Kenji Arai
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6180XA1_simple
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Diff: Components/VL6180X/vl6180x_class.cpp
- Revision:
- 57:fa4c622b04a7
- Parent:
- 56:37d1736bd896
- Child:
- 58:1e9a3a46f814
--- a/Components/VL6180X/vl6180x_class.cpp Mon Mar 13 17:57:03 2017 +0100
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,3605 +0,0 @@
-/**
- ******************************************************************************
- * @file vl6180x_class.cpp
- * @author AST / EST
- * @version V0.0.1
- * @date 14-April-2015
- * @brief Implementation file for the HTS221 driver class
- ******************************************************************************
- * @attention
- *
- * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted provided that the following conditions are met:
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- * 3. Neither the name of STMicroelectronics nor the names of its contributors
- * may be used to endorse or promote products derived from this software
- * without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- ******************************************************************************
-*/
-
-/* Includes */
-#include "vl6180x_class.h"
-
-
-#ifndef VL6180x_RANGE_STATUS_ERRSTRING
-#warning "VL6180x_RANGE_STATUS_ERRSTRING not defined ?"
-/* TODO you may remove or comment these #warning and keep the default below to keep compatibility
- or update your vl6180x_platform.h file */
-/**
- * force VL6180x_RANGE_STATUS_ERRSTRING to not supported when not part of any cfg file
- */
-#define VL6180x_RANGE_STATUS_ERRSTRING 0
-#endif
-
-#ifndef VL6180X_SAFE_POLLING_ENTER
-#warning "VL6180X_SAFE_POLLING_ENTER not defined, likely old vl6180x_cfg.h file ?"
-/* TODO you may remove or comment these #warning and keep the default below to keep compatibility
- or update your vl6180x_platform.h file */
-/**
- * force VL6180X_SAFE_POLLING_ENTER to off when not in cfg file
- */
-#define VL6180X_SAFE_POLLING_ENTER 0 /* off by default as in api 2.0 */
-#endif
-
-#ifndef VL6180X_LOG_ENABLE
-/**
- * Force VL6180X_LOG_ENABLE to none as default
- */
-#define VL6180X_LOG_ENABLE 0
-#endif
-
-#ifdef MY_LOG
-Serial pc(USBTX, USBRX);
-#endif
-
-#if VL6180x_RANGE_STATUS_ERRSTRING
-/**@def VL6180x_HAVE_RANGE_STATUS_ERRSTRING
- * @brief is defined when @a #VL6180x_RANGE_STATUS_ERRSTRING is enable
- */
-#define VL6180x_HAVE_RANGE_STATUS_ERRSTRING
-#endif
-
-
-/** @brief Get API version as "hex integer" 0xMMnnss
- */
-#define VL6180x_ApiRevInt ((VL6180x_API_REV_MAJOR<<24)+(VL6180x_API_REV_MINOR<<16)+VL6180x_API_REV_SUB)
-
-/** Get API version as string for exe "2.1.12" "
- */
-#define VL6180x_ApiRevStr VL6180X_STR(VL6180x_API_REV_MAJOR) "." VL6180X_STR(VL6180x_API_REV_MINOR) "." VL6180X_STR(VL6180x_API_REV_SUB)
-
-/** @defgroup api_init Init functions
- * @brief API init functions
- * @ingroup api_hl
- * @{
- */
-
-
-/****************** define for i2c configuration *******************************/
-
-#define TEMP_BUF_SIZE 32
-
-#define IsValidGPIOFunction(x) ((x)==GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT || (x)==GPIOx_SELECT_OFF)
-/**
- * @brief Clear All interrupt causes (als+range+error)
- *
- * @param dev The device
- * @return 0 On success
- */
-#define VL6180x_ClearAllInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_ERROR|INTERRUPT_CLEAR_RANGING|INTERRUPT_CLEAR_ALS)
-/**
- * @brief Clear ALS interrupt
- *
- * @param dev The device
- * @return 0 On success
- */
- #define VL6180x_AlsClearInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_ALS)
-/**
- * @brief Clear range interrupt
- *
- * @param dev The device
- * @return 0 On success
- */
-#define VL6180x_RangeClearInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_RANGING)
-
-/******************************************************************************/
-/******************************* file api.c ***********************************/
-
-#define VL6180x_9to7Conv(x) (x)
-
-/* TODO when set all "cached" value with "default init" are updated after init from register read back */
-#define REFRESH_CACHED_DATA_AFTER_INIT 1
-
-
-#define IsValidGPIOFunction(x) ((x)==GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT || (x)==GPIOx_SELECT_OFF)
-
-
-/** default value ECE factor Molecular */
-#define DEF_ECE_FACTOR_M 85
-/** default value ECE factor Denominator */
-#define DEF_ECE_FACTOR_D 100
-/** default value ALS integration time */
-#define DEF_INT_PEFRIOD 100
-/** default value ALS gain */
-#define DEF_ALS_GAIN 1
-/** default value ALS scaler */
-#define DEF_ALS_SCALER 1
-/** default value for DMAX Enbale */
-#define DEF_DMAX_ENABLE 1
-/** default ambient tuning factor %x1000 */
-#define DEF_AMBIENT_TUNING 80
-
-#if VL6180x_SINGLE_DEVICE_DRIVER
-extern struct VL6180xDevData_t SingleVL6180xDevData;
-#define VL6180xDevDataGet(dev, field) (SingleVL6180xDevData.field)
-#define VL6180xDevDataSet(dev, field, data) SingleVL6180xDevData.field=(data)
-#endif
-
-#define LUXRES_FIX_PREC 8
-#define GAIN_FIX_PREC 8 /* ! if not sme as LUX_PREC then :( adjust GetLux */
-#define AN_GAIN_MULT (1<<GAIN_FIX_PREC)
-
-
-//int32_t _GetAveTotalTime(VL6180xDev_t dev);
-//int VL6180x_RangeSetEarlyConvergenceEestimateThreshold(VL6180xDev_t dev);
-
-/**
- * ScalerLookUP scaling factor-1 to register #RANGE_SCALER lookup
- */
-static const uint16_t ScalerLookUP[] ROMABLE_DATA ={ 253, 127, 84}; /* lookup table for scaling->scalar 1x2x 3x */
-/**
- * scaling factor to Upper limit look up
- */
-static const uint16_t UpperLimitLookUP[] ROMABLE_DATA ={ 185, 370, 580}; /* lookup table for scaling->limit 1x2x3x */
-/**
- * Als Code gain to fix point gain lookup
- */
-static const uint16_t AlsGainLookUp[8] ROMABLE_DATA = {
- (uint16_t)(20.0f * AN_GAIN_MULT),
- (uint16_t)(10.0f * AN_GAIN_MULT),
- (uint16_t)(5.0f * AN_GAIN_MULT),
- (uint16_t)(2.5f * AN_GAIN_MULT),
- (uint16_t)(1.67f * AN_GAIN_MULT),
- (uint16_t)(1.25f * AN_GAIN_MULT),
- (uint16_t)(1.0f * AN_GAIN_MULT),
- (uint16_t)(40.0f * AN_GAIN_MULT),
-};
-
-
-#if VL6180x_RANGE_STATUS_ERRSTRING
-const char * ROMABLE_DATA VL6180x_RangeStatusErrString[]={
- "No Error",
- "VCSEL Continuity Test",
- "VCSEL Watchdog Test",
- "VCSEL Watchdog",
- "PLL1 Lock",
- "PLL2 Lock",
- "Early Convergence Estimate",
- "Max Convergence",
- "No Target Ignore",
- "Not used 9",
- "Not used 10",
- "Max Signal To Noise Ratio",
- "Raw Ranging Algo Underflow",
- "Raw Ranging Algo Overflow",
- "Ranging Algo Underflow",
- "Ranging Algo Overflow",
-
- "Filtered by post processing"
-};
-
-const char * VL6180x_RangeGetStatusErrString(uint8_t RangeErrCode){
- if( RangeErrCode > sizeof(VL6180x_RangeStatusErrString)/sizeof(VL6180x_RangeStatusErrString[0]) )
- return NULL;
- return VL6180x_RangeStatusErrString[RangeErrCode];
-}
-#endif
-
-#if VL6180x_UPSCALE_SUPPORT == 1
- #define _GetUpscale(dev, ... ) 1
- #define _SetUpscale(...) -1
- #define DEF_UPSCALE 1
-#elif VL6180x_UPSCALE_SUPPORT == 2
- #define _GetUpscale(dev, ... ) 2
- #define _SetUpscale(...)
- #define DEF_UPSCALE 2
-#elif VL6180x_UPSCALE_SUPPORT == 3
- #define _GetUpscale(dev, ... ) 3
- #define _SetUpscale(...)
- #define DEF_UPSCALE 3
-#else
- #define DEF_UPSCALE (-(VL6180x_UPSCALE_SUPPORT))
- #define _GetUpscale(dev, ... ) VL6180xDevDataGet(dev, UpscaleFactor)
- #define _SetUpscale(dev, Scaling ) VL6180xDevDataSet(dev, UpscaleFactor, Scaling)
-#endif
-
-
-#if VL6180x_SINGLE_DEVICE_DRIVER
-/**
- * the unique driver data When single device driver is active
- */
-struct VL6180xDevData_t VL6180x_DEV_DATA_ATTR SingleVL6180xDevData={
- .EceFactorM = DEF_ECE_FACTOR_M,
- .EceFactorD = DEF_ECE_FACTOR_D,
-#ifdef VL6180x_HAVE_UPSCALE_DATA
- .UpscaleFactor = DEF_UPSCALE,
-#endif
-#ifdef VL6180x_HAVE_ALS_DATA
- .IntegrationPeriod = DEF_INT_PEFRIOD,
- .AlsGainCode = DEF_ALS_GAIN,
- .AlsScaler = DEF_ALS_SCALER,
-#endif
-#ifdef VL6180x_HAVE_DMAX_RANGING
- .DMaxEnable = DEF_DMAX_ENABLE,
-#endif
-};
-#endif /* VL6180x_SINGLE_DEVICE_DRIVER */
-
-#define Fix7_2_KCPs(x) ((((uint32_t)(x))*1000)>>7)
-
-#if VL6180x_WRAP_AROUND_FILTER_SUPPORT
-static int _filter_Init(VL6180xDev_t dev);
- #define _IsWrapArroundActive(dev) VL6180xDevDataGet(dev,WrapAroundFilterActive)
-#else
- #define _IsWrapArroundActive(dev) 0
-#endif
-
-
-#if VL6180x_HAVE_DMAX_RANGING
- void _DMax_OneTimeInit(VL6180xDev_t dev);
-// static int _DMax_InitData(VL6180xDev_t dev);
- static int _DMax_Compute(VL6180xDev_t dev, VL6180x_RangeData_t *pRange);
- #define _IsDMaxActive(dev) VL6180xDevDataGet(dev,DMaxEnable)
-#else
- #define _DMax_InitData(...) 0 /* success */
- #define _DMax_OneTimeInit(...) (void)0
- #define _IsDMaxActive(...) 0
-#endif
-
-//static int VL6180x_RangeStaticInit(VL6180xDev_t dev);
-//static int VL6180x_UpscaleStaticInit(VL6180xDev_t dev);
-
-int VL6180X::VL6180x_WaitDeviceBooted(VL6180xDev_t dev){
- uint8_t FreshOutReset=0;
- int status;
- LOG_FUNCTION_START("");
- do{
- status = VL6180x_RdByte(dev,SYSTEM_FRESH_OUT_OF_RESET, &FreshOutReset);
- }
- while( FreshOutReset!=1 && status==0);
- LOG_FUNCTION_END(status);
- return status;
-}
-
-int VL6180X::VL6180x_InitData(VL6180xDev_t dev){
- int status, dmax_status ;
- int8_t offset;
- uint8_t FreshOutReset;
- uint32_t CalValue;
- uint16_t u16;
- uint32_t XTalkCompRate_KCps;
-
- LOG_FUNCTION_START("");
-
- VL6180xDevDataSet(dev, EceFactorM , DEF_ECE_FACTOR_M);
- VL6180xDevDataSet(dev, EceFactorD , DEF_ECE_FACTOR_D);
-
-#ifdef VL6180x_HAVE_UPSCALE_DATA
- VL6180xDevDataSet(dev, UpscaleFactor , DEF_UPSCALE);
-#endif
-
-#ifdef VL6180x_HAVE_ALS_DATA
- VL6180xDevDataSet(dev, IntegrationPeriod, DEF_INT_PEFRIOD);
- VL6180xDevDataSet(dev, AlsGainCode, DEF_ALS_GAIN);
- VL6180xDevDataSet(dev, AlsScaler, DEF_ALS_SCALER);
-#endif
-
-#ifdef VL6180x_HAVE_WRAP_AROUND_DATA
- VL6180xDevDataSet(dev, WrapAroundFilterActive, (VL6180x_WRAP_AROUND_FILTER_SUPPORT >0));
- VL6180xDevDataSet(dev, DMaxEnable, DEF_DMAX_ENABLE);
-#endif
-
- _DMax_OneTimeInit(dev);
- do{
-
- /* backup offset initial value from nvm these must be done prior any over call that use offset */
- status = VL6180X::VL6180x_RdByte(dev,SYSRANGE_PART_TO_PART_RANGE_OFFSET, (uint8_t*)&offset);
- if( status ){
- VL6180x_ErrLog("SYSRANGE_PART_TO_PART_RANGE_OFFSET rd fail");
- break;
- }
- VL6180xDevDataSet(dev, Part2PartOffsetNVM, offset);
-
- status=VL6180x_RdDWord( dev, SYSRANGE_RANGE_IGNORE_THRESHOLD, &CalValue);
- if( status ){
- VL6180x_ErrLog("Part2PartAmbNVM rd fail");
- break;
- }
- if( (CalValue&0xFFFF0000) == 0 ){
- CalValue=0x00CE03F8;
- }
- VL6180xDevDataSet(dev, Part2PartAmbNVM, CalValue);
-
- status = VL6180x_RdWord(dev, SYSRANGE_CROSSTALK_COMPENSATION_RATE ,&u16);
- if( status){
- VL6180x_ErrLog("SYSRANGE_CROSSTALK_COMPENSATION_RATE rd fail ");
- break;
- }
- XTalkCompRate_KCps = Fix7_2_KCPs(u16);
- VL6180xDevDataSet(dev, XTalkCompRate_KCps , XTalkCompRate_KCps );
-
- dmax_status = _DMax_InitData(dev);
- if( dmax_status < 0 ){
- VL6180x_ErrLog("DMax init failure");
- break;
- }
-
- /* Read or wait for fresh out of reset */
- status = VL6180x_RdByte(dev,SYSTEM_FRESH_OUT_OF_RESET, &FreshOutReset);
- if( status ) {
- VL6180x_ErrLog("SYSTEM_FRESH_OUT_OF_RESET rd fail");
- break;
- }
- if( FreshOutReset!= 1 || dmax_status )
- status = CALIBRATION_WARNING;
-
- }
- while(0);
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-int8_t VL6180X::VL6180x_GetOffsetCalibrationData(VL6180xDev_t dev)
-{
- int8_t offset;
- LOG_FUNCTION_START("");
- offset = VL6180xDevDataGet(dev, Part2PartOffsetNVM);
- LOG_FUNCTION_END( offset );
- return offset;
-}
-
-void VL6180X::VL6180x_SetOffsetCalibrationData(VL6180xDev_t dev, int8_t offset)
-{
- LOG_FUNCTION_START("%d", offset);
- VL6180xDevDataSet(dev, Part2PartOffsetNVM, offset);
- LOG_FUNCTION_END(0);
-}
-
-int VL6180X::VL6180x_SetXTalkCompensationRate(VL6180xDev_t dev, FixPoint97_t Rate)
-{
- int status;
- LOG_FUNCTION_START("%d", Rate);
- status = VL6180x_WrWord(dev, SYSRANGE_CROSSTALK_COMPENSATION_RATE, Rate);
- if( status ==0 ){
- uint32_t XTalkCompRate_KCps;
- XTalkCompRate_KCps = Fix7_2_KCPs(Rate);
- VL6180xDevDataSet(dev, XTalkCompRate_KCps , XTalkCompRate_KCps );
- /* update dmax whenever xtalk rate changes */
- status = _DMax_InitData(dev);
- }
- LOG_FUNCTION_END(status);
- return status;
-}
-
-int VL6180X::VL6180x_SetI2CAddress(VL6180xDev_t dev, uint8_t NewAddress){
- int status;
- LOG_FUNCTION_START("");
-
- status = VL6180x_WrByte(dev, I2C_SLAVE_DEVICE_ADDRESS, NewAddress);
- if( status ){
- VL6180x_ErrLog("new i2c addr Wr fail");
- }
- LOG_FUNCTION_END(status);
- return status;
-}
-
-
-uint16_t VL6180X::VL6180x_GetUpperLimit(VL6180xDev_t dev) {
