Revision 12:f6e2bad00dc7, committed 2017-06-14

Comitter:

johnAlexander

Date:

Wed Jun 14 14:39:27 2017 +0000

Parent:

11:ceaa5a026412

Child:

13:615f7e38568c

Commit message:

Add ranging_continuous_interrupt support.

Changed in this revision

--- a/Components/VL53L0X/vl53l0x_class.cpp	Mon Jun 12 13:59:20 2017 +0000
+++ b/Components/VL53L0X/vl53l0x_class.cpp	Wed Jun 14 14:39:27 2017 +0000
@@ -4112,7 +4112,6 @@
 			Status = VL53L0X_ClearInterruptMask(Dev, 0);
 
 	}
-
 	LOG_FUNCTION_END(Status);
 	return Status;
 }
@@ -5152,9 +5151,30 @@
    }
    return status; 
 }
- 
- 
-
+
+int VL53L0X::RangeMeasIntContinuousMode(void (*fptr)(void))
+{
+   int status, ClrStatus;
+
+   status = VL53L0X_SetGpioConfig(Device, 0, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,
+		VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY,
+		VL53L0X_INTERRUPTPOLARITY_HIGH);
+   
+   if (!status)
+   {   
+	   	AttachInterruptMeasureDetectionIRQ(fptr);
+	    EnableInterruptMeasureDetectionIRQ();
+   }
+   	
+   ClrStatus=ClearInterrupt(VL53L0X_REG_RESULT_INTERRUPT_STATUS|VL53L0X_REG_RESULT_RANGE_STATUS);
+   if(ClrStatus)
+	   VL53L0X_ErrLog("VL53L0X_ClearErrorInterrupt fail\r\n");
+   if(!status)
+   {
+      status=RangeStartContinuousMode();
+   }
+   return status;
+}
 
 
 int VL53L0X::StartMeasurement(OperatingMode operating_mode, void (*fptr)(void))
@@ -5171,6 +5191,30 @@
 	uint8_t preRangeVcselPeriod = 14;
 	uint8_t finalRangeVcselPeriod = 10;
 
+    if (operating_mode == range_continuous_interrupt)
+    {
+        if (gpio1Int==NULL) 
+        {
+            printf ("GPIO1 Error\r\n");
+            return 1;
+        }
+        printf ("Setting up GPIO Config\r\n");
+        Status = VL53L0X_SetDeviceMode(Device, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING);
+        
+        if (Status == VL53L0X_ERROR_NONE) {
+        	Status = RangeConfigInterrupt(VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY);
+        }
+        if (Status == VL53L0X_ERROR_NONE) {
+            Status = RangeMeasIntContinuousMode(fptr);
+        }
+                        
+        if(Status == VL53L0X_ERROR_NONE)
+        {
+	        printf ("Call of VL53L0X_StartMeasurement\n");
+	        Status = VL53L0X_StartMeasurement(Device);
+        }        
+            return Status;
+    }
 
     if (operating_mode == range_single_shot_polling)
     {
@@ -5294,6 +5338,11 @@
         }
     }
 
+	if (operating_mode == range_continuous_interrupt)
+	{
+        Status = VL53L0X_GetRangingMeasurementData(Device, Data);
+        VL53L0X_ClearInterruptMask(Device, VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR | VL53L0X_REG_RESULT_INTERRUPT_STATUS);      
+	}
 
     return Status;
 }
@@ -5336,9 +5385,8 @@
 int VL53L0X::HandleIRQ(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *Data)
 {
    int status;
-    
+   status=GetMeasurement(operating_mode, Data);
    EnableInterruptMeasureDetectionIRQ();
-   status=GetMeasurement(operating_mode, Data);
    return status;
 }
      

--- a/Components/VL53L0X/vl53l0x_class.h	Mon Jun 12 13:59:20 2017 +0000
+++ b/Components/VL53L0X/vl53l0x_class.h	Wed Jun 14 14:39:27 2017 +0000
@@ -61,7 +61,7 @@
 #define STATUS_FAIL            0x01
 
 
-#define VL53L0X_OsDelay(...) wait_ms(2) // 2 msec delay. can also use wait(float secs)/wait_us(int)
+#define VL53L0X_OsDelay(...) HAL_Delay(2)
 
 #ifdef USE_EMPTY_STRING
 	#define  VL53L0X_STRING_DEVICE_INFO_NAME                             ""
@@ -584,8 +584,9 @@
  */		
     int RangeStartContinuousMode()
     {
-//       return VL6180x_RangeStartContinuousMode(Device);
-			return 1;
+		int status;
+		status = RangeSetSystemMode(VL53L0X_REG_SYSRANGE_MODE_START_STOP|VL53L0X_REG_SYSRANGE_MODE_BACKTOBACK);
+    	return status;
     }
 
 /**
@@ -733,8 +734,18 @@
  */
     int RangeConfigInterrupt(uint8_t ConfigGpioInt)
     {
-//       return VL6180x_RangeConfigInterrupt(Device, ConfigGpioInt);
-			return 1;
+    	int status;
+		 if( ConfigGpioInt<= VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY)
+		 {
+		 	status = VL53L0X_UpdateByte(Device, VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO, (uint8_t)(~(0x7<<0)), ConfigGpioInt);
+		 }
+		 else
+		 {
+		 	status = 1;
+		 }	
+		//       return VL6180x_RangeConfigInterrupt(Device, ConfigGpioInt);
+			
+		return status;
     }
 
 /**
@@ -986,9 +997,24 @@
  * @return      0 on success
  */		
     int RangeSetSystemMode(uint8_t mode)
-    {
+    {    	
+	    int status;
+	    /* 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=VL53L0X_WrByte(Device, VL53L0X_REG_SYSRANGE_START, mode);
+	        if( status ){
+	            VL53L0X_ErrLog("SYSRANGE_START wr fail");
+	        }
+	    }
+	    else{
+	        status = 1;
+	    }
+	    return status;    	
 //       return VL6180x_RangeSetSystemMode(Device, mode);
-			return 1;
+//			return 1;
     }
 
 /** @}  */ 
@@ -1056,8 +1082,7 @@
        if(!status)
           Device->I2cDevAddr=NewAddr;
        return status;
-			
-//			return 1;
+
     }
 
 /**
@@ -1146,8 +1171,9 @@
  */		
     int ClearInterrupt(uint8_t IntClear)
     {
+         int status = VL53L0X_WrByte(Device, VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR, IntClear);
 //       return VL6180x_ClearInterrupt(Device, IntClear );
-			return 1;
+	     return status;
     }
 
 /**