d4776564733 2699 if(status)
gallonm 16:0d4776564733 2700 {
gallonm 16:0d4776564733 2701 printf("Failed to prepare VL6180X!\n\r");
gallonm 16:0d4776564733 2702 return status;
gallonm 16:0d4776564733 2703 }
gallonm 16:0d4776564733 2704 if(NewAddr!=DEFAULT_DEVICE_ADDRESS)
gallonm 16:0d4776564733 2705 {
gallonm 16:0d4776564733 2706 status=SetI2CAddress(NewAddr);
gallonm 16:0d4776564733 2707 if(status)
gallonm 16:0d4776564733 2708 {
gallonm 16:0d4776564733 2709 printf("Failed to change I2C address!\n\r");
gallonm 16:0d4776564733 2710 return status;
gallonm 16:0d4776564733 2711 }
gallonm 16:0d4776564733 2712 }
gallonm 16:0d4776564733 2713 else
gallonm 16:0d4776564733 2714 {
gallonm 16:0d4776564733 2715 printf("Invalid new address!\n\r");
gallonm 16:0d4776564733 2716 return INVALID_PARAMS;
gallonm 16:0d4776564733 2717 }
gallonm 16:0d4776564733 2718 Device->Ready=1;
gallonm 16:0d4776564733 2719 }
gallonm 16:0d4776564733 2720 VL6180x_RangeSetMaxConvergenceTime(Device,10); //FIXME temporaneo, capire se devo fissare questi valori di default oppure impostarli solo quando faccio la hand gesture
gallonm 16:0d4776564733 2721 VL6180x_RangeSetInterMeasPeriod(Device,10); //FIXME
gallonm 16:0d4776564733 2722 return status;
gallonm 12:71d589e6fd2c 2723 }
gallonm 16:0d4776564733 2724
gallonm 16:0d4776564733 2725
gallonm 14:0effa0bbf192 2726 int VL6180X::StartMeasurement(OperatingMode operating_mode, void (*fptr)(void), MeasureData_t *Data, uint16_t low, uint16_t high)
gallonm 12:71d589e6fd2c 2727 {
gallonm 14:0effa0bbf192 2728 int status, r_status, l_status;
gallonm 16:0d4776564733 2729
gallonm 12:71d589e6fd2c 2730 switch(operating_mode)
gallonm 12:71d589e6fd2c 2731 {
gallonm 16:0d4776564733 2732 case(range_single_shot_polling):
gallonm 16:0d4776564733 2733 r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
gallonm 16:0d4776564733 2734 l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2735 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2736 return RangeMeasPollSingleShot(Data);
gallonm 16:0d4776564733 2737 else
gallonm 16:0d4776564733 2738 return (r_status|l_status);
gallonm 16:0d4776564733 2739
gallonm 14:0effa0bbf192 2740 case(als_single_shot_polling):
gallonm 16:0d4776564733 2741 r_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
gallonm 16:0d4776564733 2742 l_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2743 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2744 return AlsMeasPollSingleShot(Data);
gallonm 16:0d4776564733 2745 else
gallonm 16:0d4776564733 2746 return (r_status|l_status);
gallonm 16:0d4776564733 2747
gallonm 16:0d4776564733 2748 case(range_continuous_polling):
gallonm 16:0d4776564733 2749 r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
gallonm 16:0d4776564733 2750 l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2751 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2752 return RangeMeasPollContinuousMode();
gallonm 16:0d4776564733 2753 else
gallonm 16:0d4776564733 2754 return (r_status|l_status);
gallonm 16:0d4776564733 2755
gallonm 16:0d4776564733 2756 case(als_continuous_polling):
gallonm 16:0d4776564733 2757 r_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
gallonm 16:0d4776564733 2758 l_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2759 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2760 return AlsMeasPollContinuousMode();
gallonm 16:0d4776564733 2761 else
gallonm 16:0d4776564733 2762 return (r_status|l_status);
gallonm 16:0d4776564733 2763
gallonm 14:0effa0bbf192 2764 case(range_continuous_interrupt):
gallonm 16:0d4776564733 2765 r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
gallonm 16:0d4776564733 2766 l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2767 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2768 return RangeMeasIntContinuousMode(fptr);
gallonm 16:0d4776564733 2769 else
gallonm 16:0d4776564733 2770 return (r_status|l_status);
gallonm 16:0d4776564733 2771
gallonm 16:0d4776564733 2772 case(als_continuous_interrupt):
gallonm 16:0d4776564733 2773 l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
gallonm 16:0d4776564733 2774 r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2775 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2776 return AlsMeasIntContinuousMode(fptr);
gallonm 16:0d4776564733 2777 else
gallonm 16:0d4776564733 2778 return (r_status|l_status);
gallonm 16:0d4776564733 2779
gallonm 16:0d4776564733 2780 case(interleaved_mode_interrupt):
gallonm 16:0d4776564733 2781 l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
gallonm 16:0d4776564733 2782 r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2783 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2784 return InterleavedMode(fptr);
gallonm 16:0d4776564733 2785 else
gallonm 16:0d4776564733 2786 return (r_status|l_status);
gallonm 16:0d4776564733 2787
gallonm 14:0effa0bbf192 2788 case(range_continuous_polling_low_threshold):
gallonm 16:0d4776564733 2789 r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_LOW);
gallonm 16:0d4776564733 2790 l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2791 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2792 {
gallonm 14:0effa0bbf192 2793 status=RangeSetLowThreshold(low);
gallonm 16:0d4776564733 2794 if(!status)
gallonm 16:0d4776564733 2795 return RangeMeasPollContinuousMode();
gallonm 16:0d4776564733 2796 else
gallonm 16:0d4776564733 2797 return status;
gallonm 16:0d4776564733 2798 }
gallonm 14:0effa0bbf192 2799 else
gallonm 14:0effa0bbf192 2800 return (r_status|l_status);
gallonm 14:0effa0bbf192 2801
gallonm 16:0d4776564733 2802 case(range_continuous_polling_high_threshold):
gallonm 14:0effa0bbf192 2803 status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_HIGH);
gallonm 16:0d4776564733 2804 status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2805 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2806 {