- uint16_t limit;
- int scaling;
-
- LOG_FUNCTION_START("");
-
- scaling = _GetUpscale(dev);
- /* FIXME we do assume here _GetUpscale is valid if user call us prior to init we may overflow the LUT mem area */
- limit = UpperLimitLookUP[scaling - 1];
-
- LOG_FUNCTION_END((int )limit);
- return limit;
-}
-
-
-
-int VL6180X::VL6180x_StaticInit(VL6180xDev_t dev){
- int status=0, init_status;
- LOG_FUNCTION_START("");
-
- /* TODO doc When using configurable scaling but using 1x as start condition
- * load tunning upscale or not ??? */
- if( _GetUpscale(dev) == 1 && !(VL6180x_UPSCALE_SUPPORT<0))
- init_status=VL6180x_RangeStaticInit(dev);
- else
- init_status=VL6180x_UpscaleStaticInit(dev);
-
- if( init_status <0 ){
- VL6180x_ErrLog("StaticInit fail");
- goto error;
- }
- else if(init_status > 0){
- VL6180x_ErrLog("StaticInit warning");
- }
-
-#if REFRESH_CACHED_DATA_AFTER_INIT
- /* update cached value after tuning applied */
- do{
-#ifdef VL6180x_HAVE_ALS_DATA
- uint8_t data;
- status= VL6180x_RdByte(dev, FW_ALS_RESULT_SCALER, &data);
- if( status ) break;
- VL6180xDevDataSet(dev, AlsScaler, data);
-
- status= VL6180x_RdByte(dev, SYSALS_ANALOGUE_GAIN, &data);
- if( status ) break;
- VL6180x_AlsSetAnalogueGain(dev, data);
-#endif
- }
- while(0);
-#endif /* REFRESH_CACHED_DATA_AFTER_INIT */
- if( status < 0 ){
- VL6180x_ErrLog("StaticInit fail");
- }
- if( !status && init_status){
- status = init_status;
- }
-error:
- LOG_FUNCTION_END(status);
- return status;
-}
-
-
-int VL6180X::VL6180x_SetGroupParamHold(VL6180xDev_t dev, int Hold)
-{
- int status;
- uint8_t value;
-
- LOG_FUNCTION_START("%d", Hold);
- if( Hold )
- value = 1;
- else
- value = 0;
- status = VL6180x_WrByte(dev, SYSTEM_GROUPED_PARAMETER_HOLD, value);
-
- LOG_FUNCTION_END(status);
- return status;
-
-}
-
-int VL6180X::VL6180x_Prepare(VL6180xDev_t dev)
-{
- int status;
- LOG_FUNCTION_START("");
-
- do{
- status=VL6180x_StaticInit(dev);
- if( status<0) break;
-
- /* set range InterruptMode to new sample */
- status=VL6180x_RangeConfigInterrupt(dev, CONFIG_GPIO_INTERRUPT_DISABLED );
- if( status)
- break;
-
- /* set default threshold */
- status=VL6180x_RangeSetRawThresholds(dev, 10, 200);
- if( status ){
- VL6180x_ErrLog("VL6180x_RangeSetRawThresholds fail");
- break;
- }
-#if VL6180x_ALS_SUPPORT
- status =VL6180x_AlsSetIntegrationPeriod(dev, 100);
- if( status ) break;
- status = VL6180x_AlsSetInterMeasurementPeriod(dev, 200);
- if( status ) break;
- status = VL6180x_AlsSetAnalogueGain(dev, 0);
- if( status ) break;
- status = VL6180x_AlsSetThresholds(dev, 0, 0xFFFF);
- if( status ) break;
- /* set Als InterruptMode to new sample */
- status=VL6180x_AlsConfigInterrupt(dev, CONFIG_GPIO_INTERRUPT_DISABLED);
- if( status ) {
- VL6180x_ErrLog("VL6180x_AlsConfigInterrupt fail");
- break;
- }
-#endif
-#if VL6180x_WRAP_AROUND_FILTER_SUPPORT
- _filter_Init(dev);
-#endif
- /* make sure to reset any left previous condition that can hangs first poll */
- status=VL6180x_ClearAllInterrupt(dev);
- }
- while(0);
- LOG_FUNCTION_END(status);
-
- return status;
-}
-
-#if VL6180x_ALS_SUPPORT
-int VL6180X::VL6180x_AlsGetLux(VL6180xDev_t dev, lux_t *pLux)
-{
- int status;
- uint16_t RawAls;
- uint32_t luxValue = 0;
- uint32_t IntPeriod;
- uint32_t AlsAnGain;
- uint32_t GainFix;
- uint32_t AlsScaler;
-
-#if LUXRES_FIX_PREC != GAIN_FIX_PREC
-#error "LUXRES_FIX_PREC != GAIN_FIX_PREC review these code to be correct"
-#endif
- const uint32_t LuxResxIntIme =(uint32_t)(0.56f* DEF_INT_PEFRIOD *(1<<LUXRES_FIX_PREC));
-
- LOG_FUNCTION_START("%p", pLux);
-
- status = VL6180x_RdWord( dev, RESULT_ALS_VAL, &RawAls);
- if( !status){
- /* wer are yet here at no fix point */
- IntPeriod=VL6180xDevDataGet(dev, IntegrationPeriod);
- AlsScaler=VL6180xDevDataGet(dev, AlsScaler);
- IntPeriod++; /* what stored is real time ms -1 and it can be 0 for or 0 or 1ms */
- luxValue = (uint32_t)RawAls * LuxResxIntIme; /* max # 16+8bits + 6bit (0.56*100) */
- luxValue /= IntPeriod; /* max # 16+8bits + 6bit 16+8+1 to 9 bit */
- /* between 29 - 21 bit */
- AlsAnGain = VL6180xDevDataGet(dev, AlsGainCode);
- GainFix = AlsGainLookUp[AlsAnGain];
- luxValue = luxValue / (AlsScaler * GainFix);
- *pLux=luxValue;
- }
-
- LOG_FUNCTION_END_FMT(status, "%x",(int)*pLux);
- return status;
-}
-
-int VL6180X::VL6180x_AlsGetMeasurement(VL6180xDev_t dev, VL6180x_AlsData_t *pAlsData)
-{
- int status;
- uint8_t ErrStatus;
-
- LOG_FUNCTION_START("%p", pAlsData);
-
- status = VL6180x_AlsGetLux(dev, &pAlsData->lux);
- if( !status ){
- status = VL6180x_RdByte(dev, RESULT_ALS_STATUS, & ErrStatus);
- pAlsData->errorStatus = ErrStatus>>4;
- }
- LOG_FUNCTION_END_FMT(status,"%d %d", (int)pAlsData->lux, (int)pAlsData->errorStatus);
-
- return status;
-}
-
-
-int VL6180X::VL6180x_AlsPollMeasurement(VL6180xDev_t dev, VL6180x_AlsData_t *pAlsData) {
- int status;
- int ClrStatus;
- uint8_t IntStatus;
-
- LOG_FUNCTION_START("%p", pAlsData);
-#if VL6180X_SAFE_POLLING_ENTER
- /* if device get stopped with left interrupt uncleared , it is required to clear them now or poll for new condition will never occur*/
- status=VL6180x_AlsClearInterrupt(dev);
- if(status){
- VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
- goto over;
- }
-#endif
-
- status=VL6180x_AlsSetSystemMode(dev, MODE_START_STOP|MODE_SINGLESHOT);
- if( status){
- VL6180x_ErrLog("VL6180x_AlsSetSystemMode fail");
- goto over;
- }
-
- /* poll for new sample ready */
- while (1 ) {
- status = VL6180x_AlsGetInterruptStatus(dev, &IntStatus);
- if (status) {
- break;
- }
- if (IntStatus == RES_INT_STAT_GPIO_NEW_SAMPLE_READY) {
- break; /* break on new data (status is 0) */
- }
- wait_ms(10);
- };
-
- if (!status) {
- status = VL6180x_AlsGetMeasurement(dev, pAlsData);
- }
-
- ClrStatus = VL6180x_AlsClearInterrupt(dev);
- if (ClrStatus) {
- VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
- if (!status) {
- status = ClrStatus; /* leave previous if already on error */
- }
- }
-over:
- LOG_FUNCTION_END(status);
-
- return status;
-}
-
-int VL6180X::VL6180x_AlsGetInterruptStatus(VL6180xDev_t dev, uint8_t *pIntStatus) {
- int status;
- uint8_t IntStatus;
- LOG_FUNCTION_START("%p", pIntStatus);
-
- status = VL6180x_RdByte(dev, RESULT_INTERRUPT_STATUS_GPIO, &IntStatus);
- *pIntStatus= (IntStatus>>3)&0x07;
-
- LOG_FUNCTION_END_FMT(status, "%d", (int)*pIntStatus);
- return status;
-}
-
-int VL6180X::VL6180x_AlsWaitDeviceReady(VL6180xDev_t dev, int MaxLoop ){
- int status;
- int n;
- uint8_t u8;
- LOG_FUNCTION_START("%d", (int)MaxLoop);
- if( MaxLoop<1){
- status=INVALID_PARAMS;
- }
- else{
- for( n=0; n < MaxLoop ; n++){
- status=VL6180x_RdByte(dev, RESULT_ALS_STATUS, &u8);
- if( status)
- break;
- u8 = u8 & ALS_DEVICE_READY_MASK;
- if( u8 )
- break;
-
- }
- if( !status && !u8 ){
- status = TIME_OUT;
- }
- }
- LOG_FUNCTION_END(status);
- return status;
-}
-
-int VL6180X::VL6180x_AlsSetSystemMode(VL6180xDev_t dev, uint8_t mode)
-{
- int status;
- LOG_FUNCTION_START("%d", (int)mode);
- /* FIXME if we are called back to back real fast we are not checking
- * if previous mode "set" got absorbed => bit 0 must be 0 so that wr 1 work */
- if( mode <= 3){
- status=VL6180x_WrByte(dev, SYSALS_START, mode);
- }
- else{
- status = INVALID_PARAMS;
- }
- LOG_FUNCTION_END(status);
- return status;
-}
-
-int VL6180X::VL6180x_AlsConfigInterrupt(VL6180xDev_t dev, uint8_t ConfigGpioInt)
-{
- int status;
-
- if( ConfigGpioInt<= CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY){
- status = VL6180x_UpdateByte(dev, SYSTEM_INTERRUPT_CONFIG_GPIO, (uint8_t)(~CONFIG_GPIO_ALS_MASK), (ConfigGpioInt<<3));
- }
- else{
- VL6180x_ErrLog("Invalid config mode param %d", (int)ConfigGpioInt);
- status = INVALID_PARAMS;
- }
- LOG_FUNCTION_END(status);
- return status;
-}
-
-
-
-int VL6180X::VL6180x_AlsSetThresholds(VL6180xDev_t dev, uint16_t low, uint16_t high) {
- int status;
-
- LOG_FUNCTION_START("%d %d", (int )low, (int)high);
-
- status = VL6180x_WrWord(dev, SYSALS_THRESH_LOW, low);
- if(!status ){
- status = VL6180x_WrWord(dev, SYSALS_THRESH_HIGH, high);
- }
-
- LOG_FUNCTION_END(status) ;
- return status;
-}
-
-
-int VL6180X::VL6180x_AlsSetAnalogueGain(VL6180xDev_t dev, uint8_t gain) {
- int status;
- uint8_t GainTotal;
-
- LOG_FUNCTION_START("%d", (int )gain);
- gain&=~0x40;
- if (gain > 7) {
- gain = 7;
- }
- GainTotal = gain|0x40;
-
- status = VL6180x_WrByte(dev, SYSALS_ANALOGUE_GAIN, GainTotal);
- if( !status){
- VL6180xDevDataSet(dev, AlsGainCode, gain);
- }
-
- LOG_FUNCTION_END_FMT(status, "%d %d", (int ) gain, (int )GainTotal);
- return status;
-}
-
-int VL6180X::VL6180x_AlsSetInterMeasurementPeriod(VL6180xDev_t dev, uint16_t intermeasurement_period_ms)
-{
- int status;
-
- LOG_FUNCTION_START("%d",(int)intermeasurement_period_ms);
- /* clipping: range is 0-2550ms */
- if (intermeasurement_period_ms >= 255 *10)
- intermeasurement_period_ms = 255 *10;
- status=VL6180x_WrByte(dev, SYSALS_INTERMEASUREMENT_PERIOD, (uint8_t)(intermeasurement_period_ms/10));
-
- LOG_FUNCTION_END_FMT(status, "%d", (int) intermeasurement_period_ms);
- return status;
-}
-
-
-int VL6180X::VL6180x_AlsSetIntegrationPeriod(VL6180xDev_t dev, uint16_t period_ms)
-{
- int status;
- uint16_t SetIntegrationPeriod;
-
- LOG_FUNCTION_START("%d", (int)period_ms);
-
- if( period_ms>=1 )
- SetIntegrationPeriod = period_ms - 1;
- else
- SetIntegrationPeriod = period_ms;
-
- if (SetIntegrationPeriod > 464) {
- SetIntegrationPeriod = 464;
- }
- else if (SetIntegrationPeriod == 255) {
- SetIntegrationPeriod++; /* can't write 255 since this causes the device to lock out.*/
- }
-
- status =VL6180x_WrWord(dev, SYSALS_INTEGRATION_PERIOD, SetIntegrationPeriod);
- if( !status ){
- VL6180xDevDataSet(dev, IntegrationPeriod, SetIntegrationPeriod) ;
- }
- LOG_FUNCTION_END_FMT(status, "%d", (int)SetIntegrationPeriod);
- return status;
-}
-
-#endif /* HAVE_ALS_SUPPORT */
-
-
-int VL6180X::VL6180x_RangePollMeasurement(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData)
-{
- int status;
- int ClrStatus;
- IntrStatus_t IntStatus;
-
- LOG_FUNCTION_START("");
- /* start single range measurement */
-
-
-#if VL6180X_SAFE_POLLING_ENTER
- /* if device get stopped with left interrupt uncleared , it is required to clear them now or poll for new condition will never occur*/
- status=VL6180x_RangeClearInterrupt(dev);
- if(status){
- VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
- goto done;
- }
-#endif
- /* //![single_shot_snipet] */
- status=VL6180x_RangeSetSystemMode(dev, MODE_START_STOP|MODE_SINGLESHOT);
- if( status ){
- VL6180x_ErrLog("VL6180x_RangeSetSystemMode fail");
- goto done;
- }
-
- /* poll for new sample ready */
- while(1 ){
- status=VL6180x_RangeGetInterruptStatus(dev, &IntStatus.val);
- if( status ){
- break;
- }
- if( IntStatus.status.Error !=0 ){
- VL6180x_ErrLog("GPIO int Error report %d",(int)IntStatus.val);
- status = RANGE_ERROR;
- break;
- }
- else
- if( IntStatus.status.Range == RES_INT_STAT_GPIO_NEW_SAMPLE_READY){
- break;
- }
- wait_ms(10);
- }
- /* //![single_shot_snipet] */
-
- if ( !status ){
- status = VL6180x_RangeGetMeasurement(dev, pRangeData);
- }
-
- /* clear range interrupt source */
- ClrStatus = VL6180x_RangeClearInterrupt(dev);
- if( ClrStatus ){
- VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
- /* leave initial status if already in error */
- if( !status ){
- status=ClrStatus;
- }
- }
-done:
- LOG_FUNCTION_END(status);
- return status;
-}
-
-
-
-int VL6180X::VL6180x_RangeGetMeasurement(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData)
-{
- int status;
- uint16_t RawRate;
- uint8_t RawStatus;
-
- LOG_FUNCTION_START("");
-
- status = VL6180x_RangeGetResult(dev, &pRangeData->range_mm);
- if( !status ){
- status = VL6180x_RdWord(dev,RESULT_RANGE_SIGNAL_RATE, &RawRate );
- if( !status ){
- pRangeData->signalRate_mcps = VL6180x_9to7Conv(RawRate);
- status = VL6180x_RdByte(dev, RESULT_RANGE_STATUS, &RawStatus);
- if( !status ){
- pRangeData->errorStatus = RawStatus >>4;
- }
- else{
- VL6180x_ErrLog("Rd RESULT_RANGE_STATUS fail");
- }
- #if VL6180x_WRAP_AROUND_FILTER_SUPPORT || VL6180x_HAVE_DMAX_RANGING
- status = _GetRateResult(dev, pRangeData);
- if( status )
- goto error;
- #endif
- #if VL6180x_WRAP_AROUND_FILTER_SUPPORT
- /* if enabled run filter */
- if( _IsWrapArroundActive(dev) ){
- status=_filter_GetResult(dev, pRangeData);
- if( !status){
- /* patch the range status and measure if it is filtered */
- if( pRangeData->range_mm != pRangeData->FilteredData.range_mm) {
- pRangeData->errorStatus=RangingFiltered;
- pRangeData->range_mm = pRangeData->FilteredData.range_mm;
- }
- }
- }
- #endif
-
-#if VL6180x_HAVE_DMAX_RANGING
- if(_IsDMaxActive(dev) ){
- _DMax_Compute(dev, pRangeData);
- }
-#endif
- }
- else{
- VL6180x_ErrLog("Rd RESULT_RANGE_SIGNAL_RATE fail");
- }
- }
- else{
- VL6180x_ErrLog("VL6180x_GetRangeResult fail");
- }
-error:
- LOG_FUNCTION_END_FMT(status, "%d %d %d", (int)pRangeData->range_mm, (int)pRangeData->signalRate_mcps, (int)pRangeData->errorStatus) ;
- return status;
-}
-
-
-int VL6180X::VL6180x_RangeGetMeasurementIfReady(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData)
-{
- int status;
- IntrStatus_t IntStatus;
-
- LOG_FUNCTION_START();
-
- status = VL6180x_RangeGetInterruptStatus(dev, &IntStatus.val);
- if( status ==0 ){
- if( IntStatus.status.Error !=0 ){
- VL6180x_ErrLog("GPIO int Error report %d",(int)IntStatus.val);
- status = RANGE_ERROR;
- }
- else
- if( IntStatus.status.Range == RES_INT_STAT_GPIO_NEW_SAMPLE_READY){
- status = VL6180x_RangeGetMeasurement(dev,pRangeData );
- if( status == 0){
- /* clear range interrupt source */
- status = VL6180x_RangeClearInterrupt(dev);
- if( status ){
- VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
- }
- }
- }
- else{
- status = NOT_READY;
- }
- }
- else{
- VL6180x_ErrLog("fail to get interrupt status");
- }
- LOG_FUNCTION_END(status) ;
- return status;
-}
-
-int VL6180X::VL6180x_FilterSetState(VL6180xDev_t dev, int state){
- int status;
- LOG_FUNCTION_START("%d", state);
-#if VL6180x_WRAP_AROUND_FILTER_SUPPORT
- VL6180xDevDataSet(dev,WrapAroundFilterActive, state);
- status = 0;
-#else
- status = NOT_SUPPORTED;
-#endif
- LOG_FUNCTION_END(status);
- return status;
-}
-
-int VL6180X::VL6180x_FilterGetState(VL6180xDev_t dev){
- int status;
- LOG_FUNCTION_START("");
-#if VL6180x_WRAP_AROUND_FILTER_SUPPORT
- status = VL6180xDevDataGet(dev,WrapAroundFilterActive);
-#else
- status = 0;
-#endif
- LOG_FUNCTION_END(status);
- return status;
-}
-
-int VL6180X::VL6180x_RangeGetResult(VL6180xDev_t dev, uint32_t *pRange_mm) {
- int status;
- uint8_t RawRange;
- int32_t Upscale;
-
- LOG_FUNCTION_START("%p",pRange_mm);
-
- status = VL6180x_RdByte(dev, RESULT_RANGE_VAL, &RawRange);
- if( !status ){
- Upscale = _GetUpscale(dev);
- *pRange_mm= Upscale*(int32_t)RawRange;
- }
- LOG_FUNCTION_END_FMT(status, "%d", (int)*pRange_mm);
- return status;
-}
-
-int VL6180X::VL6180x_RangeSetRawThresholds(VL6180xDev_t dev, uint8_t low, uint8_t high)
-{
- int status;
- LOG_FUNCTION_START("%d %d", (int) low, (int)high);
- /* TODO we can optimize here grouping high/low in a word but that's cpu endianness dependent */
- status=VL6180x_WrByte(dev, SYSRANGE_THRESH_HIGH,high);
- if( !status){
- status=VL6180x_WrByte(dev, SYSRANGE_THRESH_LOW, low);
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-int VL6180X::VL6180x_RangeSetThresholds(VL6180xDev_t dev, uint16_t low, uint16_t high, int UseSafeParamHold)
-{
- int status;
- int scale;
- LOG_FUNCTION_START("%d %d", (int) low, (int)high);
- scale=_GetUpscale(dev,UpscaleFactor);
- if( low>scale*255 || high >scale*255){
- status = INVALID_PARAMS;
- }
- else{
- do{
- if( UseSafeParamHold ){
- status=VL6180x_SetGroupParamHold(dev, 1);
- if( status )
- break;
- }
- status=VL6180x_RangeSetRawThresholds(dev, (uint8_t)(low/scale), (uint8_t)(high/scale));
- if( status ){
- VL6180x_ErrLog("VL6180x_RangeSetRawThresholds fail");
- }
- if( UseSafeParamHold ){
- int HoldStatus;
- /* tryt to unset param hold vene if previous fail */
- HoldStatus=VL6180x_SetGroupParamHold(dev, 0);
- if( !status)
- status=HoldStatus;
- }
- }
- while(0);
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-
-int VL6180X::VL6180x_RangeGetThresholds(VL6180xDev_t dev, uint16_t *low, uint16_t *high)
-{
- int status;
- uint8_t RawLow, RawHigh;
- int scale;
-
- LOG_FUNCTION_START("%p %p", low , high);
-
- scale=_GetUpscale(dev,UpscaleFactor);
- do{
- if( high != NULL ){
- status=VL6180x_RdByte(dev, SYSRANGE_THRESH_HIGH,&RawHigh);
- if( status ){
- VL6180x_ErrLog("rd SYSRANGE_THRESH_HIGH fail");
- break;
- }
- *high=(uint16_t)RawHigh*scale;
- }
- if( low != NULL ) {
- status=VL6180x_RdByte(dev, SYSRANGE_THRESH_LOW, &RawLow);
- if( status ){
- VL6180x_ErrLog("rd SYSRANGE_THRESH_LOW fail");
- break;
- }
- *low=(uint16_t)RawLow*scale;
- }
- }
- while(0);
- LOG_FUNCTION_END_FMT(status, "%d %d",(int)*low ,(int)*high);
- return status;
-}
-
-
-int VL6180X::VL6180x_RangeGetInterruptStatus(VL6180xDev_t dev, uint8_t *pIntStatus) {
- int status;
- uint8_t IntStatus;
- LOG_FUNCTION_START("%p", pIntStatus);
- /* FIXME we are grouping "error" with over status the user must check implicitly for it
- * not just new sample or over status , that will nevr show up in case of error*/
- status = VL6180x_RdByte(dev, RESULT_INTERRUPT_STATUS_GPIO, &IntStatus);
- *pIntStatus= IntStatus&0xC7;
-
- LOG_FUNCTION_END_FMT(status, "%d", (int)*pIntStatus);
- return status;
-}
-
-
-int VL6180X::VL6180x_GetInterruptStatus(VL6180xDev_t dev, uint8_t *IntStatus)
-{
- int status;
- LOG_FUNCTION_START("%p" , IntStatus);
- status = VL6180x_RdByte(dev, RESULT_INTERRUPT_STATUS_GPIO, IntStatus);
- LOG_FUNCTION_END_FMT(status, "%d", (int)*IntStatus);
- return status;
-}
-
-int VL6180X::VL6180x_ClearInterrupt(VL6180xDev_t dev, uint8_t IntClear )
-{
- int status;
- LOG_FUNCTION_START("%d" ,(int)IntClear);
- if( IntClear <= 7 ){
- status=VL6180x_WrByte( dev, SYSTEM_INTERRUPT_CLEAR, IntClear);
- }
- else{
- status = INVALID_PARAMS;
- }
- LOG_FUNCTION_END(status);
- return status;
-}
-
-
-int VL6180X::VL6180x_RangeStaticInit(VL6180xDev_t dev)
-{
- int status;
- LOG_FUNCTION_START("");
-
- /* REGISTER_TUNING_SR03_270514_CustomerView.txt */
- VL6180x_WrByte( dev, 0x0207, 0x01);
- VL6180x_WrByte( dev, 0x0208, 0x01);
- VL6180x_WrByte( dev, 0x0096, 0x00);
- VL6180x_WrByte( dev, 0x0097, 0xfd);
- VL6180x_WrByte( dev, 0x00e3, 0x00);
- VL6180x_WrByte( dev, 0x00e4, 0x04);
- VL6180x_WrByte( dev, 0x00e5, 0x02);
- VL6180x_WrByte( dev, 0x00e6, 0x01);
- VL6180x_WrByte( dev, 0x00e7, 0x03);
- VL6180x_WrByte( dev, 0x00f5, 0x02);
- VL6180x_WrByte( dev, 0x00d9, 0x05);
- VL6180x_WrByte( dev, 0x00db, 0xce);
- VL6180x_WrByte( dev, 0x00dc, 0x03);
- VL6180x_WrByte( dev, 0x00dd, 0xf8);
- VL6180x_WrByte( dev, 0x009f, 0x00);
- VL6180x_WrByte( dev, 0x00a3, 0x3c);
- VL6180x_WrByte( dev, 0x00b7, 0x00);
- VL6180x_WrByte( dev, 0x00bb, 0x3c);
- VL6180x_WrByte( dev, 0x00b2, 0x09);
- VL6180x_WrByte( dev, 0x00ca, 0x09);
- VL6180x_WrByte( dev, 0x0198, 0x01);
- VL6180x_WrByte( dev, 0x01b0, 0x17);
- VL6180x_WrByte( dev, 0x01ad, 0x00);
- VL6180x_WrByte( dev, 0x00ff, 0x05);
- VL6180x_WrByte( dev, 0x0100, 0x05);
- VL6180x_WrByte( dev, 0x0199, 0x05);
- VL6180x_WrByte( dev, 0x01a6, 0x1b);
- VL6180x_WrByte( dev, 0x01ac, 0x3e);
- VL6180x_WrByte( dev, 0x01a7, 0x1f);
- VL6180x_WrByte( dev, 0x0030, 0x00);
-
- /* Recommended : Public registers - See data sheet for more detail */
- VL6180x_WrByte( dev, SYSTEM_MODE_GPIO1, 0x10); /* Enables polling for New Sample ready when measurement completes */
- VL6180x_WrByte( dev, READOUT_AVERAGING_SAMPLE_PERIOD, 0x30); /* Set the averaging sample period (compromise between lower noise and increased execution time) */
- VL6180x_WrByte( dev, SYSALS_ANALOGUE_GAIN, 0x46); /* Sets the light and dark gain (upper nibble). Dark gain should not be changed.*/
- VL6180x_WrByte( dev, SYSRANGE_VHV_REPEAT_RATE, 0xFF); /* sets the # of range measurements after which auto calibration of system is performed */
- VL6180x_WrByte( dev, SYSALS_INTEGRATION_PERIOD, 0x63); /* Set ALS integration time to 100ms */
- VL6180x_WrByte( dev, SYSRANGE_VHV_RECALIBRATE, 0x01); /* perform a single temperature calibration of the ranging sensor */
-
- /* Optional: Public registers - See data sheet for more detail */
- VL6180x_WrByte( dev, SYSRANGE_INTERMEASUREMENT_PERIOD, 0x09); /* Set default ranging inter-measurement period to 100ms */
- VL6180x_WrByte( dev, SYSALS_INTERMEASUREMENT_PERIOD, 0x31); /* Set default ALS inter-measurement period to 500ms */
- VL6180x_WrByte( dev, SYSTEM_INTERRUPT_CONFIG_GPIO, 0x24); /* Configures interrupt on New sample ready */
-
-
- status=VL6180x_RangeSetMaxConvergenceTime(dev, 50); /* Calculate ece value on initialization (use max conv) */
- LOG_FUNCTION_END(status);
-
- return status;
-}
-
-#if VL6180x_UPSCALE_SUPPORT != 1
-
-int VL6180X::_UpscaleInitPatch0(VL6180xDev_t dev){
- int status;
- uint32_t CalValue=0;
- CalValue= VL6180xDevDataGet(dev, Part2PartAmbNVM);
- status=VL6180x_WrDWord( dev, 0xDA, CalValue);
- return status;
-}
-
-/* only include up-scaling register setting when up-scale support is configured in */
-int VL6180X::VL6180x_UpscaleRegInit(VL6180xDev_t dev)
-{
- /* apply REGISTER_TUNING_ER02_100614_CustomerView.txt */
- VL6180x_WrByte( dev, 0x0207, 0x01);
- VL6180x_WrByte( dev, 0x0208, 0x01);
- VL6180x_WrByte( dev, 0x0096, 0x00);
- VL6180x_WrByte( dev, 0x0097, 0x54);
- VL6180x_WrByte( dev, 0x00e3, 0x00);
- VL6180x_WrByte( dev, 0x00e4, 0x04);
- VL6180x_WrByte( dev, 0x00e5, 0x02);
- VL6180x_WrByte( dev, 0x00e6, 0x01);
- VL6180x_WrByte( dev, 0x00e7, 0x03);
- VL6180x_WrByte( dev, 0x00f5, 0x02);
- VL6180x_WrByte( dev, 0x00d9, 0x05);
-
- _UpscaleInitPatch0(dev);
-
- VL6180x_WrByte( dev, 0x009f, 0x00);
- VL6180x_WrByte( dev, 0x00a3, 0x28);
- VL6180x_WrByte( dev, 0x00b7, 0x00);
- VL6180x_WrByte( dev, 0x00bb, 0x28);
- VL6180x_WrByte( dev, 0x00b2, 0x09);
- VL6180x_WrByte( dev, 0x00ca, 0x09);
- VL6180x_WrByte( dev, 0x0198, 0x01);
- VL6180x_WrByte( dev, 0x01b0, 0x17);
- VL6180x_WrByte( dev, 0x01ad, 0x00);
- VL6180x_WrByte( dev, 0x00ff, 0x05);
- VL6180x_WrByte( dev, 0x0100, 0x05);
- VL6180x_WrByte( dev, 0x0199, 0x05);
- VL6180x_WrByte( dev, 0x01a6, 0x1b);
- VL6180x_WrByte( dev, 0x01ac, 0x3e);
- VL6180x_WrByte( dev, 0x01a7, 0x1f);
- VL6180x_WrByte( dev, 0x0030, 0x00);
- VL6180x_WrByte( dev, SYSTEM_MODE_GPIO1, 0x10);
- VL6180x_WrByte( dev, READOUT_AVERAGING_SAMPLE_PERIOD, 0x30);
- VL6180x_WrByte( dev, SYSALS_ANALOGUE_GAIN, 0x46);
- VL6180x_WrByte( dev, SYSRANGE_VHV_REPEAT_RATE, 0xFF);
- VL6180x_WrByte( dev, SYSALS_INTEGRATION_PERIOD, 0x63);
- VL6180x_WrByte( dev, SYSRANGE_VHV_RECALIBRATE, 0x01);
- VL6180x_WrByte( dev, SYSRANGE_MAX_AMBIENT_LEVEL_MULT, 0xff);
- VL6180x_WrByte( dev, SYSRANGE_INTERMEASUREMENT_PERIOD, 0x09);
- VL6180x_WrByte( dev, SYSALS_INTERMEASUREMENT_PERIOD, 0x31);
- VL6180x_WrByte( dev, SYSTEM_INTERRUPT_CONFIG_GPIO, 0x24);
-#if VL6180x_EXTENDED_RANGE
- VL6180x_RangeSetMaxConvergenceTime(dev, 63);
-#else
- VL6180x_RangeSetMaxConvergenceTime(dev, 50);
-#endif
- return 0;
-}
-#else
-#define VL6180x_UpscaleRegInit(...) -1
-#endif
-
-int VL6180X::VL6180x_UpscaleSetScaling(VL6180xDev_t dev, uint8_t scaling)
-{
- int status;
- uint16_t Scaler;
- int8_t Offset;
-
- LOG_FUNCTION_START("%d",(int) scaling);
-
-#ifdef VL6180x_HAVE_UPSCALE_DATA
- #define min_scaling 1
- #define max_scaling sizeof(ScalerLookUP)/sizeof(ScalerLookUP[0])
-#else
- /* we are in fixed config so only allow configured factor */
- #define min_scaling VL6180x_UPSCALE_SUPPORT
- #define max_scaling VL6180x_UPSCALE_SUPPORT
-#endif
-
- if( scaling>=min_scaling && scaling<= max_scaling ){
-
- Scaler = ScalerLookUP[scaling-1];
- status = VL6180x_WrWord(dev, RANGE_SCALER, Scaler);
- _SetUpscale(dev, scaling );
-
- /* Apply scaling on part-2-part offset */
- Offset = VL6180xDevDataGet(dev, Part2PartOffsetNVM)/scaling;
- status = VL6180x_WrByte(dev, SYSRANGE_PART_TO_PART_RANGE_OFFSET, Offset);
-#if ! VL6180x_EXTENDED_RANGE
- if( status ==0 ){
- status = VL6180x_RangeSetEceState(dev, scaling == 1); /* enable ece only at 1x scaling */
- }
- if( status == 0 && !VL6180x_EXTENDED_RANGE && scaling!=1 ){
- status = NOT_GUARANTEED ;
- }
-#endif
- }
- else{
- status = INVALID_PARAMS;
- }
-#undef min_scaling
-#undef max_scaling
- LOG_FUNCTION_END(status);
- return status;
-}
-
-
-int VL6180X::VL6180x_UpscaleGetScaling(VL6180xDev_t dev)
-{
- int status;
- LOG_FUNCTION_START("");
- status=_GetUpscale(dev );
- LOG_FUNCTION_END(status);
-
- return status;
-}
-
-
-int VL6180X::VL6180x_UpscaleStaticInit(VL6180xDev_t dev)
-{
- /* todo make these a fail macro in case only 1x is suppoted */
- int status;
-
- LOG_FUNCTION_START("");
- do{
- status=VL6180x_UpscaleRegInit(dev);
- if( status){
- VL6180x_ErrLog("regInit fail");
- break;
- }
-#if VL6180x_EXTENDED_RANGE
- status = VL6180x_RangeSetEceState(dev, 0);
- if( status){
- VL6180x_ErrLog("VL6180x_RangeSetEceState fail");
- break;
- }
-#endif
- } while(0);
- if( !status){
- /* must write the scaler at least once to the device to ensure the scaler is in a known state. */
- status=VL6180x_UpscaleSetScaling(dev, _GetUpscale(dev));
- VL6180x_WrByte( dev, SYSTEM_FRESH_OUT_OF_RESET, 0x00); /* change fresh out of set status to 0 */
- }