gallonm 14:0effa0bbf192 2807 status=RangeSetHighThreshold(high);
gallonm 16:0d4776564733 2808 if(!status)
gallonm 16:0d4776564733 2809 return RangeMeasPollContinuousMode();
gallonm 16:0d4776564733 2810 else
gallonm 16:0d4776564733 2811 return status;
gallonm 16:0d4776564733 2812 }
gallonm 14:0effa0bbf192 2813 else
gallonm 14:0effa0bbf192 2814 return (r_status|l_status);
gallonm 16:0d4776564733 2815
gallonm 16:0d4776564733 2816 case(range_continuous_polling_out_of_window):
gallonm 16:0d4776564733 2817 status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW);
gallonm 16:0d4776564733 2818 status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2819 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2820 {
gallonm 14:0effa0bbf192 2821 status=VL6180x_RangeSetThresholds(Device,low,high,1);
gallonm 16:0d4776564733 2822 if(!status)
gallonm 16:0d4776564733 2823 return RangeMeasPollContinuousMode();
gallonm 16:0d4776564733 2824 else
gallonm 16:0d4776564733 2825 return status;
gallonm 16:0d4776564733 2826 }
gallonm 14:0effa0bbf192 2827 else
gallonm 14:0effa0bbf192 2828 return (r_status|l_status);
gallonm 16:0d4776564733 2829
gallonm 14:0effa0bbf192 2830 case(als_continuous_polling_low_threshold):
gallonm 14:0effa0bbf192 2831 status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_LOW);
gallonm 16:0d4776564733 2832 status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2833 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2834 {
gallonm 14:0effa0bbf192 2835 status=AlsSetLowThreshold(low);
gallonm 16:0d4776564733 2836 if(!status)
gallonm 16:0d4776564733 2837 return AlsMeasPollContinuousMode();
gallonm 16:0d4776564733 2838 else
gallonm 16:0d4776564733 2839 return status;
gallonm 16:0d4776564733 2840 }
gallonm 14:0effa0bbf192 2841 else
gallonm 14:0effa0bbf192 2842 return (r_status|l_status);
gallonm 16:0d4776564733 2843
gallonm 16:0d4776564733 2844 case(als_continuous_polling_high_threshold):
gallonm 16:0d4776564733 2845 status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_HIGH);
gallonm 16:0d4776564733 2846 status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2847 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2848 {
gallonm 14:0effa0bbf192 2849 status=AlsSetHighThreshold(high);
gallonm 16:0d4776564733 2850 if(!status)
gallonm 16:0d4776564733 2851 return AlsMeasPollContinuousMode();
gallonm 16:0d4776564733 2852 else
gallonm 16:0d4776564733 2853 return status;
gallonm 16:0d4776564733 2854 }
gallonm 14:0effa0bbf192 2855 else
gallonm 14:0effa0bbf192 2856 return (r_status|l_status);
gallonm 16:0d4776564733 2857
gallonm 16:0d4776564733 2858 case(als_continuous_polling_out_of_window):
gallonm 16:0d4776564733 2859 status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW);
gallonm 16:0d4776564733 2860 status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2861 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2862 {
gallonm 14:0effa0bbf192 2863 status=VL6180x_AlsSetThresholds(Device,low,high);
gallonm 16:0d4776564733 2864 if(!status)
gallonm 16:0d4776564733 2865 return AlsMeasPollContinuousMode();
gallonm 16:0d4776564733 2866 else
gallonm 16:0d4776564733 2867 return status;
gallonm 16:0d4776564733 2868 }
gallonm 14:0effa0bbf192 2869 else
gallonm 14:0effa0bbf192 2870 return (r_status|l_status);
gallonm 16:0d4776564733 2871
gallonm 16:0d4776564733 2872 case(range_continuous_interrupt_low_threshold):
gallonm 16:0d4776564733 2873 status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_LOW);
gallonm 16:0d4776564733 2874 status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2875 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2876 {
gallonm 14:0effa0bbf192 2877 status=RangeSetLowThreshold(low);
gallonm 16:0d4776564733 2878 if(!status)
gallonm 16:0d4776564733 2879 return RangeMeasIntContinuousMode(fptr);
gallonm 16:0d4776564733 2880 else
gallonm 16:0d4776564733 2881 return status;
gallonm 16:0d4776564733 2882 }
gallonm 14:0effa0bbf192 2883 else
gallonm 16:0d4776564733 2884 return (r_status|l_status);
gallonm 16:0d4776564733 2885
gallonm 16:0d4776564733 2886 case(range_continuous_interrrupt_high_threshold):
gallonm 16:0d4776564733 2887 status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_HIGH);
gallonm 16:0d4776564733 2888 status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2889 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2890 {
gallonm 14:0effa0bbf192 2891 status=RangeSetHighThreshold(high);
gallonm 16:0d4776564733 2892 if(!status)
gallonm 16:0d4776564733 2893 return RangeMeasIntContinuousMode(fptr);
gallonm 16:0d4776564733 2894 else
gallonm 16:0d4776564733 2895 return status;
gallonm 16:0d4776564733 2896 }
gallonm 14:0effa0bbf192 2897 else
gallonm 14:0effa0bbf192 2898 return (r_status|l_status);
gallonm 16:0d4776564733 2899
gallonm 16:0d4776564733 2900 case(range_continuous_interrupt_out_of_window):
gallonm 16:0d4776564733 2901 status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW);
gallonm 16:0d4776564733 2902 status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2903 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2904 {
gallonm 14:0effa0bbf192 2905 status=VL6180x_RangeSetThresholds(Device,low,high,1);
gallonm 16:0d4776564733 2906 if(!status)
gallonm 16:0d4776564733 2907 return RangeMeasIntContinuousMode(fptr);
gallonm 16:0d4776564733 2908 else
gallonm 16:0d4776564733 2909 return status;
gallonm 16:0d4776564733 2910 }
gallonm 14:0effa0bbf192 2911 else
gallonm 14:0effa0bbf192 2912 return (r_status|l_status);
gallonm 16:0d4776564733 2913
gallonm 16:0d4776564733 2914 case(als_continuous_interrupt_low_threshold):
gallonm 16:0d4776564733 2915 status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_LOW);
gallonm 16:0d4776564733 2916 status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2917 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2918 {