- LOG_FUNCTION_END(status);
- return status;
-}
-
-
-int VL6180X::VL6180x_SetGPIOxPolarity(VL6180xDev_t dev, int pin, int active_high)
-{
- int status;
- LOG_FUNCTION_START("%d %d",(int) pin, (int)active_high);
-
- if( pin ==0 || pin ==1 ){
- uint16_t RegIndex;
- uint8_t DataSet;
- if( pin==0 )
- RegIndex= SYSTEM_MODE_GPIO0;
- else
- RegIndex= SYSTEM_MODE_GPIO1;
-
- if (active_high )
- DataSet = GPIOx_POLARITY_SELECT_MASK;
- else
- DataSet = 0;
-
- status = VL6180x_UpdateByte(dev, RegIndex, (uint8_t)~GPIOx_POLARITY_SELECT_MASK, DataSet);
- }
- else{
- VL6180x_ErrLog("Invalid pin param %d", (int)pin);
- status = INVALID_PARAMS;
- }
-
- LOG_FUNCTION_END(status);
-
- return status;
-}
-
-int VL6180X::VL6180x_SetGPIOxFunctionality(VL6180xDev_t dev, int pin, uint8_t functionality)
-{
- int status;
-
- LOG_FUNCTION_START("%d %d",(int) pin, (int)functionality);
-
- if( ((pin ==0) || (pin ==1)) && IsValidGPIOFunction(functionality) ){
- uint16_t RegIndex;
-
- if( pin==0 )
- RegIndex= SYSTEM_MODE_GPIO0;
- else
- RegIndex= SYSTEM_MODE_GPIO1;
-
- status = VL6180x_UpdateByte(dev, RegIndex, (uint8_t)~GPIOx_FUNCTIONALITY_SELECT_MASK, functionality<<GPIOx_FUNCTIONALITY_SELECT_SHIFT);
- if( status){
- VL6180x_ErrLog("Update SYSTEM_MODE_GPIO%d fail", (int)pin);
- }
- }
- else{
- VL6180x_ErrLog("Invalid pin %d or function %d", (int)pin, (int) functionality);
- status = INVALID_PARAMS;
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-
-int VL6180X::VL6180x_SetupGPIOx(VL6180xDev_t dev, int pin, uint8_t IntFunction, int ActiveHigh)
-{
- int status;
-
- LOG_FUNCTION_START("%d %d",(int) pin, (int)IntFunction);
-
- if( ((pin ==0) || (pin ==1)) && IsValidGPIOFunction(IntFunction) ){
- uint16_t RegIndex;
- uint8_t value=0;
-
- if( pin==0 )
- RegIndex= SYSTEM_MODE_GPIO0;
- else
- RegIndex= SYSTEM_MODE_GPIO1;
-
- if( ActiveHigh )
- value|=GPIOx_POLARITY_SELECT_MASK;
-
- value |= IntFunction<<GPIOx_FUNCTIONALITY_SELECT_SHIFT;
- status = VL6180x_WrByte(dev, RegIndex, value);
- if( status ){
- VL6180x_ErrLog("SYSTEM_MODE_GPIO%d wr fail", (int)pin-SYSTEM_MODE_GPIO0);
- }
- }
- else{
- VL6180x_ErrLog("Invalid pin %d or function %d", (int)pin, (int) IntFunction);
- status = INVALID_PARAMS;
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-
-int VL6180X::VL6180x_DisableGPIOxOut(VL6180xDev_t dev, int pin) {
- int status;
-
- LOG_FUNCTION_START("%d",(int)pin);
-
- status=VL6180x_SetGPIOxFunctionality(dev, pin, GPIOx_SELECT_OFF);
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-
-int VL6180X::VL6180x_SetupGPIO1(VL6180xDev_t dev, uint8_t IntFunction, int ActiveHigh)
-{
- int status;
- LOG_FUNCTION_START("%d %d",(int)IntFunction, (int)ActiveHigh );
- status=VL6180x_SetupGPIOx(dev, 1 , IntFunction, ActiveHigh);
- LOG_FUNCTION_END(status);
- return status;
-}
-
-int VL6180X::VL6180x_RangeConfigInterrupt(VL6180xDev_t dev, uint8_t ConfigGpioInt)
-{
- int status;
-
- if( ConfigGpioInt<= CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY){
- status = VL6180x_UpdateByte(dev, SYSTEM_INTERRUPT_CONFIG_GPIO, (uint8_t)(~CONFIG_GPIO_RANGE_MASK), ConfigGpioInt);
- }
- else{
- VL6180x_ErrLog("Invalid config mode param %d", (int)ConfigGpioInt);
- status = INVALID_PARAMS;
- }
- LOG_FUNCTION_END(status);
- return status;
-}
-
-
-int VL6180X::VL6180x_RangeSetEceFactor(VL6180xDev_t dev, uint16_t FactorM, uint16_t FactorD){
- int status;
- uint8_t u8;
-
- LOG_FUNCTION_START("%d %d", (int)FactorM, (int)FactorD );
- do{
- /* D cannot be 0 M must be <=D and >= 0 */
- if( FactorM <= FactorD && FactorD> 0){
- VL6180xDevDataSet(dev, EceFactorM, FactorM);
- VL6180xDevDataSet(dev, EceFactorD, FactorD);
- /* read and re-apply max conv time to get new ece factor set */
- status = VL6180x_RdByte(dev, SYSRANGE_MAX_CONVERGENCE_TIME, &u8);
- if( status){
- VL6180x_ErrLog("SYSRANGE_MAX_CONVERGENCE_TIME rd fail ");
- break;
- }
- status = VL6180x_RangeSetMaxConvergenceTime(dev, u8);
- if( status <0 ){
- VL6180x_ErrLog("fail to apply time after ece m/d change");
- break;
- }
- }
- else{
- VL6180x_ErrLog("invalid factor %d/%d", (int)FactorM, (int)FactorD );
- status = INVALID_PARAMS;
- }
- }
- while(0);
- LOG_FUNCTION_END(status);
- return status;
-}
-
-int VL6180X::VL6180x_RangeSetEceState(VL6180xDev_t dev, int enable ){
- int status;
- uint8_t or_mask;
-
- LOG_FUNCTION_START("%d", (int)enable);
- if( enable )
- or_mask = RANGE_CHECK_ECE_ENABLE_MASK;
- else
- or_mask = 0;
-
- status =VL6180x_UpdateByte(dev, SYSRANGE_RANGE_CHECK_ENABLES, ~RANGE_CHECK_ECE_ENABLE_MASK, or_mask);
- LOG_FUNCTION_END(status);
- return status;
-}
-
-
-int VL6180X::VL6180x_RangeSetMaxConvergenceTime(VL6180xDev_t dev, uint8_t MaxConTime_msec)
-{
- int status = 0;
- LOG_FUNCTION_START("%d",(int)MaxConTime_msec);
- do{
- status=VL6180x_WrByte(dev, SYSRANGE_MAX_CONVERGENCE_TIME, MaxConTime_msec);
- if( status ){
- break;
- }
- status=VL6180x_RangeSetEarlyConvergenceEestimateThreshold(dev);
- if( status){
- break;
- }
- status = _DMax_InitData(dev);
- }
- while(0);
- LOG_FUNCTION_END(status);
- return status;
-}
-
-int VL6180X::VL6180x_RangeSetInterMeasPeriod(VL6180xDev_t dev, uint32_t InterMeasTime_msec){
- uint8_t SetTime;
- int status;
-
- LOG_FUNCTION_START("%d",(int)InterMeasTime_msec);
- do {
- if( InterMeasTime_msec > 2550 ){
- status = INVALID_PARAMS;
- break;
- }
- /* doc in not 100% clear and confusing about the limit practically all value are OK but 0
- * that can hang device in continuous mode */
- if( InterMeasTime_msec < 10 ) {
- InterMeasTime_msec=10;
- }
- SetTime=(uint8_t)(InterMeasTime_msec/10);
- status=VL6180x_WrByte(dev, SYSRANGE_INTERMEASUREMENT_PERIOD, SetTime);
- if( status ){
- VL6180x_ErrLog("SYSRANGE_INTERMEASUREMENT_PERIOD wr fail");
- }
- else
- if( SetTime != InterMeasTime_msec /10 ) {
- status = MIN_CLIPED; /* on success change status to clip if it did */
- }
- }while(0);
- LOG_FUNCTION_END(status);
- return status;
-}
-
-
-int VL6180X::VL6180x_RangeGetDeviceReady(VL6180xDev_t dev, int * Ready){
- int status;
- uint8_t u8;
- LOG_FUNCTION_START("%p", (int)Ready);
- status=VL6180x_RdByte(dev, RESULT_RANGE_STATUS, &u8);
- if( !status)
- *Ready = u8&RANGE_DEVICE_READY_MASK;
- LOG_FUNCTION_END_FMT(status,"%d", *Ready);
- return status;
-}
-
-
-int VL6180X::VL6180x_RangeWaitDeviceReady(VL6180xDev_t dev, int MaxLoop ){
- int status; /* if user specify an invalid <=0 loop count we'll return error */
- int n;
- uint8_t u8;
- LOG_FUNCTION_START("%d", (int)MaxLoop);
- if( MaxLoop<1){
- status=INVALID_PARAMS;
- }
- else{
- for( n=0; n < MaxLoop ; n++){
- status=VL6180x_RdByte(dev, RESULT_RANGE_STATUS, &u8);
- if( status)
- break;
- u8 = u8 & RANGE_DEVICE_READY_MASK;
- if( u8 )
- break;
-
- }
- if( !status && !u8 ){
- status = TIME_OUT;
- }
- }
- LOG_FUNCTION_END(status);
- return status;
-}
-
-int VL6180X::VL6180x_RangeSetSystemMode(VL6180xDev_t dev, uint8_t mode)
-{
- int status;
- LOG_FUNCTION_START("%d", (int)mode);
- /* FIXME we are not checking device is ready via @a VL6180x_RangeWaitDeviceReady
- * so if called back to back real fast we are not checking
- * if previous mode "set" got absorbed => bit 0 must be 0 so that it work
- */
- if( mode <= 3){
- status=VL6180x_WrByte(dev, SYSRANGE_START, mode);
- if( status ){
- VL6180x_ErrLog("SYSRANGE_START wr fail");
- }
- }
- else{
- status = INVALID_PARAMS;
- }
- LOG_FUNCTION_END(status);
- return status;
-}
-
-
-int VL6180X::VL6180x_RangeStartContinuousMode(VL6180xDev_t dev)
-{
- int status;
- LOG_FUNCTION_START("");
- status= VL6180x_RangeSetSystemMode(dev, MODE_START_STOP | MODE_CONTINUOUS);
- LOG_FUNCTION_END(status);
- return status;
-}
-
-int VL6180X::VL6180x_RangeStartSingleShot(VL6180xDev_t dev) {
- int status;
- LOG_FUNCTION_START("");
- status = VL6180x_RangeSetSystemMode(dev, MODE_START_STOP|MODE_SINGLESHOT);
- LOG_FUNCTION_END(status);
- return status;
-}
-
-
-int VL6180X::VL6180x_RangeSetEarlyConvergenceEestimateThreshold(VL6180xDev_t dev)
-{
- int status;
-
- const uint32_t cMicroSecPerMilliSec = 1000;
- const uint32_t cEceSampleTime_us = 500;
- uint32_t ece_factor_m = VL6180xDevDataGet(dev, EceFactorM);
- uint32_t ece_factor_d = VL6180xDevDataGet(dev, EceFactorD);
- uint32_t convergTime_us;
- uint32_t fineThresh;
- uint32_t eceThresh;
- uint8_t u8;
- uint32_t maxConv_ms;
- int32_t AveTime;
-
- LOG_FUNCTION_START("");
-
- do{
- status = VL6180x_RdByte(dev, SYSRANGE_MAX_CONVERGENCE_TIME, &u8);
- if( status ){
- VL6180x_ErrLog("SYSRANGE_MAX_CONVERGENCE_TIME rd fail");
- break;
- }
- maxConv_ms = u8;
- AveTime = _GetAveTotalTime(dev);
- if( AveTime <0 ){
- status=-1;
- break;
- }
-
- convergTime_us = maxConv_ms * cMicroSecPerMilliSec - AveTime;
- status = VL6180x_RdDWord(dev, 0xB8, &fineThresh);
- if( status ) {
- VL6180x_ErrLog("reg 0xB8 rd fail");
- break;
- }
- fineThresh*=256;
- eceThresh = ece_factor_m * cEceSampleTime_us * fineThresh/(convergTime_us * ece_factor_d);
-
- status=VL6180x_WrWord(dev, SYSRANGE_EARLY_CONVERGENCE_ESTIMATE, (uint16_t)eceThresh);
- }
- while(0);
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-/*
- * Return >0 = time
- * <0 1 if fail to get read data from device to compute time
- */
-int32_t VL6180X::_GetAveTotalTime(VL6180xDev_t dev) {
- uint32_t cFwOverhead_us = 24;
- uint32_t cVcpSetupTime_us = 70;
- uint32_t cPLL2_StartupDelay_us = 200;
- uint8_t cMeasMask = 0x07;
- uint32_t Samples;
- uint32_t SamplePeriod;
- uint32_t SingleTime_us;
- int32_t TotalAveTime_us;
- uint8_t u8;
- int status;
-
- LOG_FUNCTION_START("");
-
- status = VL6180x_RdByte(dev, 0x109, &u8);
- if (status) {
- VL6180x_ErrLog("rd 0x109 fail");
- return -1;
- }
- Samples = u8 & cMeasMask;
- status = VL6180x_RdByte(dev, READOUT_AVERAGING_SAMPLE_PERIOD, &u8);
- if (status) {
- VL6180x_ErrLog("i2c READOUT_AVERAGING_SAMPLE_PERIOD fail");
- return -1;
- }
- SamplePeriod = u8;
- SingleTime_us = cFwOverhead_us + cVcpSetupTime_us + (SamplePeriod * 10);
- TotalAveTime_us = (Samples + 1) * SingleTime_us + cPLL2_StartupDelay_us;
-
- LOG_FUNCTION_END(TotalAveTime_us);
- return TotalAveTime_us;
-}
-
-#if VL6180x_HAVE_DMAX_RANGING
-#define _GetDMaxDataRetSignalAt400mm(dev) VL6180xDevDataGet(dev, DMaxData.retSignalAt400mm)
-#else
-#define _GetDMaxDataRetSignalAt400mm(dev) 375 // Use a default high value
-#endif
-
-
-#if VL6180x_WRAP_AROUND_FILTER_SUPPORT
-
-#define FILTER_STDDEV_SAMPLES 6
-#define MIN_FILTER_STDDEV_SAMPLES 3
-#define MIN_FILTER_VALID_STDDEV_SAMPLES 3
-#define FILTER_INVALID_DISTANCE 65535
-
-#define _FilterData(field) VL6180xDevDataGet(dev, FilterData.field)
-/*
- * One time init
- */
-static int _filter_Init( VL6180xDev_t dev) {
- int i;
- _FilterData(MeasurementIndex) = 0;
-
- _FilterData(Default_ZeroVal) = 0;
- _FilterData(Default_VAVGVal) = 0;
- _FilterData(NoDelay_ZeroVal) = 0;
- _FilterData(NoDelay_VAVGVal) = 0;
- _FilterData(Previous_VAVGDiff) = 0;
-
- _FilterData(StdFilteredReads) = 0;
-
- for (i = 0; i < FILTER_NBOF_SAMPLES; i++) {
- _FilterData(LastTrueRange)[i] = FILTER_INVALID_DISTANCE;
- _FilterData(LastReturnRates)[i] = 0;
- }
- return 0;
-}
-
-
-static uint32_t _filter_StdDevDamper(uint32_t AmbientRate, uint32_t SignalRate, const uint32_t StdDevLimitLowLight, const uint32_t StdDevLimitLowLightSNR, const uint32_t StdDevLimitHighLight, const uint32_t StdDevLimitHighLightSNR) {
- uint32_t newStdDev;
- uint16_t SNR;
-
- if (AmbientRate > 0)
- SNR = (uint16_t) ((100 * SignalRate) / AmbientRate);
- else
- SNR = 9999;
-
- if (SNR >= StdDevLimitLowLightSNR) {
- newStdDev = StdDevLimitLowLight;
- } else {
- if (SNR <= StdDevLimitHighLightSNR)
- newStdDev = StdDevLimitHighLight;
- else {
- newStdDev = (uint32_t) (StdDevLimitHighLight + (SNR - StdDevLimitHighLightSNR) * (int) (StdDevLimitLowLight - StdDevLimitHighLight) / (StdDevLimitLowLightSNR - StdDevLimitHighLightSNR));
- }
- }
-
- return newStdDev;
-}
-
-
-/*
- * Return <0 on error
- */
-int32_t VL6180X::_filter_Start(VL6180xDev_t dev, uint16_t m_trueRange_mm, uint16_t m_rawRange_mm, uint32_t m_rtnSignalRate, uint32_t m_rtnAmbientRate, uint16_t errorCode) {
- int status;
- uint16_t m_newTrueRange_mm = 0;
-
- uint16_t i;
- uint16_t bypassFilter = 0;
-
- uint16_t registerValue;
-
- uint32_t register32BitsValue1;
- uint32_t register32BitsValue2;
-
- uint16_t ValidDistance = 0;
-
- uint16_t WrapAroundFlag = 0;
- uint16_t NoWrapAroundFlag = 0;
- uint16_t NoWrapAroundHighConfidenceFlag = 0;
-
- uint16_t FlushFilter = 0;
- uint32_t RateChange = 0;
-
- uint16_t StdDevSamples = 0;
- uint32_t StdDevDistanceSum = 0;
- uint32_t StdDevDistanceMean = 0;
- uint32_t StdDevDistance = 0;
- uint32_t StdDevRateSum = 0;
- uint32_t StdDevRateMean = 0;
- uint32_t StdDevRate = 0;