gallonm 14:0effa0bbf192 2919 status=AlsSetLowThreshold(low);
gallonm 16:0d4776564733 2920 if(!status)
gallonm 16:0d4776564733 2921 return AlsMeasIntContinuousMode(fptr);
gallonm 16:0d4776564733 2922 else
gallonm 16:0d4776564733 2923 return status;
gallonm 16:0d4776564733 2924 }
gallonm 14:0effa0bbf192 2925 else
gallonm 16:0d4776564733 2926 return (r_status|l_status);
gallonm 16:0d4776564733 2927
gallonm 16:0d4776564733 2928 case(als_continuous_interrupt_high_threshold):
gallonm 16:0d4776564733 2929 status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_HIGH);
gallonm 16:0d4776564733 2930 status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2931 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2932 {
gallonm 14:0effa0bbf192 2933 status=AlsSetHighThreshold(high);
gallonm 16:0d4776564733 2934 if(!status)
gallonm 16:0d4776564733 2935 return AlsMeasIntContinuousMode(fptr);
gallonm 16:0d4776564733 2936 else
gallonm 16:0d4776564733 2937 return status;
gallonm 16:0d4776564733 2938 }
gallonm 14:0effa0bbf192 2939 else
gallonm 14:0effa0bbf192 2940 return (r_status|l_status);
gallonm 16:0d4776564733 2941
gallonm 16:0d4776564733 2942 case(als_continuous_interrupt_out_of_window):
gallonm 16:0d4776564733 2943 status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW);
gallonm 16:0d4776564733 2944 status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 2945 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 2946 {
gallonm 14:0effa0bbf192 2947 status=VL6180x_AlsSetThresholds(Device,low,high);
gallonm 16:0d4776564733 2948 if(!status)
gallonm 16:0d4776564733 2949 return AlsMeasIntContinuousMode(fptr);
gallonm 16:0d4776564733 2950 else
gallonm 16:0d4776564733 2951 return status;
gallonm 16:0d4776564733 2952 }
gallonm 14:0effa0bbf192 2953 else
gallonm 14:0effa0bbf192 2954 return (r_status|l_status);
gallonm 16:0d4776564733 2955
gallonm 16:0d4776564733 2956 default:
gallonm 16:0d4776564733 2957 return INVALID_PARAMS;
gallonm 16:0d4776564733 2958 }
gallonm 12:71d589e6fd2c 2959 }
gallonm 16:0d4776564733 2960
gallonm 16:0d4776564733 2961
gallonm 12:71d589e6fd2c 2962 int VL6180X::GetRangeError(MeasureData_t *Data, VL6180x_RangeData_t RangeData)
gallonm 12:71d589e6fd2c 2963 {
gallonm 16:0d4776564733 2964 Data->range_error=RangeData.errorStatus;
gallonm 16:0d4776564733 2965 if(Data->range_error!=0)
gallonm 16:0d4776564733 2966 {
gallonm 14:0effa0bbf192 2967 VL6180x_ErrLog("Range error %d",Data->range_error);
gallonm 14:0effa0bbf192 2968 return RANGE_ERROR;
gallonm 16:0d4776564733 2969 }
gallonm 16:0d4776564733 2970 return NoError_;
gallonm 12:71d589e6fd2c 2971 }
gallonm 16:0d4776564733 2972
gallonm 16:0d4776564733 2973
gallonm 12:71d589e6fd2c 2974 int VL6180X::GetAlsError(MeasureData_t *Data, VL6180x_AlsData_t AlsData)
gallonm 12:71d589e6fd2c 2975 {
gallonm 16:0d4776564733 2976 Data->als_error=AlsData.errorStatus;
gallonm 16:0d4776564733 2977 if(Data->als_error!=0)
gallonm 16:0d4776564733 2978 {
gallonm 14:0effa0bbf192 2979 VL6180x_ErrLog("Light error %d",Data->light_error);
gallonm 16:0d4776564733 2980 return API_ERROR;
gallonm 16:0d4776564733 2981 }
gallonm 16:0d4776564733 2982 return NoError_;
gallonm 12:71d589e6fd2c 2983 }
gallonm 16:0d4776564733 2984
gallonm 16:0d4776564733 2985
gallonm 12:71d589e6fd2c 2986 int VL6180X::RangeMeasPollSingleShot(MeasureData_t *Data)
gallonm 12:71d589e6fd2c 2987 {
gallonm 16:0d4776564733 2988 VL6180x_RangeData_t RangeData;
gallonm 16:0d4776564733 2989 int status;
gallonm 16:0d4776564733 2990
gallonm 16:0d4776564733 2991 status=RangePollMeasurement(&RangeData);
gallonm 16:0d4776564733 2992 if(!status)
gallonm 16:0d4776564733 2993 {
gallonm 16:0d4776564733 2994 status=GetRangeError(Data, RangeData);
gallonm 16:0d4776564733 2995 if(!status)
gallonm 16:0d4776564733 2996 Data->range_mm=RangeData.range_mm;
gallonm 16:0d4776564733 2997 else
gallonm 16:0d4776564733 2998 Data->range_mm=0xFFFFFFFF;
gallonm 16:0d4776564733 2999 }
gallonm 16:0d4776564733 3000 return status;
gallonm 16:0d4776564733 3001 }
gallonm 16:0d4776564733 3002
gallonm 16:0d4776564733 3003
gallonm 12:71d589e6fd2c 3004 int VL6180X::AlsMeasPollSingleShot(MeasureData_t *Data)
gallonm 12:71d589e6fd2c 3005 {
gallonm 16:0d4776564733 3006 VL6180x_AlsData_t AlsData;
gallonm 16:0d4776564733 3007 int status;
gallonm 16:0d4776564733 3008
gallonm 16:0d4776564733 3009 status=AlsPollMeasurement(&AlsData);
gallonm 16:0d4776564733 3010 if(!status)
gallonm 16:0d4776564733 3011 {
gallonm 16:0d4776564733 3012 status=GetAlsError(Data, AlsData);
gallonm 16:0d4776564733 3013 if(!status)
gallonm 16:0d4776564733 3014 Data->lux=AlsData.lux;
gallonm 16:0d4776564733 3015 else
gallonm 16:0d4776564733 3016 Data->lux=0xFFFFFFFF;
gallonm 16:0d4776564733 3017 }
gallonm 16:0d4776564733 3018 return status;
gallonm 12:71d589e6fd2c 3019 }
gallonm 16:0d4776564733 3020
gallonm 16:0d4776564733 3021
gallonm 14:0effa0bbf192 3022 int VL6180X::RangeMeasPollContinuousMode()
gallonm 12:71d589e6fd2c 3023 {
gallonm 12:71d589e6fd2c 3024 int status;
gallonm 16:0d4776564733 3025
gallonm 16:0d4776564733 3026 status=VL6180x_RangeClearInterrupt(Device);
gallonm 16:0d4776564733 3027 if(status)
gallonm 16:0d4776564733 3028 {
gallonm 16:0d4776564733 3029 VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
gallonm 16:0d4776564733 3030 return status;
gallonm 16:0d4776564733 3031 }
gallonm 16:0d4776564733 3032 status=VL6180x_ClearErrorInterrupt(Device);
gallonm 16:0d4776564733 3033 if(status)
gallonm 16:0d4776564733 3034 {
gallonm 16:0d4776564733 3035 VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
gallonm 16:0d4776564733 3036 return status;
gallonm 16:0d4776564733 3037 }
gallonm 16:0d4776564733 3038 return RangeStartContinuousMode();
gallonm 12:71d589e6fd2c 3039 }
gallonm 16:0d4776564733 3040
gallonm 16:0d4776564733 3041
gallonm 14:0effa0bbf192 3042 int VL6180X::AlsMeasPollContinuousMode()
gallonm 12:71d589e6fd2c 3043 {
gallonm 16:0d4776564733 3044 int status;
gallonm 16:0d4776564733 3045
gallonm 16:0d4776564733 3046 status=VL6180x_AlsClearInterrupt(Device);
gallonm 16:0d4776564733 3047 if(status)
gallonm 16:0d4776564733 3048 {
gallonm 16:0d4776564733 3049 VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
gallonm 16:0d4776564733 3050 return status;
gallonm 16:0d4776564733 3051 }
gallonm 16:0d4776564733 3052 status=VL6180x_ClearErrorInterrupt(Device);
gallonm 16:0d4776564733 3053 if(status)
gallonm 16:0d4776564733 3054 {
gallonm 16:0d4776564733 3055 VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
gallonm 16:0d4776564733 3056 return status;
gallonm 16:0d4776564733 3057 }
gallonm 16:0d4776564733 3058 return AlsStartContinuousMode();
gallonm 12:71d589e6fd2c 3059 }
gallonm 16:0d4776564733 3060
gallonm 16:0d4776564733 3061
gallonm 14:0effa0bbf192 3062 int VL6180X::AlsGetMeasurementIfReady(VL6180xDev_t dev, VL6180x_AlsData_t *pAlsData)
gallonm 12:71d589e6fd2c 3063 {
gallonm 14:0effa0bbf192 3064 int status;
gallonm 16:0d4776564733 3065 uint8_t IntStatus;
gallonm 16:0d4776564733 3066
gallonm 16:0d4776564733 3067 status=VL6180x_AlsGetInterruptStatus(dev, &IntStatus);
gallonm 16:0d4776564733 3068 if(!status)
gallonm 16:0d4776564733 3069 {
gallonm 16:0d4776564733 3070 if(IntStatus==RES_INT_STAT_GPIO_NEW_SAMPLE_READY)
gallonm 16:0d4776564733 3071 {
gallonm 16:0d4776564733 3072 status = VL6180x_AlsGetMeasurement(dev, pAlsData);
gallonm 16:0d4776564733 3073 if(!status)
gallonm 16:0d4776564733 3074 {
gallonm 16:0d4776564733 3075 status=VL6180x_AlsClearInterrupt(Device);
gallonm 14:0effa0bbf192 3076 if(status)
gallonm 14:0effa0bbf192 3077 VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
gallonm 16:0d4776564733 3078 }
gallonm 16:0d4776564733 3079 }
gallonm 16:0d4776564733 3080 else
gallonm 16:0d4776564733 3081 status=NOT_READY;
gallonm 16:0d4776564733 3082 }
gallonm 16:0d4776564733 3083 else
gallonm 16:0d4776564733 3084 VL6180x_ErrLog("Failed to get interrupt status");
gallonm 16:0d4776564733 3085 return status;
gallonm 12:71d589e6fd2c 3086 }
gallonm 16:0d4776564733 3087
gallonm 16:0d4776564733 3088
gallonm 12:71d589e6fd2c 3089 int VL6180X::RangeMeasIntContinuousMode(void (*fptr)(void))
gallonm 12:71d589e6fd2c 3090 {
gallonm 16:0d4776564733 3091 int status, ClrStatus;
gallonm 16:0d4776564733 3092
gallonm 16:0d4776564733 3093 EnableInterruptMeasureDetectionIRQ();
gallonm 16:0d4776564733 3094 AttachInterruptMeasureDetectionIRQ(fptr);
gallonm 16:0d4776564733 3095 status=SetupGPIO1(GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT, 1);
gallonm 16:0d4776564733 3096 ClrStatus=VL6180x_ClearAllInterrupt(Device);
gallonm 16:0d4776564733 3097 if(ClrStatus)
gallonm 16:0d4776564733 3098 VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
gallonm 12:71d589e6fd2c 3099 if(!status)
gallonm 16:0d4776564733 3100 status=RangeStartContinuousMode();
gallonm 16:0d4776564733 3101 return status;
gallonm 12:71d589e6fd2c 3102 }
gallonm 16:0d4776564733 3103
gallonm 16:0d4776564733 3104
gallonm 12:71d589e6fd2c 3105 int VL6180X::AlsMeasIntContinuousMode(void (*fptr)(void))
gallonm 12:71d589e6fd2c 3106 {
gallonm 14:0effa0bbf192 3107 int status, ClrStatus;
gallonm 16:0d4776564733 3108
gallonm 16:0d4776564733 3109 EnableInterruptMeasureDetectionIRQ();
gallonm 12:71d589e6fd2c 3110 AttachInterruptMeasureDetectionIRQ(fptr);
gallonm 12:71d589e6fd2c 3111 status=SetupGPIO1(GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT, 1);
gallonm 16:0d4776564733 3112 ClrStatus=VL6180x_ClearAllInterrupt(Device);
gallonm 16:0d4776564733 3113 if(ClrStatus)
gallonm 16:0d4776564733 3114 VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
gallonm 12:71d589e6fd2c 3115 if(!status)
gallonm 16:0d4776564733 3116 status=AlsStartContinuousMode();
gallonm 16:0d4776564733 3117 return status;
gallonm 16:0d4776564733 3118 }
gallonm 16:0d4776564733 3119
gallonm 16:0d4776564733 3120
gallonm 12:71d589e6fd2c 3121 int VL6180X::StartInterleavedMode()
gallonm 12:71d589e6fd2c 3122 {
gallonm 16:0d4776564733 3123 int status;
gallonm 16:0d4776564733 3124 uint16_t integration_period, intermeasurement_period_ms;
gallonm 16:0d4776564733 3125 uint8_t max_convergence_time;
gallonm 16:0d4776564733 3126 uint8_t buf;
gallonm 16:0d4776564733 3127
gallonm 12:71d589e6fd2c 3128 status=VL6180x_WrByte(Device, 0x2A3, 1);
gallonm 12:71d589e6fd2c 3129 if(status)
gallonm 12:71d589e6fd2c 3130 {
gallonm 16:0d4776564733 3131 VL6180x_ErrLog("Failed to write INTERLEAVED_MODE_ENABLE!\n\r");
gallonm 16:0d4776564733 3132 return status;
gallonm 16:0d4776564733 3133 }
gallonm 16:0d4776564733 3134 status=VL6180x_RdByte(Device, SYSRANGE_MAX_CONVERGENCE_TIME, &max_convergence_time);
gallonm 16:0d4776564733 3135 if(status)
gallonm 16:0d4776564733 3136 {
gallonm 16:0d4776564733 3137 VL6180x_ErrLog("Failed to read SYSRANGE_MAX_CONVERGENCE_TIME!\n\r");
gallonm 16:0d4776564733 3138 return status;
gallonm 16:0d4776564733 3139 }
gallonm 16:0d4776564733 3140 status=VL6180x_RdWord(Device, SYSALS_INTEGRATION_PERIOD, &integration_period);
gallonm 16:0d4776564733 3141 if(status)
gallonm 12:71d589e6fd2c 3142 {
gallonm 16:0d4776564733 3143 VL6180x_ErrLog("Failed to read SYSALS_INTEGRATION_PERIOD!\n\r");
gallonm 16:0d4776564733 3144 return status;
gallonm 16:0d4776564733 3145 }
gallonm 16:0d4776564733 3146 max_convergence_time&=0x3F;
gallonm 16:0d4776564733 3147 integration_period&=0x01FF;
gallonm 16:0d4776564733 3148 intermeasurement_period_ms=((max_convergence_time+5)+(integration_period*1.1));
gallonm 16:0d4776564733 3149 intermeasurement_period_ms=(intermeasurement_period_ms/0.9)+10;
gallonm 16:0d4776564733 3150 intermeasurement_period_ms=200;
gallonm 16:0d4776564733 3151 status=VL6180x_AlsSetInterMeasurementPeriod(Device, intermeasurement_period_ms);
gallonm 16:0d4776564733 3152 VL6180x_RdByte(Device, 0x03E, &buf);
gallonm 16:0d4776564733 3153 if(status)