- uint32_t StdDevLimitWithTargetMove = 0;
-
- uint32_t VAVGDiff;
- uint32_t IdealVAVGDiff;
- uint32_t MinVAVGDiff;
- uint32_t MaxVAVGDiff;
-
- /* Filter Parameters */
- static const uint16_t ROMABLE_DATA WrapAroundLowRawRangeLimit = 60;
- static const uint32_t ROMABLE_DATA WrapAroundLowReturnRateLimit_ROM = 800; // Shall be adapted depending on crossTalk
- static const uint16_t ROMABLE_DATA WrapAroundLowRawRangeLimit2 = 165;
- static const uint32_t ROMABLE_DATA WrapAroundLowReturnRateLimit2_ROM = 180; // Shall be adapted depending on crossTalk and device sensitivity
-
- static const uint32_t ROMABLE_DATA WrapAroundLowReturnRateFilterLimit_ROM = 850; // Shall be adapted depending on crossTalk and device sensitivity
- static const uint16_t ROMABLE_DATA WrapAroundHighRawRangeFilterLimit = 350;
- static const uint32_t ROMABLE_DATA WrapAroundHighReturnRateFilterLimit_ROM = 1400; // Shall be adapted depending on crossTalk and device sensitivity
-
- static const uint32_t ROMABLE_DATA WrapAroundMaximumAmbientRateFilterLimit = 7500;
-
- /* Temporal filter data and flush values */
- static const uint32_t ROMABLE_DATA MinReturnRateFilterFlush = 75;
- static const uint32_t ROMABLE_DATA MaxReturnRateChangeFilterFlush = 50;
-
- /* STDDEV values and damper values */
-
- static const uint32_t ROMABLE_DATA StdDevLimitLowLight = 300;
- static const uint32_t ROMABLE_DATA StdDevLimitLowLightSNR = 30; /* 0.3 */
- static const uint32_t ROMABLE_DATA StdDevLimitHighLight = 2500;
- static const uint32_t ROMABLE_DATA StdDevLimitHighLightSNR = 5; /* 0.05 */
-
- static const uint32_t ROMABLE_DATA StdDevHighConfidenceSNRLimit = 8;
-
- static const uint32_t ROMABLE_DATA StdDevMovingTargetStdDevLimit = 90000;
-
- static const uint32_t ROMABLE_DATA StdDevMovingTargetReturnRateLimit = 3500;
- static const uint32_t ROMABLE_DATA StdDevMovingTargetStdDevForReturnRateLimit = 5000;
-
- static const uint32_t ROMABLE_DATA MAX_VAVGDiff = 1800;
-
- /* WrapAroundDetection variables */
- static const uint16_t ROMABLE_DATA WrapAroundNoDelayCheckPeriod = 2;
- static const uint16_t ROMABLE_DATA StdFilteredReadsIncrement = 2;
- static const uint16_t ROMABLE_DATA StdMaxFilteredReads = 4;
-
- uint32_t SignalRateDMax;
- uint32_t WrapAroundLowReturnRateLimit;
- uint32_t WrapAroundLowReturnRateLimit2;
- uint32_t WrapAroundLowReturnRateFilterLimit;
- uint32_t WrapAroundHighReturnRateFilterLimit;
-
- uint8_t u8, u8_2;
- uint32_t XTalkCompRate_KCps;
- uint32_t StdDevLimit = 300;
- uint32_t MaxOrInvalidDistance = 255*_GetUpscale(dev);
- /* #define MaxOrInvalidDistance (uint16_t) (255 * 3) */
-
- /* Check if distance is Valid or not */
- switch (errorCode) {
- case 0x0C:
- m_trueRange_mm = MaxOrInvalidDistance;
- ValidDistance = 0;
- break;
- case 0x0D:
- m_trueRange_mm = MaxOrInvalidDistance;
- ValidDistance = 1;
- break;
- case 0x0F:
- m_trueRange_mm = MaxOrInvalidDistance;
- ValidDistance = 1;
- break;
- default:
- if (m_rawRange_mm >= MaxOrInvalidDistance) {
- ValidDistance = 0;
- } else {
- ValidDistance = 1;
- }
- break;
- }
- m_newTrueRange_mm = m_trueRange_mm;
-
- XTalkCompRate_KCps = VL6180xDevDataGet(dev, XTalkCompRate_KCps );
-
-
- //Update signal rate limits depending on crosstalk
- SignalRateDMax = (uint32_t)_GetDMaxDataRetSignalAt400mm(dev) + XTalkCompRate_KCps;
- WrapAroundLowReturnRateLimit = WrapAroundLowReturnRateLimit_ROM + XTalkCompRate_KCps;
- WrapAroundLowReturnRateLimit2 = ((WrapAroundLowReturnRateLimit2_ROM * SignalRateDMax) / 312) + XTalkCompRate_KCps;
- WrapAroundLowReturnRateFilterLimit = ((WrapAroundLowReturnRateFilterLimit_ROM * SignalRateDMax) / 312) + XTalkCompRate_KCps;
- WrapAroundHighReturnRateFilterLimit = ((WrapAroundHighReturnRateFilterLimit_ROM * SignalRateDMax) / 312) + XTalkCompRate_KCps;
-
-
- /* Checks on low range data */
- if ((m_rawRange_mm < WrapAroundLowRawRangeLimit) && (m_rtnSignalRate < WrapAroundLowReturnRateLimit)) {
- m_newTrueRange_mm = MaxOrInvalidDistance;
- bypassFilter = 1;
- }
- if ((m_rawRange_mm < WrapAroundLowRawRangeLimit2) && (m_rtnSignalRate < WrapAroundLowReturnRateLimit2)) {
- m_newTrueRange_mm = MaxOrInvalidDistance;
- bypassFilter = 1;
- }
-
- /* Checks on Ambient rate level */
- if (m_rtnAmbientRate > WrapAroundMaximumAmbientRateFilterLimit) {
- /* Too high ambient rate */
- FlushFilter = 1;
- bypassFilter = 1;
- }
- /* Checks on Filter flush */
- if (m_rtnSignalRate < MinReturnRateFilterFlush) {
- /* Completely lost target, so flush the filter */
- FlushFilter = 1;
- bypassFilter = 1;
- }
- if (_FilterData(LastReturnRates)[0] != 0) {
- if (m_rtnSignalRate > _FilterData(LastReturnRates)[0])
- RateChange = (100 * (m_rtnSignalRate - _FilterData(LastReturnRates)[0])) / _FilterData(LastReturnRates)[0];
- else
- RateChange = (100 * (_FilterData(LastReturnRates)[0] - m_rtnSignalRate)) / _FilterData(LastReturnRates)[0];
- } else
- RateChange = 0;
- if (RateChange > MaxReturnRateChangeFilterFlush) {
- FlushFilter = 1;
- }
-/* TODO optimize filter using circular buffer */
- if (FlushFilter == 1) {
- _FilterData(MeasurementIndex) = 0;
- for (i = 0; i < FILTER_NBOF_SAMPLES; i++) {
- _FilterData(LastTrueRange)[i] = FILTER_INVALID_DISTANCE;
- _FilterData(LastReturnRates)[i] = 0;
- }
- } else {
- for (i = (uint16_t) (FILTER_NBOF_SAMPLES - 1); i > 0; i--) {
- _FilterData(LastTrueRange)[i] = _FilterData(LastTrueRange)[i - 1];
- _FilterData(LastReturnRates)[i] = _FilterData(LastReturnRates)[i - 1];
- }
- }
- if (ValidDistance == 1)
- _FilterData(LastTrueRange)[0] = m_trueRange_mm;
- else
- _FilterData(LastTrueRange)[0] = FILTER_INVALID_DISTANCE;
- _FilterData(LastReturnRates)[0] = m_rtnSignalRate;
-
- /* Check if we need to go through the filter or not */
- if (!(((m_rawRange_mm < WrapAroundHighRawRangeFilterLimit) && (m_rtnSignalRate < WrapAroundLowReturnRateFilterLimit)) || ((m_rawRange_mm >= WrapAroundHighRawRangeFilterLimit) && (m_rtnSignalRate < WrapAroundHighReturnRateFilterLimit))))
- bypassFilter = 1;
-
- /* Check which kind of measurement has been made */
- status = VL6180x_RdByte(dev, 0x01AC, &u8 );
- if( status ){
- VL6180x_ErrLog("0x01AC rd fail");
- goto done_err;
- }
- registerValue =u8;
-
- /* Read data for filtering */
- status = VL6180x_RdByte(dev, 0x10C, &u8 ); /* read only 8 lsb bits */
- if( status ){
- VL6180x_ErrLog("0x010C rd fail");
- goto done_err;
- }
- register32BitsValue1=u8;
- status = VL6180x_RdByte(dev, 0x0110, &u8); /* read only 8 lsb bits */
- if( status ){
- VL6180x_ErrLog("0x0110 rd fail");
- goto done_err;
- }
- register32BitsValue2 = u8;
-
- if (registerValue == 0x3E) {
- _FilterData(Default_ZeroVal) = register32BitsValue1;
- _FilterData(Default_VAVGVal) = register32BitsValue2;
- } else {
- _FilterData(NoDelay_ZeroVal) = register32BitsValue1;
- _FilterData(NoDelay_VAVGVal) = register32BitsValue2;
- }
-
- if (bypassFilter == 1) {
- /* Do not go through the filter */
- if (registerValue != 0x3E) {
- status = VL6180x_WrByte(dev, 0x1AC, 0x3E);
- if( status ){
- VL6180x_ErrLog("0x01AC bypass wr fail");
- goto done_err;
- }
- status = VL6180x_WrByte(dev, 0x0F2, 0x01);
- if( status ){
- VL6180x_ErrLog("0x0F2 bypass wr fail");
- goto done_err;
- }
- }
- /* Set both Default and NoDelay To same value */
- _FilterData(Default_ZeroVal) = register32BitsValue1;
- _FilterData(Default_VAVGVal) = register32BitsValue2;
- _FilterData(NoDelay_ZeroVal) = register32BitsValue1;
- _FilterData(NoDelay_VAVGVal) = register32BitsValue2;
- _FilterData(MeasurementIndex) = 0;
-
- return m_newTrueRange_mm;
- }
-
- if (_FilterData(MeasurementIndex) % WrapAroundNoDelayCheckPeriod == 0) {
- u8=0x3C;
- u8_2 = 0x05;
- } else {
- u8=0x3E;
- u8_2 = 0x01;
- }
- status = VL6180x_WrByte(dev, 0x01AC, u8);
- if( status ){
- VL6180x_ErrLog("0x01AC wr fail");
- goto done_err;
- }
- status = VL6180x_WrByte(dev, 0x0F2, u8_2);
- if( status ){
- VL6180x_ErrLog("0x0F2 wr fail");
- goto done_err;
- }
-
-
- _FilterData(MeasurementIndex)++;
-
- /* Computes current VAVGDiff */
- if (_FilterData(Default_VAVGVal) > _FilterData(NoDelay_VAVGVal))
- VAVGDiff = _FilterData(Default_VAVGVal) - _FilterData(NoDelay_VAVGVal);
- else
- VAVGDiff = 0;
- _FilterData(Previous_VAVGDiff) = VAVGDiff;
-
- /* Check the VAVGDiff */
- if (_FilterData(Default_ZeroVal) > _FilterData(NoDelay_ZeroVal))
- IdealVAVGDiff = _FilterData(Default_ZeroVal) - _FilterData(NoDelay_ZeroVal);
- else
- IdealVAVGDiff = _FilterData(NoDelay_ZeroVal) - _FilterData(Default_ZeroVal);
- if (IdealVAVGDiff > MAX_VAVGDiff)
- MinVAVGDiff = IdealVAVGDiff - MAX_VAVGDiff;
- else
- MinVAVGDiff = 0;
- MaxVAVGDiff = IdealVAVGDiff + MAX_VAVGDiff;
- if (VAVGDiff < MinVAVGDiff || VAVGDiff > MaxVAVGDiff) {
- WrapAroundFlag = 1;
- } else {
- /* Go through filtering check */
-
- /* StdDevLimit Damper on SNR */
- StdDevLimit = _filter_StdDevDamper(m_rtnAmbientRate, m_rtnSignalRate, StdDevLimitLowLight, StdDevLimitLowLightSNR, StdDevLimitHighLight, StdDevLimitHighLightSNR);
-
- /* Standard deviations computations */
- StdDevSamples = 0;
- StdDevDistanceSum = 0;
- StdDevDistanceMean = 0;
- StdDevDistance = 0;
- StdDevRateSum = 0;
- StdDevRateMean = 0;
- StdDevRate = 0;
- for (i = 0; (i < FILTER_NBOF_SAMPLES) && (StdDevSamples < FILTER_STDDEV_SAMPLES); i++) {
- if (_FilterData(LastTrueRange)[i] != FILTER_INVALID_DISTANCE) {
- StdDevSamples = (uint16_t) (StdDevSamples + 1);
- StdDevDistanceSum = (uint32_t) (StdDevDistanceSum + _FilterData(LastTrueRange)[i]);
- StdDevRateSum = (uint32_t) (StdDevRateSum + _FilterData(LastReturnRates)[i]);
- }
- }
- if (StdDevSamples > 0) {
- StdDevDistanceMean = (uint32_t) (StdDevDistanceSum / StdDevSamples);
- StdDevRateMean = (uint32_t) (StdDevRateSum / StdDevSamples);
- }
- /* TODO optimize shorten Std dev in aisngle loop computation using sum of x2 - (sum of x)2 */
- StdDevSamples = 0;
- StdDevDistanceSum = 0;
- StdDevRateSum = 0;
- for (i = 0; (i < FILTER_NBOF_SAMPLES) && (StdDevSamples < FILTER_STDDEV_SAMPLES); i++) {
- if (_FilterData(LastTrueRange)[i] != FILTER_INVALID_DISTANCE) {
- StdDevSamples = (uint16_t) (StdDevSamples + 1);
- StdDevDistanceSum = (uint32_t) (StdDevDistanceSum + (int) (_FilterData(LastTrueRange)[i] - StdDevDistanceMean) * (int) (_FilterData(LastTrueRange)[i] - StdDevDistanceMean));
- StdDevRateSum = (uint32_t) (StdDevRateSum + (int) (_FilterData(LastReturnRates)[i] - StdDevRateMean) * (int) (_FilterData(LastReturnRates)[i] - StdDevRateMean));
- }
- }
- if (StdDevSamples >= MIN_FILTER_STDDEV_SAMPLES) {
- StdDevDistance = (uint16_t) (StdDevDistanceSum / StdDevSamples);
- StdDevRate = (uint16_t) (StdDevRateSum / StdDevSamples);
- } else {
- StdDevDistance = 0;
- StdDevRate = 0;
- }
-
- /* Check Return rate standard deviation */
- if (StdDevRate < StdDevMovingTargetStdDevLimit) {
- if (StdDevSamples < MIN_FILTER_VALID_STDDEV_SAMPLES) {
- m_newTrueRange_mm = MaxOrInvalidDistance;
- } else {
- /* Check distance standard deviation */
- if (StdDevRate < StdDevMovingTargetReturnRateLimit)
- StdDevLimitWithTargetMove = StdDevLimit + (((StdDevMovingTargetStdDevForReturnRateLimit - StdDevLimit) * StdDevRate) / StdDevMovingTargetReturnRateLimit);
- else
- StdDevLimitWithTargetMove = StdDevMovingTargetStdDevForReturnRateLimit;
-
- if ((StdDevDistance * StdDevHighConfidenceSNRLimit) < StdDevLimitWithTargetMove) {
- NoWrapAroundHighConfidenceFlag = 1;
- } else {
- if (StdDevDistance < StdDevLimitWithTargetMove) {
- if (StdDevSamples >= MIN_FILTER_VALID_STDDEV_SAMPLES) {
- NoWrapAroundFlag = 1;
- } else {
- m_newTrueRange_mm = MaxOrInvalidDistance;
- }
- } else {
- WrapAroundFlag = 1;
- }
- }
- }
- } else {
- WrapAroundFlag = 1;
- }
- }
-
- if (m_newTrueRange_mm == MaxOrInvalidDistance) {
- if (_FilterData(StdFilteredReads) > 0)
- _FilterData(StdFilteredReads) = (uint16_t) (_FilterData(StdFilteredReads) - 1);
- } else {
- if (WrapAroundFlag == 1) {
- m_newTrueRange_mm = MaxOrInvalidDistance;
- _FilterData(StdFilteredReads) = (uint16_t) (_FilterData(StdFilteredReads) + StdFilteredReadsIncrement);
- if (_FilterData(StdFilteredReads) > StdMaxFilteredReads)
- _FilterData(StdFilteredReads) = StdMaxFilteredReads;
- } else {
- if (NoWrapAroundFlag == 1) {
- if (_FilterData(StdFilteredReads) > 0) {
- m_newTrueRange_mm = MaxOrInvalidDistance;
- if (_FilterData(StdFilteredReads) > StdFilteredReadsIncrement)
- _FilterData(StdFilteredReads) = (uint16_t) (_FilterData(StdFilteredReads) - StdFilteredReadsIncrement);
- else
- _FilterData(StdFilteredReads) = 0;
- }
- } else {
- if (NoWrapAroundHighConfidenceFlag == 1) {
- _FilterData(StdFilteredReads) = 0;
- }
- }
- }
- }
-
- return m_newTrueRange_mm;
- done_err:
- return -1;
-
- #undef MaxOrInvalidDistance
-}
-
-