gallonm 16:0d4776564733 3154 {
gallonm 16:0d4776564733 3155 VL6180x_ErrLog("Failed to write SYSALS_INTERMEASUREMENT_PERIOD!\n\r");
gallonm 16:0d4776564733 3156 return status;
gallonm 16:0d4776564733 3157 }
gallonm 16:0d4776564733 3158 return AlsStartContinuousMode();
gallonm 12:71d589e6fd2c 3159 }
gallonm 16:0d4776564733 3160
gallonm 16:0d4776564733 3161
gallonm 12:71d589e6fd2c 3162 int VL6180X::InterleavedMode(void (*fptr)(void))
gallonm 12:71d589e6fd2c 3163 {
gallonm 16:0d4776564733 3164 int status, ClrStatus;
gallonm 16:0d4776564733 3165
gallonm 16:0d4776564733 3166 EnableInterruptMeasureDetectionIRQ();
gallonm 16:0d4776564733 3167 AttachInterruptMeasureDetectionIRQ(fptr);
gallonm 16:0d4776564733 3168 status=SetupGPIO1(GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT, 1);
gallonm 16:0d4776564733 3169 ClrStatus=VL6180x_ClearAllInterrupt(Device);
gallonm 16:0d4776564733 3170 if(ClrStatus)
gallonm 16:0d4776564733 3171 VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
gallonm 16:0d4776564733 3172 if(!status)
gallonm 14:0effa0bbf192 3173 status=StartInterleavedMode();
gallonm 16:0d4776564733 3174 return status;
gallonm 14:0effa0bbf192 3175 }
gallonm 16:0d4776564733 3176
gallonm 16:0d4776564733 3177
gallonm 14:0effa0bbf192 3178 int VL6180X::HandleIRQ(OperatingMode operating_mode, MeasureData_t *Data)
gallonm 14:0effa0bbf192 3179 {
gallonm 16:0d4776564733 3180 int status;
gallonm 16:0d4776564733 3181
gallonm 16:0d4776564733 3182 EnableInterruptMeasureDetectionIRQ();
gallonm 16:0d4776564733 3183 status=GetMeasurement(operating_mode, Data);
gallonm 16:0d4776564733 3184 return status;
gallonm 12:71d589e6fd2c 3185 }
gallonm 16:0d4776564733 3186
gallonm 16:0d4776564733 3187
gallonm 14:0effa0bbf192 3188 int VL6180X::RangeSetLowThreshold(uint16_t threshold)
gallonm 14:0effa0bbf192 3189 {
gallonm 16:0d4776564733 3190 int status;
gallonm 16:0d4776564733 3191 uint16_t low, high;
gallonm 16:0d4776564733 3192
gallonm 16:0d4776564733 3193 status=VL6180x_RangeGetThresholds(Device, &low, &high);
gallonm 16:0d4776564733 3194 if(!status)
gallonm 16:0d4776564733 3195 status=VL6180x_RangeSetThresholds(Device, threshold, high, 1);
gallonm 16:0d4776564733 3196 return status;
gallonm 14:0effa0bbf192 3197 }
gallonm 16:0d4776564733 3198
gallonm 16:0d4776564733 3199
gallonm 14:0effa0bbf192 3200 int VL6180X::RangeSetHighThreshold(uint16_t threshold)
gallonm 12:71d589e6fd2c 3201 {
gallonm 16:0d4776564733 3202 int status;
gallonm 16:0d4776564733 3203 uint16_t low, high;
gallonm 16:0d4776564733 3204
gallonm 16:0d4776564733 3205 status=VL6180x_RangeGetThresholds(Device, &low, &high);
gallonm 16:0d4776564733 3206 if(!status)
gallonm 16:0d4776564733 3207 status=VL6180x_RangeSetThresholds(Device, low, threshold, 1);
gallonm 16:0d4776564733 3208 return status;
gallonm 12:71d589e6fd2c 3209 }
gallonm 16:0d4776564733 3210
gallonm 16:0d4776564733 3211
gallonm 14:0effa0bbf192 3212 int VL6180X::AlsSetLowThreshold(uint16_t threshold)
gallonm 14:0effa0bbf192 3213 {
gallonm 16:0d4776564733 3214 int status;
gallonm 16:0d4776564733 3215 uint16_t low, high;
gallonm 16:0d4776564733 3216
gallonm 16:0d4776564733 3217 status=VL6180x_AlsGetThresholds(Device, &low, &high);
gallonm 16:0d4776564733 3218 if(!status)
gallonm 16:0d4776564733 3219 status=VL6180x_AlsSetThresholds(Device, threshold, high);
gallonm 16:0d4776564733 3220 return status;
gallonm 14:0effa0bbf192 3221 }
gallonm 16:0d4776564733 3222
gallonm 16:0d4776564733 3223
gallonm 14:0effa0bbf192 3224 int VL6180X::AlsSetHighThreshold(uint16_t threshold)
gallonm 14:0effa0bbf192 3225 {
gallonm 16:0d4776564733 3226 int status;
gallonm 16:0d4776564733 3227 uint16_t low, high;
gallonm 16:0d4776564733 3228
gallonm 16:0d4776564733 3229 status=VL6180x_AlsGetThresholds(Device, &low, &high);
gallonm 16:0d4776564733 3230 if(!status)
gallonm 16:0d4776564733 3231 status=VL6180x_AlsSetThresholds(Device, low, threshold);
gallonm 16:0d4776564733 3232 return status;
gallonm 14:0effa0bbf192 3233 }
gallonm 16:0d4776564733 3234
gallonm 16:0d4776564733 3235
gallonm 16:0d4776564733 3236 int VL6180X::VL6180x_AlsGetThresholds(VL6180xDev_t dev, uint16_t *low, uint16_t *high)
gallonm 14:0effa0bbf192 3237 {
gallonm 14:0effa0bbf192 3238 int status;
gallonm 16:0d4776564733 3239
gallonm 16:0d4776564733 3240 status=VL6180x_RdWord(dev, SYSALS_THRESH_LOW, low);
gallonm 16:0d4776564733 3241 if(status)
gallonm 16:0d4776564733 3242 {
gallonm 16:0d4776564733 3243 VL6180x_ErrLog("rd SYSALS_THRESH_LOW fail");
gallonm 16:0d4776564733 3244 return status;
gallonm 16:0d4776564733 3245 }
gallonm 16:0d4776564733 3246 status=VL6180x_RdWord(dev, SYSALS_THRESH_HIGH, high);
gallonm 16:0d4776564733 3247 if(status)
gallonm 16:0d4776564733 3248 {
gallonm 16:0d4776564733 3249 VL6180x_ErrLog("rd SYSALS_THRESH_HIGH fail");
gallonm 16:0d4776564733 3250 return status;
gallonm 16:0d4776564733 3251 }
gallonm 16:0d4776564733 3252 return status;
gallonm 14:0effa0bbf192 3253 }
gallonm 16:0d4776564733 3254
gallonm 16:0d4776564733 3255
gallonm 14:0effa0bbf192 3256 int VL6180X::GetMeasurement(OperatingMode operating_mode, MeasureData_t *Data)
gallonm 14:0effa0bbf192 3257 {
gallonm 16:0d4776564733 3258 switch(operating_mode)
gallonm 16:0d4776564733 3259 {
gallonm 16:0d4776564733 3260 case(range_continuous_polling):
gallonm 16:0d4776564733 3261 case(range_continuous_interrupt):
gallonm 16:0d4776564733 3262 case(range_continuous_polling_low_threshold):
gallonm 16:0d4776564733 3263 case(range_continuous_polling_high_threshold):
gallonm 16:0d4776564733 3264 case(range_continuous_polling_out_of_window):
gallonm 16:0d4776564733 3265 case(range_continuous_interrupt_low_threshold):
gallonm 16:0d4776564733 3266 case(range_continuous_interrrupt_high_threshold):
gallonm 16:0d4776564733 3267 case(range_continuous_interrupt_out_of_window):
gallonm 16:0d4776564733 3268 return GetRangeMeas(operating_mode, Data);