-int VL6180X::_filter_GetResult(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData) {
- uint32_t m_rawRange_mm = 0;
- int32_t FilteredRange;
- const uint8_t scaler = _GetUpscale(dev);
- uint8_t u8;
- int status;
-
- do {
- status = VL6180x_RdByte(dev, RESULT_RANGE_RAW, &u8);
- if (status) {
- VL6180x_ErrLog("RESULT_RANGE_RAW rd fail");
- break;
- }
- m_rawRange_mm = u8;
-
- FilteredRange = _filter_Start(dev, pRangeData->range_mm, (m_rawRange_mm * scaler), pRangeData->rtnRate, pRangeData->rtnAmbRate, pRangeData->errorStatus);
- if( FilteredRange<0 ){
- status = -1;
- break;
- }
- pRangeData->FilteredData.range_mm= FilteredRange;
- pRangeData->FilteredData.rawRange_mm = m_rawRange_mm * scaler;
- } while (0);
- return status;
-}
-
-#undef _FilterData
-#undef FILTER_STDDEV_SAMPLES
-#undef MIN_FILTER_STDDEV_SAMPLES
-#undef MIN_FILTER_VALID_STDDEV_SAMPLES
-#undef FILTER_INVALID_DISTANCE
-
-#endif /* VL6180x_WRAP_AROUND_FILTER_SUPPORT */
-
-#ifdef VL6180x_HAVE_RATE_DATA
-
-int VL6180X::_GetRateResult(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData) {
- uint32_t m_rtnConvTime = 0;
- uint32_t m_rtnSignalRate = 0;
- uint32_t m_rtnAmbientRate = 0;
- uint32_t m_rtnSignalCount = 0;
- uint32_t m_rtnAmbientCount = 0;
- uint32_t m_refConvTime = 0;
- uint32_t cRtnSignalCountMax = 0x7FFFFFFF;
- uint32_t cDllPeriods = 6;
- uint32_t calcConvTime = 0;
-
- int status;
-
- do {
-
- status = VL6180x_RdDWord(dev, RESULT_RANGE_RETURN_SIGNAL_COUNT, &m_rtnSignalCount);
- if (status) {
- VL6180x_ErrLog("RESULT_RANGE_RETURN_SIGNAL_COUNT rd fail");
- break;
- }
- if (m_rtnSignalCount > cRtnSignalCountMax) {
- m_rtnSignalCount = 0;
- }
-
- status = VL6180x_RdDWord(dev, RESULT_RANGE_RETURN_AMB_COUNT, &m_rtnAmbientCount);
- if (status) {
- VL6180x_ErrLog("RESULT_RANGE_RETURN_AMB_COUNTrd fail");
- break;
- }
-
-
- status = VL6180x_RdDWord(dev, RESULT_RANGE_RETURN_CONV_TIME, &m_rtnConvTime);
- if (status) {
- VL6180x_ErrLog("RESULT_RANGE_RETURN_CONV_TIME rd fail");
- break;
- }
-
- status = VL6180x_RdDWord(dev, RESULT_RANGE_REFERENCE_CONV_TIME, &m_refConvTime);
- if (status) {
- VL6180x_ErrLog("RESULT_RANGE_REFERENCE_CONV_TIME rd fail");
- break;
- }
-
- pRangeData->rtnConvTime = m_rtnConvTime;
- pRangeData->refConvTime = m_refConvTime;
-
- calcConvTime = m_refConvTime;
- if (m_rtnConvTime > m_refConvTime) {
- calcConvTime = m_rtnConvTime;
- }
- if (calcConvTime == 0)
- calcConvTime = 63000;
-
- m_rtnSignalRate = (m_rtnSignalCount * 1000) / calcConvTime;
- m_rtnAmbientRate = (m_rtnAmbientCount * cDllPeriods * 1000) / calcConvTime;
-
- pRangeData->rtnRate = m_rtnSignalRate;
- pRangeData->rtnAmbRate = m_rtnAmbientRate;
-
-
- } while (0);
- return status;
-}
-#endif /* VL6180x_HAVE_RATE_DATA */
-
-
-int VL6180X::VL6180x_DMaxSetState(VL6180xDev_t dev, int state){
- int status;
- LOG_FUNCTION_START("%d", state);
-#if VL6180x_HAVE_DMAX_RANGING
- VL6180xDevDataSet(dev,DMaxEnable, state);
- if( state ){
- status = _DMax_InitData(dev);
- }
- else {
- status = 0;
- }
-#else
- status = NOT_SUPPORTED;
-#endif
- LOG_FUNCTION_END(status);
- return status;
-}
-
-int VL6180X::VL6180x_DMaxGetState(VL6180xDev_t dev){
- int status;
- LOG_FUNCTION_START("");
-#if VL6180x_HAVE_DMAX_RANGING
- status = VL6180xDevDataGet(dev,DMaxEnable);
-#else
- status = 0;
-#endif
- LOG_FUNCTION_END(status);
- return status;
-}
-
-
-#if VL6180x_HAVE_DMAX_RANGING
-
-#define _DMaxData(field) VL6180xDevDataGet(dev, DMaxData.field)
-/*
- * Convert fix point x.7 to KCpount per sec
- */
-
-#ifndef VL6180x_PLATFORM_PROVIDE_SQRT
-
-/*
- * 32 bit integer square root with not so bad precision (integer result) and is quite fast
- * see http://en.wikipedia.org/wiki/Methods_of_computing_square_roots
- */
-uint32_t VL6180x_SqrtUint32(uint32_t num) {
- uint32_t res = 0;
- uint32_t bit = 1 << 30; /* The second-to-top bit is set: 1 << 30 for 32 bits */
-
- /* "bit" starts at the highest power of four <= the argument. */
- while (bit > num)
- bit >>= 2;
-
- while (bit != 0) {
- if (num >= res + bit) {
- num -= res + bit;
- res = (res >> 1) + bit;
- }
- else
- res >>= 1;
- bit >>= 2;
- }
- return res;
-}
-#endif
-
-
-/* DMax one time init */
-void _DMax_OneTimeInit(VL6180xDev_t dev){
- _DMaxData(ambTuningWindowFactor_K)=DEF_AMBIENT_TUNING;
-}
-
-
-static uint32_t _DMax_RawValueAtRateKCps(VL6180xDev_t dev, int32_t rate){
- uint32_t snrLimit_K;
- int32_t DMaxSq;
- uint32_t RawDMax;
- DMaxFix_t retSignalAt400mm;
- uint32_t ambTuningWindowFactor_K;
-
-
- ambTuningWindowFactor_K = _DMaxData(ambTuningWindowFactor_K);
- snrLimit_K = _DMaxData(snrLimit_K);
- retSignalAt400mm = _DMaxData(retSignalAt400mm); /* 12 to 18 bits Kcps */
- if( rate > 0 ){
- DMaxSq = 400*400*1000 / rate -(400*400/330); /* K of (1/RtnAmb -1/330 )=> 30bit- (12-18)bit => 12-18 bits*/
- if( DMaxSq<= 0){
- RawDMax = 0;
- }
- else{
- /* value can be more 32 bit so base on raneg apply *retSignalAt400mm before or after division to presevr accuracy */
- if( DMaxSq< (2<<12) ){
- DMaxSq = DMaxSq*retSignalAt400mm/(snrLimit_K+ambTuningWindowFactor_K); /* max 12 + 12 to 18 -10 => 12-26 bit */
- }else{
- DMaxSq = DMaxSq/(snrLimit_K+ambTuningWindowFactor_K)*retSignalAt400mm; /* 12 to 18 -10 + 12 to 18 *=> 12-26 bit */
- }
- RawDMax=VL6180x_SqrtUint32(DMaxSq);
- }
- }
- else{
- RawDMax = 0x7FFFFFFF; /* bigest possibmle 32bit signed value */
- }
- return RawDMax;
-}
-
-/*
- * fetch static data from register to avoid re-read
- * precompute all intermediate constant and cliipings
- *
- * to be re-used/call on changes of :
- * 0x2A
- * SYSRANGE_MAX_AMBIENT_LEVEL_MULT
- * Dev Data XtalkComRate_KCPs
- * SYSRANGE_MAX_CONVERGENCE_TIME
- * SYSRANGE_RANGE_CHECK_ENABLES mask RANGE_CHECK_RANGE_ENABLE_MASK
- * range 0xb8-0xbb (0xbb)
- */
-int VL6180X::_DMax_InitData(VL6180xDev_t dev){
- int status, warning;
- uint8_t u8;
- uint16_t u16;
- uint32_t u32;
- uint32_t Reg2A_KCps;
- uint32_t RegB8;
- uint8_t MaxConvTime;
- uint32_t XTalkCompRate_KCps;
- uint32_t RangeIgnoreThreshold;
- int32_t minSignalNeeded;
- uint8_t SysRangeCheckEn;
- uint8_t snrLimit;
- warning=0;
-
- static const int ROMABLE_DATA MaxConvTimeAdjust=-4;
-
- LOG_FUNCTION_START("");
- do{
- status = VL6180x_RdByte(dev, 0x02A ,&u8);
- if( status ){
- VL6180x_ErrLog("Reg 0x02A rd fail");
- break;
- }
-
- if( u8 == 0 ) {
- warning = CALIBRATION_WARNING;
- u8 = 40; /* use a default average value */
- }
- Reg2A_KCps = Fix7_2_KCPs(u8); /* convert to KCPs */
-
- status = VL6180x_RdByte(dev, SYSRANGE_RANGE_CHECK_ENABLES, &SysRangeCheckEn);
- if (status) {
- VL6180x_ErrLog("SYSRANGE_RANGE_CHECK_ENABLES rd fail ");
- break;
- }
-
- status = VL6180x_RdByte(dev, SYSRANGE_MAX_CONVERGENCE_TIME, &MaxConvTime);
- if( status){
- VL6180x_ErrLog("SYSRANGE_MAX_CONVERGENCE_TIME rd fail ");
- break;
- }
-
- status = VL6180x_RdDWord(dev, 0x0B8, &RegB8);
- if( status ){
- VL6180x_ErrLog("reg 0x0B8 rd fail ");
- break;
- }
-
- status = VL6180x_RdByte(dev, SYSRANGE_MAX_AMBIENT_LEVEL_MULT, &snrLimit);
- if( status){
- VL6180x_ErrLog("SYSRANGE_MAX_AMBIENT_LEVEL_MULT rd fail ");
- break;
- }
- _DMaxData(snrLimit_K) = (int32_t)16*1000/snrLimit;
- XTalkCompRate_KCps = VL6180xDevDataGet(dev, XTalkCompRate_KCps );
-
- if( Reg2A_KCps >= XTalkCompRate_KCps){
- _DMaxData(retSignalAt400mm)=( Reg2A_KCps - XTalkCompRate_KCps);
- }
- else{
- _DMaxData(retSignalAt400mm)=0; /* Reg2A_K - XTalkCompRate_KCp <0 is invalid */
- }
-
- /* if xtalk range check is off omit it in snr clipping */
- if( SysRangeCheckEn&RANGE_CHECK_RANGE_ENABLE_MASK ){
- status = VL6180x_RdWord(dev, SYSRANGE_RANGE_IGNORE_THRESHOLD, &u16);
- if( status){
- VL6180x_ErrLog("SYSRANGE_RANGE_IGNORE_THRESHOLD rd fail ");
- break;
- }
- RangeIgnoreThreshold = Fix7_2_KCPs(u16);
- }
- else{
- RangeIgnoreThreshold = 0;
- }
-
- minSignalNeeded = (RegB8*256)/((int32_t)MaxConvTime+(int32_t)MaxConvTimeAdjust); /* KCps 8+8 bit -(1 to 6 bit) => 15-10 bit */
- /* minSignalNeeded = max ( minSignalNeeded, RangeIgnoreThreshold - XTalkCompRate_KCps) */
- if( minSignalNeeded <= RangeIgnoreThreshold - XTalkCompRate_KCps )
- minSignalNeeded = RangeIgnoreThreshold - XTalkCompRate_KCps;
-
- u32 = (minSignalNeeded*(uint32_t)snrLimit)/16;
- _DMaxData(ClipSnrLimit ) = _DMax_RawValueAtRateKCps(dev, u32 ); /* clip to dmax to min signal snr limit rate*/
- }
- while(0);
- if( !status )
- status = warning;
- LOG_FUNCTION_END(status);
- return status;
-}
-
-static int _DMax_Compute(VL6180xDev_t dev, VL6180x_RangeData_t *pRange){
- uint32_t rtnAmbRate;
- int32_t DMax;
- int scaling;
- uint16_t HwLimitAtScale;
- static const int ROMABLE_DATA rtnAmbLowLimit_KCps=330*1000;
-
- rtnAmbRate = pRange->rtnAmbRate;
- if( rtnAmbRate < rtnAmbLowLimit_KCps ){
- DMax = _DMax_RawValueAtRateKCps( dev, rtnAmbRate);
- scaling = _GetUpscale(dev);
- HwLimitAtScale=UpperLimitLookUP[scaling - 1];
-
- if( DMax > _DMaxData(ClipSnrLimit) ){
- DMax=_DMaxData(ClipSnrLimit);
- }
- if( DMax > HwLimitAtScale ){
- DMax=HwLimitAtScale;
- }
- pRange->DMax=DMax;
- }
- else{
- pRange->DMax = 0;
- }
- return 0;
-}
-
-#undef _DMaxData
-#undef Fix7_2_KCPs
-
-#endif /* VL6180x_HAVE_DMAX_RANGING */
-
-
-/******************************************************************************/
-/******************************************************************************/
-
-
-
-/****************** Write and read functions from I2C *************************/
-
-int VL6180X::VL6180x_WrByte(VL6180xDev_t dev, uint16_t index, uint8_t data)
-{
- int status;
-
- status=VL6180x_I2CWrite(dev->I2cAddr, index, &data,(uint8_t)1);
- return status;
-}
-
-int VL6180X::VL6180x_WrWord(VL6180xDev_t dev, uint16_t index, uint16_t data)
-{
- int status;
-
- status=VL6180x_I2CWrite(dev->I2cAddr, index, (uint8_t *)&data,(uint8_t)2);
- return status;
-}
-
-int VL6180X::VL6180x_WrDWord(VL6180xDev_t dev, uint16_t index, uint32_t data)
-{
- int status;
-
- status=VL6180x_I2CWrite(dev->I2cAddr, index, (uint8_t *)&data,(uint8_t)4);
- return status;
-}
-
-int VL6180X::VL6180x_RdByte(VL6180xDev_t dev, uint16_t index, uint8_t *data)
-{
- int status;
-
- uint8_t buffer=0;
- status=VL6180x_I2CRead(dev->I2cAddr, index, &buffer,1);
- if(!status)
- {
- *data=buffer;
- }
- return status;
-}
-
-int VL6180X::VL6180x_RdWord(VL6180xDev_t dev, uint16_t index, uint16_t *data)
-{
- int status;
-
- uint8_t buffer[2];
- buffer[0]=buffer[1]=0;
- status=VL6180x_I2CRead(dev->I2cAddr, index, buffer, 2);
- if(!status)
- {
- memcpy(data, buffer, 2);
- }
- return status;
-}
-
-int VL6180X::VL6180x_RdDWord(VL6180xDev_t dev, uint16_t index, uint32_t *data)
-{
- int status;
- uint8_t buffer[4];
- buffer[0]=buffer[1]=buffer[2]=buffer[3]=0;
- status=VL6180x_I2CRead(dev->I2cAddr, index, buffer,4);
- if(!status)
- {
- memcpy(data, buffer, 4);
- }
- return status;
-}
-
-int VL6180X::VL6180x_UpdateByte(VL6180xDev_t dev, uint16_t index, uint8_t AndData, uint8_t OrData)
-{
- int status;
- uint8_t buffer=0;
-
- status=VL6180x_I2CWrite(dev->I2cAddr, index, (uint8_t *)&buffer,(uint8_t)0);
- if(!status)
- {
- /* read data direct onto buffer */
- status=VL6180x_I2CRead(dev->I2cAddr, index, &buffer,1);
- if(!status)
- {
- buffer=(buffer & AndData)|OrData;
- status=VL6180x_I2CWrite(dev->I2cAddr, index, &buffer, (uint8_t)1);
- }
- }
- return status;
-}
-
-int VL6180X::VL6180x_I2CWrite(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t* pBuffer, uint16_t NumByteToWrite)
-{
- int ret;
- int i;
- uint8_t tmp[TEMP_BUF_SIZE];
- uint16_t myRegisterAddr = RegisterAddr;
- uint16_t WriteDeviceAddr=0;
-
- /* First, prepare 8 bits device address in 7bits i2ci format */
- WriteDeviceAddr=DeviceAddr*2;
- if(NumByteToWrite >= TEMP_BUF_SIZE) return -2;
-
- /* then prepare 16 bits register address in BE format. Then, send data and STOP condition */
- tmp[0] = *(((uint8_t*)&myRegisterAddr)+1);
- tmp[1] = (uint8_t)RegisterAddr;
-
- if(NumByteToWrite>1) /* swap data endianess */
- {
- for(i=0;i<NumByteToWrite;i++)
- {
- tmp[NumByteToWrite+sizeof(RegisterAddr)-1-i]=pBuffer[i];
- }
- }
- else
- {
- memcpy(tmp+sizeof(RegisterAddr), pBuffer, NumByteToWrite);
- }
- ret = dev_i2c.write(WriteDeviceAddr, (const char*)tmp, NumByteToWrite+sizeof(RegisterAddr), false);
-
- if(ret)
- return -1;
- return 0;
-}
-
-int VL6180X::VL6180x_I2CRead(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t* pBuffer, uint16_t NumByteToRead)
-{
- int ret,i;
- uint8_t tmp[TEMP_BUF_SIZE];
- uint16_t myRegisterAddr = RegisterAddr;
- uint16_t myRegisterAddrBE;
- uint16_t ReadDeviceAddr=DeviceAddr;
-
- ReadDeviceAddr=DeviceAddr*2;
- myRegisterAddrBE = *(((uint8_t*)&myRegisterAddr)+1);
- *(((uint8_t*)&myRegisterAddrBE)+1) = (uint8_t)myRegisterAddr;
-
- /* Send 8 bits device address and 16 bits register address in BE format, with no STOP condition */
- ret = dev_i2c.write(ReadDeviceAddr, (const char*)&myRegisterAddrBE, sizeof(RegisterAddr), true);
- if(!ret)
- {
- ReadDeviceAddr|=0x001;
- /* Read data, with STOP condition */
- ret = dev_i2c.read(ReadDeviceAddr, (char*)tmp, NumByteToRead, false);
- }
- if(ret)
- return -1;
-
- if(NumByteToRead>1) /* swap data endianess */
- {
- for(i=0;i<NumByteToRead;i++)
- {
- pBuffer[i] = tmp[NumByteToRead-1-i];
- }
- }
- else
- {
- memcpy(pBuffer, tmp, NumByteToRead);
- }
- return 0;
-}
-
-/******************************************************************************/
-
-int VL6180X::AlsSetThresholds(uint16_t lux_threshold_low, uint16_t lux_threshold_high)
-{
- uint32_t AlsAnGain, IntPeriod, AlsScaler, GainFix, RawAlsHigh, RawAlsLow;
- uint16_t RawThreshLow, RawThreshHigh;
- const uint32_t LuxResxIntIme =(uint32_t)(0.56f* DEF_INT_PEFRIOD *(1<<LUXRES_FIX_PREC));
- void *p_low;
- void *p_high;
-
- AlsAnGain=VL6180xDevDataGet(Device, AlsGainCode);
- IntPeriod=VL6180xDevDataGet(Device, IntegrationPeriod);
- AlsScaler=VL6180xDevDataGet(Device, AlsScaler);
- GainFix=AlsGainLookUp[AlsAnGain];
- IntPeriod++;
- RawAlsLow=lux_threshold_low*AlsScaler*GainFix;
- RawAlsLow=RawAlsLow*IntPeriod;
- RawAlsLow=RawAlsLow/LuxResxIntIme;
- RawAlsHigh=lux_threshold_high*(AlsScaler*GainFix);
- RawAlsHigh=RawAlsHigh*IntPeriod;
- RawAlsHigh=RawAlsHigh/LuxResxIntIme;
- p_low=&RawAlsLow;
- RawThreshLow=*(uint16_t*)p_low;
- p_high=&RawAlsHigh;
- RawThreshHigh=*(uint16_t*)p_high;
- return VL6180x_AlsSetThresholds(Device, RawThreshLow, RawThreshHigh);
-}
-
-
-int VL6180X::ReadID(uint8_t *id)
-{
- return VL6180x_RdByte(Device, IDENTIFICATION_MODEL_ID, id);
-}
-
-
-int VL6180X::StartMeasurement(OperatingMode operating_mode, void (*fptr)(void), uint16_t low, uint16_t high)
-{
- int status, r_status, l_status;
-
- switch(operating_mode)
- {
- case(range_single_shot_polling):
- r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
- l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- DisableGPIOxOut(1);
- if((!r_status)&&(!l_status))
- return RangeMeasPollSingleShot();
- else
- return (r_status|l_status);
-
- case(als_single_shot_polling):
- r_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
- l_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- DisableGPIOxOut(1);
- if((!r_status)&&(!l_status))
- return AlsMeasPollSingleShot();
- else
- return (r_status|l_status);
-
- case(range_continuous_polling):
- r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
- l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- return RangeMeasPollContinuousMode();
- else
- return (r_status|l_status);
-
- case(als_continuous_polling):
- r_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
- l_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- return AlsMeasPollContinuousMode();
- else
- return (r_status|l_status);
-
- case(range_continuous_interrupt):
- if (gpio1Int==NULL) return 1;
- r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
- l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- return RangeMeasIntContinuousMode(fptr);
- else
- return (r_status|l_status);
-
- case(als_continuous_interrupt):
- if (gpio1Int==NULL) return 1;
- l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
- r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- return AlsMeasIntContinuousMode(fptr);
- else
- return (r_status|l_status);
-
- case(interleaved_mode_interrupt):
- if (gpio1Int==NULL) return 1;
- l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY);
- r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- return InterleavedMode(fptr);
- else
- return (r_status|l_status);
-
- case(range_continuous_polling_low_threshold):
- r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_LOW);
- l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- {
- status=RangeSetLowThreshold(low);
- if(!status)
- return RangeMeasPollContinuousMode();
- else
- return status;
- }
- else
- return (r_status|l_status);
-
- case(range_continuous_polling_high_threshold):
- r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_HIGH);
- l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- {
- status=RangeSetHighThreshold(high);
- if(!status)
- return RangeMeasPollContinuousMode();
- else
- return status;
- }
- else
- return (r_status|l_status);
-
- case(range_continuous_polling_out_of_window):
- r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW);
- l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- {
- status=VL6180x_RangeSetThresholds(Device,low,high,1);
- if(!status)
- return RangeMeasPollContinuousMode();
- else
- return status;
- }
- else
- return (r_status|l_status);
-
- case(als_continuous_polling_low_threshold):
- l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_LOW);
- r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- {
- status=AlsSetLowThreshold(low);
- if(!status)
- return AlsMeasPollContinuousMode();
- else
- return status;
- }
- else
- return (r_status|l_status);
-
- case(als_continuous_polling_high_threshold):
- l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_HIGH);
- r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- {
- status=AlsSetHighThreshold(high);
- if(!status)
- return AlsMeasPollContinuousMode();
- else
- return status;
- }
- else
- return (r_status|l_status);
-
- case(als_continuous_polling_out_of_window):
- l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW);
- r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- {
- status=VL6180x_AlsSetThresholds(Device,low,high);
- if(!status)
- return AlsMeasPollContinuousMode();
- else
- return status;
- }
- else
- return (r_status|l_status);
-
- case(range_continuous_interrupt_low_threshold):
- if (gpio1Int==NULL) return 1;
- r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_LOW);
- l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- {
- status=RangeSetLowThreshold(low);
- if(!status)
- return RangeMeasIntContinuousMode(fptr);
- else
- return status;
- }
- else
- return (r_status|l_status);
-
- case(range_continuous_interrupt_high_threshold):
- if (gpio1Int==NULL) return 1;
- r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_HIGH);
- l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- {
- status=RangeSetHighThreshold(high);
- if(!status)
- return RangeMeasIntContinuousMode(fptr);
- else
- return status;
- }
- else
- return (r_status|l_status);
-
- case(range_continuous_interrupt_out_of_window):
- if (gpio1Int==NULL) return 1;
- r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW);
- l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- {
- status=VL6180x_RangeSetThresholds(Device,low,high,1);
- if(!status)
- return RangeMeasIntContinuousMode(fptr);
- else
- return status;
- }
- else
- return (r_status|l_status);
-
- case(als_continuous_interrupt_low_threshold):
- if (gpio1Int==NULL) return 1;
- l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_LOW);
- r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- {
- status=AlsSetLowThreshold(low);
- if(!status)
- return AlsMeasIntContinuousMode(fptr);
- else
- return status;
- }
- else
- return (r_status|l_status);
-
- case(als_continuous_interrupt_high_threshold):
- if (gpio1Int==NULL) return 1;
- l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_LEVEL_HIGH);
- r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- {
- status=AlsSetHighThreshold(high);
- if(!status)
- return AlsMeasIntContinuousMode(fptr);
- else
- return status;
- }
- else
- return (r_status|l_status);
-
- case(als_continuous_interrupt_out_of_window):
- if (gpio1Int==NULL) return 1;
- l_status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW);
- r_status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if((!r_status)&&(!l_status))
- {
- status=VL6180x_AlsSetThresholds(Device,low,high);
- if(!status)
- return AlsMeasIntContinuousMode(fptr);
- else
- return status;
- }
- else
- return (r_status|l_status);
-
- default:
- return INVALID_PARAMS;
- }
-}
-
-
-int VL6180X::GetRangeError(MeasureData_t *Data, VL6180x_RangeData_t RangeData)
-{
- Data->range_error=RangeData.errorStatus;
- if(Data->range_error!=0)
- {
- VL6180x_ErrLog("Range error %d",Data->range_error);
- return RANGE_ERROR;
- }
- return NoError_;
-}
-
-
-int VL6180X::GetAlsError(MeasureData_t *Data, VL6180x_AlsData_t AlsData)
-{
- Data->als_error=AlsData.errorStatus;
- if(Data->als_error!=0)
- {
- VL6180x_ErrLog("Light error %d",Data->light_error);
- return API_ERROR;
- }
- return NoError_;
-}
-
-
-int VL6180X::RangeMeasPollSingleShot()
-{
- int status;
-
- status=VL6180x_RangeClearInterrupt(Device);
- if(status)
- {
- VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
- return status;
- }
- status=VL6180x_ClearErrorInterrupt(Device);
- if(status)
- {
- VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
- return status;
- }
- return RangeStartSingleShot();
-}
-
-
-int VL6180X::AlsMeasPollSingleShot()
-{
- int status;
-
- status=VL6180x_AlsClearInterrupt(Device);
- if(status)
- {
- VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
- return status;
- }
- status=VL6180x_ClearErrorInterrupt(Device);
- if(status)
- {
- VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
- return status;
- }
- return AlsStartSingleShot();
-}
-
-
-int VL6180X::RangeMeasPollContinuousMode()
-{
- int status;
-
- status=VL6180x_RangeClearInterrupt(Device);
- if(status)
- {
- VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
- return status;
- }
- status=VL6180x_ClearErrorInterrupt(Device);
- if(status)
- {
- VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
- return status;
- }
- return RangeStartContinuousMode();
-}
-
-
-int VL6180X::AlsMeasPollContinuousMode()
-{
- int status;
-
- status=VL6180x_AlsClearInterrupt(Device);
- if(status)
- {
- VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
- return status;
- }
- status=VL6180x_ClearErrorInterrupt(Device);
- if(status)
- {
- VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
- return status;
- }
- return AlsStartContinuousMode();
-}
-
-
-int VL6180X::AlsGetMeasurementIfReady(VL6180xDev_t dev, VL6180x_AlsData_t *pAlsData)
-{
- int status;
- uint8_t IntStatus;
-
- status=VL6180x_AlsGetInterruptStatus(dev, &IntStatus);
- if(!status)
- {
- if(IntStatus==RES_INT_STAT_GPIO_NEW_SAMPLE_READY)
- {
- status = VL6180x_AlsGetMeasurement(dev, pAlsData);
- if(!status)
- {
- status=VL6180x_AlsClearInterrupt(Device);
- if(status)
- VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
- }
- }
- else
- status=NOT_READY;
- }
- else
- VL6180x_ErrLog("Failed to get interrupt status");
- return status;
-}
-
-
-int VL6180X::RangeMeasIntContinuousMode(void (*fptr)(void))
-{
- int status, ClrStatus;
-
- EnableInterruptMeasureDetectionIRQ();
- AttachInterruptMeasureDetectionIRQ(fptr);
- status=SetupGPIO1(GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT, 1);
- ClrStatus=VL6180x_ClearAllInterrupt(Device);
- if(ClrStatus)
- VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
- if(!status)
- status=RangeStartContinuousMode();
- return status;
-}
-
-
-int VL6180X::AlsMeasIntContinuousMode(void (*fptr)(void))
-{
- int status, ClrStatus;
-
- EnableInterruptMeasureDetectionIRQ();
- AttachInterruptMeasureDetectionIRQ(fptr);
- status=SetupGPIO1(GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT, 1);
- ClrStatus=VL6180x_ClearAllInterrupt(Device);
- if(ClrStatus)
- VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
- if(!status)
- status=AlsStartContinuousMode();
- return status;
-}
-
-
-int VL6180X::StartInterleavedMode()
-{
- int status;
- uint16_t integration_period, intermeasurement_period_ms;
- uint8_t max_convergence_time;
- uint8_t buf;
-
- status=VL6180x_WrByte(Device, 0x2A3, 1);
- if(status)
- {
- VL6180x_ErrLog("Failed to write INTERLEAVED_MODE_ENABLE!\n\r");
- return status;
- }
- status=VL6180x_RdByte(Device, SYSRANGE_MAX_CONVERGENCE_TIME, &max_convergence_time);
- if(status)
- {
- VL6180x_ErrLog("Failed to read SYSRANGE_MAX_CONVERGENCE_TIME!\n\r");
- return status;
- }
- status=VL6180x_RdWord(Device, SYSALS_INTEGRATION_PERIOD, &integration_period);
- if(status)
- {
- VL6180x_ErrLog("Failed to read SYSALS_INTEGRATION_PERIOD!\n\r");
- return status;
- }
- max_convergence_time&=0x3F;
- integration_period&=0x01FF;
- intermeasurement_period_ms=((max_convergence_time+5)+(integration_period*1.1));
- intermeasurement_period_ms=(intermeasurement_period_ms/0.9)+10;
- intermeasurement_period_ms=200;
- status=VL6180x_AlsSetInterMeasurementPeriod(Device, intermeasurement_period_ms);
- VL6180x_RdByte(Device, 0x03E, &buf);
- if(status)
- {