gallonm 16:0d4776564733 3269
gallonm 16:0d4776564733 3270 case(als_continuous_polling):
gallonm 16:0d4776564733 3271 case(als_continuous_interrupt):
gallonm 16:0d4776564733 3272 case(als_continuous_polling_low_threshold):
gallonm 16:0d4776564733 3273 case(als_continuous_polling_high_threshold):
gallonm 16:0d4776564733 3274 case(als_continuous_polling_out_of_window):
gallonm 16:0d4776564733 3275 case(als_continuous_interrupt_low_threshold):
gallonm 16:0d4776564733 3276 case(als_continuous_interrupt_high_threshold):
gallonm 16:0d4776564733 3277 case(als_continuous_interrupt_out_of_window):
gallonm 16:0d4776564733 3278 return GetAlsMeas(operating_mode, Data);
gallonm 16:0d4776564733 3279
gallonm 16:0d4776564733 3280 case(interleaved_mode_interrupt):
gallonm 16:0d4776564733 3281 return GetRangeAlsMeas(Data);
gallonm 16:0d4776564733 3282
gallonm 16:0d4776564733 3283 default:
gallonm 16:0d4776564733 3284 return INVALID_PARAMS;
gallonm 16:0d4776564733 3285 }
gallonm 14:0effa0bbf192 3286 }
gallonm 16:0d4776564733 3287
gallonm 16:0d4776564733 3288
gallonm 14:0effa0bbf192 3289 int VL6180X::GetRangeMeas(OperatingMode operating_mode, MeasureData_t *Data)
gallonm 14:0effa0bbf192 3290 {
gallonm 14:0effa0bbf192 3291 VL6180x_RangeData_t RangeData;
gallonm 16:0d4776564733 3292 int status, ClrStatus;
gallonm 16:0d4776564733 3293 IntrStatus_t IntStatus;
gallonm 16:0d4776564733 3294
gallonm 16:0d4776564733 3295 status=VL6180x_RangeGetInterruptStatus(Device, &IntStatus.val);
gallonm 16:0d4776564733 3296 if(!status)
gallonm 16:0d4776564733 3297 {
gallonm 16:0d4776564733 3298 Data->int_error=IntStatus.status.Error;
gallonm 16:0d4776564733 3299 if(IntStatus.status.Error!=0)
gallonm 16:0d4776564733 3300 {
gallonm 14:0effa0bbf192 3301 VL6180x_ErrLog("GPIO int Error report %d",(int)IntStatus.val);
gallonm 16:0d4776564733 3302 status=RANGE_ERROR;
gallonm 14:0effa0bbf192 3303 }
gallonm 16:0d4776564733 3304 }
gallonm 16:0d4776564733 3305 else
gallonm 16:0d4776564733 3306 {
gallonm 16:0d4776564733 3307 VL6180x_ErrLog("Failed to read RESULT_INTERRUPT_STATUS_GPIO");
gallonm 16:0d4776564733 3308 }
gallonm 16:0d4776564733 3309 ClrStatus=VL6180x_RangeClearInterrupt(Device);
gallonm 16:0d4776564733 3310 if(ClrStatus)
gallonm 16:0d4776564733 3311 {
gallonm 16:0d4776564733 3312 VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
gallonm 16:0d4776564733 3313 }
gallonm 16:0d4776564733 3314 ClrStatus=VL6180x_ClearErrorInterrupt(Device);
gallonm 16:0d4776564733 3315 if(ClrStatus)
gallonm 16:0d4776564733 3316 {
gallonm 16:0d4776564733 3317 VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
gallonm 16:0d4776564733 3318 }
gallonm 16:0d4776564733 3319 if(status)
gallonm 16:0d4776564733 3320 return status;
gallonm 16:0d4776564733 3321 if((operating_mode==range_continuous_polling)||(operating_mode==range_continuous_interrupt))
gallonm 16:0d4776564733 3322 {
gallonm 16:0d4776564733 3323 if(IntStatus.status.Range==RES_INT_STAT_GPIO_NEW_SAMPLE_READY)
gallonm 16:0d4776564733 3324 status=VL6180x_RangeGetMeasurement(Device, &RangeData);
gallonm 16:0d4776564733 3325 else
gallonm 16:0d4776564733 3326 return NOT_READY;
gallonm 16:0d4776564733 3327 }
gallonm 16:0d4776564733 3328 else if((operating_mode==range_continuous_polling_low_threshold)||(operating_mode==range_continuous_interrupt_low_threshold))
gallonm 16:0d4776564733 3329 {
gallonm 16:0d4776564733 3330 if(IntStatus.status.Range==RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD)
gallonm 16:0d4776564733 3331 status=VL6180x_RangeGetMeasurement(Device, &RangeData);
gallonm 16:0d4776564733 3332 else
gallonm 16:0d4776564733 3333 return NOT_READY;
gallonm 16:0d4776564733 3334 }
gallonm 16:0d4776564733 3335 else if((operating_mode==range_continuous_polling_high_threshold)||(operating_mode==range_continuous_interrrupt_high_threshold))
gallonm 16:0d4776564733 3336 {
gallonm 16:0d4776564733 3337 if(IntStatus.status.Range==RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD)
gallonm 16:0d4776564733 3338 status=VL6180x_RangeGetMeasurement(Device, &RangeData);
gallonm 16:0d4776564733 3339 else
gallonm 16:0d4776564733 3340 return NOT_READY;
gallonm 16:0d4776564733 3341 }
gallonm 16:0d4776564733 3342 else if((operating_mode==range_continuous_polling_out_of_window)||(operating_mode==range_continuous_interrupt_out_of_window))
gallonm 16:0d4776564733 3343 {
gallonm 16:0d4776564733 3344 if(IntStatus.status.Range==RES_INT_STAT_GPIO_OUT_OF_WINDOW)
gallonm 16:0d4776564733 3345 status=VL6180x_RangeGetMeasurement(Device, &RangeData);
gallonm 16:0d4776564733 3346 else
gallonm 16:0d4776564733 3347 return NOT_READY;
gallonm 16:0d4776564733 3348 }
gallonm 16:0d4776564733 3349 if(!status)
gallonm 16:0d4776564733 3350 {
gallonm 16:0d4776564733 3351 status=GetRangeError(Data, RangeData);
gallonm 16:0d4776564733 3352 if(!status)
gallonm 16:0d4776564733 3353 Data->range_mm=RangeData.range_mm;
gallonm 16:0d4776564733 3354 else
gallonm 16:0d4776564733 3355 Data->range_mm=0xFFFFFFFF;
gallonm 16:0d4776564733 3356 }
gallonm 16:0d4776564733 3357 return status;
gallonm 14:0effa0bbf192 3358 }
gallonm 16:0d4776564733 3359
gallonm 16:0d4776564733 3360
gallonm 14:0effa0bbf192 3361 int VL6180X::GetAlsMeas(OperatingMode operating_mode, MeasureData_t *Data)
gallonm 14:0effa0bbf192 3362 {
gallonm 14:0effa0bbf192 3363 VL6180x_AlsData_t AlsData;
gallonm 16:0d4776564733 3364 int status, ClrStatus;
gallonm 16:0d4776564733 3365 uint8_t IntStatus;
gallonm 16:0d4776564733 3366
gallonm 16:0d4776564733 3367 status=VL6180x_AlsGetInterruptStatus(Device, &IntStatus);
gallonm 16:0d4776564733 3368 if(status)
gallonm 16:0d4776564733 3369 {
gallonm 16:0d4776564733 3370 VL6180x_ErrLog("Failed to read RESULT_INTERRUPT_STATUS_GPIO");
gallonm 16:0d4776564733 3371 }
gallonm 16:0d4776564733 3372 ClrStatus=VL6180x_AlsClearInterrupt(Device);
gallonm 16:0d4776564733 3373 if(ClrStatus)
gallonm 16:0d4776564733 3374 {
gallonm 16:0d4776564733 3375 VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
gallonm 16:0d4776564733 3376 }
gallonm 16:0d4776564733 3377 ClrStatus=VL6180x_ClearErrorInterrupt(Device);
gallonm 16:0d4776564733 3378 if(ClrStatus)
gallonm 16:0d4776564733 3379 {
gallonm 16:0d4776564733 3380 VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
gallonm 16:0d4776564733 3381 }
gallonm 16:0d4776564733 3382 if(status)
gallonm 16:0d4776564733 3383 return status;
gallonm 16:0d4776564733 3384 if((operating_mode==als_continuous_polling)||(operating_mode==als_continuous_interrupt))
gallonm 16:0d4776564733 3385 {
gallonm 16:0d4776564733 3386 if(IntStatus==RES_INT_STAT_GPIO_NEW_SAMPLE_READY)
gallonm 16:0d4776564733 3387 status=VL6180x_AlsGetMeasurement(Device, &AlsData);
gallonm 16:0d4776564733 3388 else
gallonm 16:0d4776564733 3389 return NOT_READY;
gallonm 16:0d4776564733 3390 }
gallonm 16:0d4776564733 3391 else if((operating_mode==als_continuous_polling_low_threshold)||(operating_mode==als_continuous_interrupt_low_threshold))
gallonm 16:0d4776564733 3392 {
gallonm 16:0d4776564733 3393 if(IntStatus==RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD)
gallonm 16:0d4776564733 3394 status=VL6180x_AlsGetMeasurement(Device, &AlsData);
gallonm 16:0d4776564733 3395 else
gallonm 16:0d4776564733 3396 return NOT_READY;
gallonm 16:0d4776564733 3397 }
gallonm 16:0d4776564733 3398 else if((operating_mode==als_continuous_polling_high_threshold)||(operating_mode==als_continuous_interrupt_high_threshold))
gallonm 16:0d4776564733 3399 {
gallonm 16:0d4776564733 3400 if(IntStatus==RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD)
gallonm 16:0d4776564733 3401 status=VL6180x_AlsGetMeasurement(Device, &AlsData);
gallonm 16:0d4776564733 3402 else
gallonm 16:0d4776564733 3403 return NOT_READY;
gallonm 16:0d4776564733 3404 }
gallonm 16:0d4776564733 3405 else if((operating_mode==als_continuous_polling_out_of_window)||(operating_mode==als_continuous_interrupt_out_of_window))
gallonm 16:0d4776564733 3406 {
gallonm 16:0d4776564733 3407 if(IntStatus==RES_INT_STAT_GPIO_OUT_OF_WINDOW)
gallonm 16:0d4776564733 3408 status=VL6180x_AlsGetMeasurement(Device, &AlsData);
gallonm 16:0d4776564733 3409 else
gallonm 16:0d4776564733 3410 return NOT_READY;
gallonm 16:0d4776564733 3411 }
gallonm 16:0d4776564733 3412 if(!status)
gallonm 16:0d4776564733 3413 {
gallonm 16:0d4776564733 3414 status=GetAlsError(Data, AlsData);
gallonm 16:0d4776564733 3415 if(!status)
gallonm 16:0d4776564733 3416 Data->lux=AlsData.lux;
gallonm 16:0d4776564733 3417 else
gallonm 16:0d4776564733 3418 Data->lux=0xFFFFFFFF;
gallonm 16:0d4776564733 3419 }
gallonm 16:0d4776564733 3420 return status;
gallonm 14:0effa0bbf192 3421 }
gallonm 16:0d4776564733 3422
gallonm 16:0d4776564733 3423
gallonm 14:0effa0bbf192 3424 int VL6180X::GetRangeAlsMeas(MeasureData_t *Data)
gallonm 14:0effa0bbf192 3425 {
gallonm 14:0effa0bbf192 3426 int status, ClrStatus, r_status, l_status;
gallonm 16:0d4776564733 3427 IntrStatus_t IntStatus;
gallonm 16:0d4776564733 3428 VL6180x_RangeData_t RangeData;
gallonm 16:0d4776564733 3429 VL6180x_AlsData_t AlsData;
gallonm 16:0d4776564733 3430
gallonm 16:0d4776564733 3431 status=VL6180x_RdByte(Device, RESULT_INTERRUPT_STATUS_GPIO, &IntStatus.val);
gallonm 16:0d4776564733 3432 if(!status)
gallonm 16:0d4776564733 3433 {
gallonm 16:0d4776564733 3434 Data->int_error=IntStatus.status.Error;
gallonm 16:0d4776564733 3435 if(IntStatus.status.Error!=0)
gallonm 16:0d4776564733 3436 {
gallonm 14:0effa0bbf192 3437 VL6180x_ErrLog("GPIO int Error report %d",(int)IntStatus.val);
gallonm 16:0d4776564733 3438 status=RANGE_ERROR;
gallonm 14:0effa0bbf192 3439 }
gallonm 16:0d4776564733 3440 }
gallonm 16:0d4776564733 3441 else
gallonm 16:0d4776564733 3442 {
gallonm 16:0d4776564733 3443 VL6180x_ErrLog("Failed to read RESULT_INTERRUPT_STATUS_GPIO");
gallonm 16:0d4776564733 3444 }
gallonm 16:0d4776564733 3445 ClrStatus=VL6180x_ClearAllInterrupt(Device);
gallonm 16:0d4776564733 3446 if(ClrStatus)
gallonm 16:0d4776564733 3447 VL6180x_ErrLog("VL6180x_ClearAllInterrupt fail");
gallonm 16:0d4776564733 3448 if(status)
gallonm 16:0d4776564733 3449 return status;
gallonm 16:0d4776564733 3450
gallonm 16:0d4776564733 3451 if(IntStatus.status.Als==RES_INT_STAT_GPIO_NEW_SAMPLE_READY)
gallonm 16:0d4776564733 3452 {
gallonm 16:0d4776564733 3453 r_status=VL6180x_RangeGetMeasurement(Device, &RangeData);
gallonm 16:0d4776564733 3454 l_status=VL6180x_AlsGetMeasurement(Device, &AlsData);
gallonm 16:0d4776564733 3455 if((!r_status)&&(!l_status))
gallonm 16:0d4776564733 3456 {
gallonm 16:0d4776564733 3457 r_status=GetRangeError(Data, RangeData);
gallonm 16:0d4776564733 3458 l_status=GetAlsError(Data, AlsData);
gallonm 16:0d4776564733 3459 if(!r_status)
gallonm 16:0d4776564733 3460 Data->range_mm=RangeData.range_mm;
gallonm 16:0d4776564733 3461 else
gallonm 16:0d4776564733 3462 Data->range_mm=0xFFFFFFFF;
gallonm 16:0d4776564733 3463 if(!l_status)
gallonm 16:0d4776564733 3464 Data->lux=AlsData.lux;
gallonm 16:0d4776564733 3465 else
gallonm 16:0d4776564733 3466 Data->lux=0xFFFFFFFF;
gallonm 16:0d4776564733 3467 status=r_status|l_status;
gallonm 16:0d4776564733 3468 }
gallonm 16:0d4776564733 3469 else
gallonm 16:0d4776564733 3470 {
gallonm 16:0d4776564733 3471 status=r_status|l_status;
gallonm 16:0d4776564733 3472 }
gallonm 16:0d4776564733 3473 }
gallonm 16:0d4776564733 3474 else
gallonm 16:0d4776564733 3475 return NOT_READY;
gallonm 16:0d4776564733 3476 return status;
gallonm 14:0effa0bbf192 3477 }
gallonm 16:0d4776564733 3478
gallonm 16:0d4776564733 3479
gallonm 14:0effa0bbf192 3480 int VL6180X::StopMeasurement(OperatingMode operating_mode)
gallonm 14:0effa0bbf192 3481 {
gallonm 16:0d4776564733 3482 int status;
gallonm 16:0d4776564733 3483
gallonm 16:0d4776564733 3484 switch(operating_mode)