- VL6180x_ErrLog("Failed to write SYSALS_INTERMEASUREMENT_PERIOD!\n\r");
- return status;
- }
- return AlsStartContinuousMode();
-}
-
-
-int VL6180X::InterleavedMode(void (*fptr)(void))
-{
- int status, ClrStatus;
-
- EnableInterruptMeasureDetectionIRQ();
- AttachInterruptMeasureDetectionIRQ(fptr);
- status=SetupGPIO1(GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT, 1);
- ClrStatus=VL6180x_ClearAllInterrupt(Device);
- if(ClrStatus)
- VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
- if(!status)
- status=StartInterleavedMode();
- return status;
-}
-
-
-int VL6180X::HandleIRQ(OperatingMode operating_mode, MeasureData_t *Data)
-{
- int status;
- EnableInterruptMeasureDetectionIRQ();
- status=GetMeasurement(operating_mode, Data);
- return status;
-}
-
-
-int VL6180X::RangeSetLowThreshold(uint16_t threshold)
-{
- int status;
- uint16_t low, high;
-
- status=VL6180x_RangeGetThresholds(Device, &low, &high);
- if(!status)
- status=VL6180x_RangeSetThresholds(Device, threshold, high, 1);
- return status;
-}
-
-
-int VL6180X::RangeSetHighThreshold(uint16_t threshold)
-{
- int status;
- uint16_t low, high;
-
- status=VL6180x_RangeGetThresholds(Device, &low, &high);
- if(!status)
- status=VL6180x_RangeSetThresholds(Device, low, threshold, 1);
- return status;
-}
-
-
-int VL6180X::AlsSetLowThreshold(uint16_t threshold)
-{
- int status;
- lux_t low, high;
-
- status=AlsGetThresholds(Device, &low, &high);
- if(!status)
- status=VL6180x_AlsSetThresholds(Device, threshold, high);
- return status;
-}
-
-
-int VL6180X::AlsSetHighThreshold(uint16_t threshold)
-{
- int status;
- lux_t low, high;
-
- status=AlsGetThresholds(Device, &low, &high);
- if(!status)
- status=VL6180x_AlsSetThresholds(Device, low, threshold);
- return status;
-}
-
-
-int VL6180X::AlsGetThresholds(VL6180xDev_t dev, lux_t *low, lux_t *high)
-{
- int status;
- uint16_t RawAlsLow, RawAlsHigh;
- uint32_t luxLowValue, luxHighValue, IntPeriod, AlsAnGain, GainFix, AlsScaler;
- const uint32_t LuxResxIntIme =(uint32_t)(0.56f* DEF_INT_PEFRIOD *(1<<LUXRES_FIX_PREC));
-
- status=VL6180x_RdWord(dev, SYSALS_THRESH_LOW, &RawAlsLow);
- if(status)
- {
- VL6180x_ErrLog("rd SYSALS_THRESH_LOW fail");
- return status;
- }
- status=VL6180x_RdWord(dev, SYSALS_THRESH_HIGH, &RawAlsHigh);
- if(status)
- {
- VL6180x_ErrLog("rd SYSALS_THRESH_HIGH fail");
- return status;
- }
- AlsAnGain=VL6180xDevDataGet(dev, AlsGainCode);
- IntPeriod=VL6180xDevDataGet(dev, IntegrationPeriod);
- AlsScaler=VL6180xDevDataGet(dev, AlsScaler);
- GainFix=AlsGainLookUp[AlsAnGain];
- IntPeriod++;
- luxLowValue=(uint32_t)RawAlsLow*LuxResxIntIme;
- luxLowValue=luxLowValue/IntPeriod;
- luxLowValue=luxLowValue/(AlsScaler*GainFix);
- luxHighValue=(uint32_t)RawAlsHigh*LuxResxIntIme;
- luxHighValue=luxHighValue/IntPeriod;
- luxHighValue=luxHighValue/(AlsScaler*GainFix);
- *low=luxLowValue;
- *high=luxHighValue;
- return status;
-}
-
-
-int VL6180X::GetMeasurement(OperatingMode operating_mode, MeasureData_t *Data)
-{
- switch(operating_mode)
- {
- case(range_single_shot_polling):
- case(range_continuous_polling):
- case(range_continuous_interrupt):
- case(range_continuous_polling_low_threshold):
- case(range_continuous_polling_high_threshold):
- case(range_continuous_polling_out_of_window):
- case(range_continuous_interrupt_low_threshold):
- case(range_continuous_interrupt_high_threshold):
- case(range_continuous_interrupt_out_of_window):
- return GetRangeMeas(operating_mode, Data);
-
- case(als_single_shot_polling):
- case(als_continuous_polling):
- case(als_continuous_interrupt):
- case(als_continuous_polling_low_threshold):
- case(als_continuous_polling_high_threshold):
- case(als_continuous_polling_out_of_window):
- case(als_continuous_interrupt_low_threshold):
- case(als_continuous_interrupt_high_threshold):
- case(als_continuous_interrupt_out_of_window):
- return GetAlsMeas(operating_mode, Data);
-
- case(interleaved_mode_interrupt):
- return GetRangeAlsMeas(Data);
-
- default:
- return INVALID_PARAMS;
- }
-}
-
-
-int VL6180X::GetRangeMeas(OperatingMode operating_mode, MeasureData_t *Data)
-{
- VL6180x_RangeData_t RangeData;
- int status, ClrStatus;
- IntrStatus_t IntStatus;
-
- status=VL6180x_RangeGetInterruptStatus(Device, &IntStatus.val);
- if(!status)
- {
- Data->int_error=IntStatus.status.Error;
- if(IntStatus.status.Error!=0)
- {
- VL6180x_ErrLog("GPIO int Error report %d",(int)IntStatus.val);
- status=RANGE_ERROR;
- }
- }
- else
- {
- VL6180x_ErrLog("Failed to read RESULT_INTERRUPT_STATUS_GPIO");
- }
- ClrStatus=VL6180x_RangeClearInterrupt(Device);
- if(ClrStatus)
- {
- VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
- }
- ClrStatus=VL6180x_ClearErrorInterrupt(Device);
- if(ClrStatus)
- {
- VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
- }
- if(status)
- return status;
- if((operating_mode==range_single_shot_polling)||(operating_mode==range_continuous_polling)||(operating_mode==range_continuous_interrupt))
- {
- if(IntStatus.status.Range==RES_INT_STAT_GPIO_NEW_SAMPLE_READY)
- status=VL6180x_RangeGetMeasurement(Device, &RangeData);
- else
- return NOT_READY;
- }
- else if((operating_mode==range_continuous_polling_low_threshold)||(operating_mode==range_continuous_interrupt_low_threshold))
- {
- if(IntStatus.status.Range==RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD)
- status=VL6180x_RangeGetMeasurement(Device, &RangeData);
- else
- return NOT_READY;
- }
- else if((operating_mode==range_continuous_polling_high_threshold)||(operating_mode==range_continuous_interrupt_high_threshold))
- {
- if(IntStatus.status.Range==RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD)
- status=VL6180x_RangeGetMeasurement(Device, &RangeData);
- else
- return NOT_READY;
- }
- else if((operating_mode==range_continuous_polling_out_of_window)||(operating_mode==range_continuous_interrupt_out_of_window))
- {
- if(IntStatus.status.Range==RES_INT_STAT_GPIO_OUT_OF_WINDOW)
- status=VL6180x_RangeGetMeasurement(Device, &RangeData);
- else
- return NOT_READY;
- }
- if(!status)
- {
- status=GetRangeError(Data, RangeData);
- if(!status)
- Data->range_mm=RangeData.range_mm;
- else
- Data->range_mm=0xFFFFFFFF;
- }
- return status;
-}
-
-
-int VL6180X::GetAlsMeas(OperatingMode operating_mode, MeasureData_t *Data)
-{
- VL6180x_AlsData_t AlsData;
- int status, ClrStatus;
- uint8_t IntStatus;
-
- status=VL6180x_AlsGetInterruptStatus(Device, &IntStatus);
- if(status)
- {
- VL6180x_ErrLog("Failed to read RESULT_INTERRUPT_STATUS_GPIO");
- }
- ClrStatus=VL6180x_AlsClearInterrupt(Device);
- if(ClrStatus)
- {
- VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
- }
- ClrStatus=VL6180x_ClearErrorInterrupt(Device);
- if(ClrStatus)
- {
- VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
- }
- if(status)
- return status;
- if((operating_mode==als_single_shot_polling)||(operating_mode==als_continuous_polling)||(operating_mode==als_continuous_interrupt))
- {
- if(IntStatus==RES_INT_STAT_GPIO_NEW_SAMPLE_READY)
- status=VL6180x_AlsGetMeasurement(Device, &AlsData);
- else
- return NOT_READY;
- }
- else if((operating_mode==als_continuous_polling_low_threshold)||(operating_mode==als_continuous_interrupt_low_threshold))
- {
- if(IntStatus==RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD)
- status=VL6180x_AlsGetMeasurement(Device, &AlsData);
- else
- return NOT_READY;
- }
- else if((operating_mode==als_continuous_polling_high_threshold)||(operating_mode==als_continuous_interrupt_high_threshold))
- {
- if(IntStatus==RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD)
- status=VL6180x_AlsGetMeasurement(Device, &AlsData);
- else
- return NOT_READY;
- }
- else if((operating_mode==als_continuous_polling_out_of_window)||(operating_mode==als_continuous_interrupt_out_of_window))
- {
- if(IntStatus==RES_INT_STAT_GPIO_OUT_OF_WINDOW)
- status=VL6180x_AlsGetMeasurement(Device, &AlsData);
- else
- return NOT_READY;
- }
- if(!status)
- {
- status=GetAlsError(Data, AlsData);
- if(!status)
- Data->lux=AlsData.lux;
- else
- Data->lux=0xFFFFFFFF;
- }
- return status;
-}
-
-
-int VL6180X::GetRangeAlsMeas(MeasureData_t *Data)
-{
- int status, ClrStatus, r_status, l_status;
- IntrStatus_t IntStatus;
- VL6180x_RangeData_t RangeData;
- VL6180x_AlsData_t AlsData;
-
- status=VL6180x_RdByte(Device, RESULT_INTERRUPT_STATUS_GPIO, &IntStatus.val);
- if(!status)
- {
- Data->int_error=IntStatus.status.Error;
- if(IntStatus.status.Error!=0)
- {
- VL6180x_ErrLog("GPIO int Error report %d",(int)IntStatus.val);
- status=RANGE_ERROR;
- }
- }
- else
- {
- VL6180x_ErrLog("Failed to read RESULT_INTERRUPT_STATUS_GPIO");
- }
- ClrStatus=VL6180x_ClearAllInterrupt(Device);
- if(ClrStatus)
- VL6180x_ErrLog("VL6180x_ClearAllInterrupt fail");
- if(status)
- return status;
-
- if(IntStatus.status.Als==RES_INT_STAT_GPIO_NEW_SAMPLE_READY)
- {
- r_status=VL6180x_RangeGetMeasurement(Device, &RangeData);
- l_status=VL6180x_AlsGetMeasurement(Device, &AlsData);
- if((!r_status)&&(!l_status))
- {
- r_status=GetRangeError(Data, RangeData);
- l_status=GetAlsError(Data, AlsData);
- if(!r_status)
- Data->range_mm=RangeData.range_mm;
- else
- Data->range_mm=0xFFFFFFFF;
- if(!l_status)
- Data->lux=AlsData.lux;
- else
- Data->lux=0xFFFFFFFF;
- status=r_status|l_status;
- }
- else
- {
- status=r_status|l_status;
- }
- }
- else
- return NOT_READY;
- return status;
-}
-
-
-int VL6180X::StopMeasurement(OperatingMode operating_mode)
-{
- int status;
-
- switch(operating_mode)
- {
- case(range_single_shot_polling):
- case(range_continuous_polling):
- case(range_continuous_interrupt):
- case(range_continuous_polling_low_threshold):
- case(range_continuous_polling_high_threshold):
- case(range_continuous_polling_out_of_window):
- case(range_continuous_interrupt_low_threshold):
- case(range_continuous_interrupt_high_threshold):
- case(range_continuous_interrupt_out_of_window):
- return StopRangeMeasurement(operating_mode);
-
- case(als_single_shot_polling):
- case(als_continuous_polling):
- case(als_continuous_interrupt):
- case(als_continuous_polling_low_threshold):
- case(als_continuous_polling_high_threshold):
- case(als_continuous_polling_out_of_window):
- case(als_continuous_interrupt_low_threshold):
- case(als_continuous_interrupt_high_threshold):
- case(als_continuous_interrupt_out_of_window):
- return StopAlsMeasurement(operating_mode);
-
- case(interleaved_mode_interrupt):
- status=StopRangeMeasurement(range_continuous_interrupt);
- if(!status)
- return StopAlsMeasurement(als_continuous_interrupt);
- else return status;
-
- default:
- return INVALID_PARAMS;
- }
-}
-
-
-int VL6180X::IsPresent()
-{
- int status; uint8_t id;
-
- status=ReadID(&id);
- if(status)
- VL6180x_ErrLog("Failed to read ID device. Device not present!\n\r");
- return status;
-}
-
-
-int VL6180X::StopRangeMeasurement(OperatingMode operating_mode)
-{
- int status;
-
- if(operating_mode==range_single_shot_polling)
- status=VL6180x_RangeSetSystemMode(Device, MODE_SINGLESHOT);
- else
- status=VL6180x_RangeSetSystemMode(Device, MODE_START_STOP|MODE_SINGLESHOT);
- if(status)
- return status;
- status=VL6180x_RangeConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if(status)
- {
- VL6180x_ErrLog("VL6180x_RangeConfigInterrupt fail"\n\r);
- return status;
- }
- status=VL6180x_RangeClearInterrupt(Device);
- if(status)
- {
- VL6180x_ErrLog("VL6180x_RangeClearInterrupt fail");
- return status;
- }
- status=VL6180x_ClearErrorInterrupt(Device);
- if(status)
- {
- VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
- return status;
- }
- status=VL6180x_RangeSetRawThresholds(Device, 10, 200);
- if(status)
- VL6180x_ErrLog("VL6180x_RangeSetThresholds fail");
- return status;
-}
-
-
-int VL6180X::StopAlsMeasurement(OperatingMode operating_mode)
-{
- int status;
-
- if(operating_mode==als_single_shot_polling)
- status=VL6180x_AlsSetSystemMode(Device, MODE_SINGLESHOT);
- else
- status=VL6180x_AlsSetSystemMode(Device, MODE_START_STOP|MODE_SINGLESHOT);
- if(status)
- return status;
- status=VL6180x_AlsConfigInterrupt(Device, CONFIG_GPIO_INTERRUPT_DISABLED);
- if(status)
- {
- VL6180x_ErrLog("VL6180x_AlsConfigInterrupt fail"\n\r);
- return status;
- }
- status=VL6180x_AlsClearInterrupt(Device);
- if(status)
- {
- VL6180x_ErrLog("VL6180x_AlsClearInterrupt fail");
- return status;
- }
- status=VL6180x_ClearErrorInterrupt(Device);
- if(status)
- {
- VL6180x_ErrLog("VL6180x_ClearErrorInterrupt fail");
- return status;
- }
- status=VL6180x_AlsSetThresholds(Device, 0x0, 1800);
- if(status)
- VL6180x_ErrLog("VL6180x_AlsSetThresholds fail");
- return status;
-}
-
-
-
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
\ No newline at end of file