gallonm 16:0d4776564733 3485 {
gallonm 16:0d4776564733 3486 case(range_single_shot_polling):
gallonm 16:0d4776564733 3487 case(range_continuous_polling):
gallonm 16:0d4776564733 3488 case(range_continuous_interrupt):
gallonm 16:0d4776564733 3489 case(range_continuous_polling_low_threshold):
gallonm 16:0d4776564733 3490 case(range_continuous_polling_high_threshold):
gallonm 16:0d4776564733 3491 case(range_continuous_polling_out_of_window):
gallonm 16:0d4776564733 3492 case(range_continuous_interrupt_low_threshold):
gallonm 16:0d4776564733 3493 case(range_continuous_interrrupt_high_threshold):
gallonm 16:0d4776564733 3494 case(range_continuous_interrupt_out_of_window):
gallonm 16:0d4776564733 3495 return StopRangeMeasurement(operating_mode);
gallonm 16:0d4776564733 3496
gallonm 16:0d4776564733 3497 case(als_single_shot_polling):
gallonm 16:0d4776564733 3498 case(als_continuous_polling):
gallonm 16:0d4776564733 3499 case(als_continuous_interrupt):
gallonm 16:0d4776564733 3500 case(als_continuous_polling_low_threshold):
gallonm 16:0d4776564733 3501 case(als_continuous_polling_high_threshold):
gallonm 16:0d4776564733 3502 case(als_continuous_polling_out_of_window):
gallonm 16:0d4776564733 3503 case(als_continuous_interrupt_low_threshold):
gallonm 16:0d4776564733 3504 case(als_continuous_interrupt_high_threshold):
gallonm 16:0d4776564733 3505 case(als_continuous_interrupt_out_of_window):
gallonm 16:0d4776564733 3506 return StopAlsMeasurement(operating_mode);
gallonm 16:0d4776564733 3507
gallonm 16:0d4776564733 3508 case(interleaved_mode_interrupt):
gallonm 16:0d4776564733 3509 status=StopRangeMeasurement(range_continuous_interrupt);
gallonm 16:0d4776564733 3510 if(!status)
gallonm 16:0d4776564733 3511 return StopAlsMeasurement(als_continuous_interrupt);
gallonm 16:0d4776564733 3512 else return status;
gallonm 16:0d4776564733 3513
gallonm 16:0d4776564733 3514 default:
gallonm 16:0d4776564733 3515 return INVALID_PARAMS;
gallonm 16:0d4776564733 3516 }
gallonm 14:0effa0bbf192 3517 }
gallonm 16:0d4776564733 3518
gallonm 16:0d4776564733 3519
gallonm 14:0effa0bbf192 3520 int VL6180X::StopRangeMeasurement(OperatingMode operating_mode)
gallonm 14:0effa0bbf192 3521 {
gallonm 16:0d4776564733 3522 int status;
gallonm 16:0d4776564733 3523
gallonm 16:0d4776564733 3524 if(operating_mode==range_single_shot_polling)
gallonm 16:0d4776564733 3525 status=VL6180x_RangeSetSystemMode(Device, MODE_SINGLESHOT);
gallonm 16:0d4776564733 3526 else
gallonm 16:0d4776564733 3527 status=VL6180x_RangeSetSystemMode(Device, MODE_START_STOP|MODE_SINGLESHOT);
gallonm 16:0d4776564733 3528 if(status)
gallonm 16:0d4776564733 3529 return status;
gallonm 16:0d4776564733 3530 status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 3531 if(status)
gallonm 16:0d4776564733 3532 {
gallonm 16:0d4776564733 3533 VL6180x_ErrLog("VL6180x_RangeConfigInterrupt fail"\n\r);
gallonm 16:0d4776564733 3534 return status;
gallonm 16:0d4776564733 3535 }
gallonm 16:0d4776564733 3536 status=VL6180x_RangeClearInterrupt(Device);
gallonm 16:0d4776564733 3537 if(status)
gallonm 16:0d4776564733 3538 {
gallonm 16:0d4776564733 3539 VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
gallonm 16:0d4776564733 3540 return status;
gallonm 16:0d4776564733 3541 }
gallonm 16:0d4776564733 3542 status=VL6180x_ClearErrorInterrupt(Device);
gallonm 16:0d4776564733 3543 if(status)
gallonm 16:0d4776564733 3544 {
gallonm 16:0d4776564733 3545 VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
gallonm 16:0d4776564733 3546 return status;
gallonm 16:0d4776564733 3547 }
gallonm 16:0d4776564733 3548 status=VL6180x_RangeSetRawThresholds(Device, 10, 200);
gallonm 16:0d4776564733 3549 if(status)
gallonm 16:0d4776564733 3550 VL6180x_ErrLog("VL6180x_RangeSetThresholds fail");
gallonm 16:0d4776564733 3551 return status;
gallonm 14:0effa0bbf192 3552 }
gallonm 16:0d4776564733 3553
gallonm 16:0d4776564733 3554
gallonm 14:0effa0bbf192 3555 int VL6180X::StopAlsMeasurement(OperatingMode operating_mode)
gallonm 14:0effa0bbf192 3556 {
gallonm 16:0d4776564733 3557 int status;
gallonm 16:0d4776564733 3558
gallonm 16:0d4776564733 3559 if(operating_mode==als_single_shot_polling)
gallonm 16:0d4776564733 3560 status=VL6180x_AlsSetSystemMode(Device, MODE_SINGLESHOT);
gallonm 16:0d4776564733 3561 else
gallonm 16:0d4776564733 3562 status=VL6180x_AlsSetSystemMode(Device, MODE_START_STOP|MODE_SINGLESHOT);
gallonm 16:0d4776564733 3563 if(status)
gallonm 16:0d4776564733 3564 return status;
gallonm 16:0d4776564733 3565 status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
gallonm 16:0d4776564733 3566 if(status)
gallonm 16:0d4776564733 3567 {
gallonm 16:0d4776564733 3568 VL6180x_ErrLog("VL6180x_AlsConfigInterrupt fail"\n\r);
gallonm 16:0d4776564733 3569 return status;
gallonm 16:0d4776564733 3570 }
gallonm 16:0d4776564733 3571 status=VL6180x_AlsClearInterrupt(Device);
gallonm 16:0d4776564733 3572 if(status)
gallonm 16:0d4776564733 3573 {
gallonm 16:0d4776564733 3574 VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
gallonm 16:0d4776564733 3575 return status;
gallonm 16:0d4776564733 3576 }
gallonm 16:0d4776564733 3577 status=VL6180x_ClearErrorInterrupt(Device);
gallonm 16:0d4776564733 3578 if(status)
gallonm 16:0d4776564733 3579 {
gallonm 16:0d4776564733 3580 VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
gallonm 16:0d4776564733 3581 return status;
gallonm 16:0d4776564733 3582 }
gallonm 16:0d4776564733 3583 status=VL6180x_AlsSetThresholds(Device, 0x0, 0xFF);
gallonm 16:0d4776564733 3584 if(status)
gallonm 16:0d4776564733 3585 VL6180x_ErrLog("VL6180x_AlsSetThresholds fail");
gallonm 16:0d4776564733 3586 return status;
gallonm 14:0effa0bbf192 3587 }
gallonm 16:0d4776564733 3588
gallonm 16:0d4776564733 3589
gallonm 16:0d4776564733 3590
gallonm 16:0d4776564733 3591
gallonm 16:0d4776564733 3592 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/