No errors; distance begin() completed

Added more constants that are required, along with adding more functionality for distance begin

Author: MadisonC-SparkFun

examples/Example04_PresenceBasicReadings/Example04_PresenceBasicReadings.ino

@@ -55,6 +55,7 @@ void setup()
 
     delay(200);
 
+    // Default start = 1000; Default stop = 5000
     int32_t sensorStartError = radarSensor.presenceDetectorStart();
     if(sensorStartError != 0)
     {
@@ -66,14 +67,28 @@ void setup()
       while(1); // Runs forever 
     }
 
+    // Test code below - delete once complete 
+    uint32_t startVal = 0;
+    uint32_t endVal = 0;
+    radarSensor.getPresenceStart(startVal);
+    radarSensor.getPresenceEnd(endVal);
+    Serial.print("Start Val: ");
+    Serial.println(startVal);
+    Serial.print("End Val: ");
+    Serial.println(endVal);
+
     delay(1000);
+    while(1);
 }
 
 void loop()
 {
+    radarSensor.setPresenceCommand(SFE_XM125_PRESENCE_START_DETECTOR);
     // If Presence is detected, then print out distance from device 
     radarSensor.getPresenceDetectorPresenceDetected(presenceDetected);
-    
+    Serial.print("Presence Detector flag: ");
+    Serial.println(presenceDetected);
+
     radarSensor.getPresenceDistance(distance);
     Serial.print("Presence detected at ");
     Serial.print(distance);

src/sfeQwiicXM125.cpp

@@ -50,6 +50,42 @@ bool QwDevXM125::begin(sfeTkII2C *theBus)
 
 int32_t QwDevXM125::distanceBegin()
 {
+    // Set start to 1000mm
+    if(setDistanceStart(1000) != 0)
+    {
+        return -1;
+    }
+    if(setDistanceEnd(5000) != 0)
+    {
+        return -2;
+    }
+
+    // Apply configuration
+    if(setPresenceCommand(SFE_XM125_DISTANCE_APPLY_CONFIGURATION) != 0)
+    {
+        return -3;
+    }
+
+    // Wait for configuration to be done
+    // Wait for configuration to be done
+    if(distanceBusyWait() != 0)
+    {
+      return -4;
+    }
+
+    // Start detector
+    if(setDistanceCommand(SFE_XM125_DISTANCE_START_DETECTOR) != 0)
+    {
+        return -5;
+    }
+
+    // Wait for configuration to be done
+        // Wait for configuration to be done
+    if(distanceBusyWait() != 0)
+    {
+      return -6;
+    }
+
     return 0;
 }
 
@@ -420,17 +456,16 @@ int32_t QwDevXM125::distanceBusyWait()
 
 // --------------------- I2C Presence Detector Functions ---------------------
 
-int32_t QwDevXM125::presenceDetectorStart()
+int32_t QwDevXM125::presenceDetectorStart(uint32_t start, uint32_t stop)
 {
-    Serial.println("Presence Sensor Start function");
     // Set Start to 1000mm
-    if(setPresenceStart(1000) != 0)
+    if(setPresenceStart(start) != 0)
     {
       return -1;
     }
 
     // Set end at 5000mm
-    if(setPresenceEnd(5000) != 0)
+    if(setPresenceEnd(stop) != 0)
     {
       return -2;
     }

src/sfeQwiicXM125.h

@@ -362,8 +362,10 @@ class QwDevXM125
 
         /// @brief This function sets all the beginning values for a basic I2C
         ///  example to be run on the device for presence sensing. 
+        /// @param start Value in mm to start, default 1000mm 
+        /// @param stop  Value in mm to stop, default 5000mm
         /// @return Error code (0 no error)
-        int32_t presenceDetectorStart();
+        int32_t presenceDetectorStart(uint32_t start = 1000, uint32_t stop = 5000);
 
         /// @brief This function returns the RSS version number     
         /// @param version Version number
@@ -768,7 +770,8 @@ class QwDevXM125
         int32_t presenceReset();
 
         /// @brief Completes a busy wait loop while the device is uploading
-        ///  information by waiting for the status
+        ///  information by waiting for the status. Checks the error status register
+        ///  to wait until errors are completed/gone
         /// @return Error code (0 no error) 
         int32_t presenceBusyWait();
 

src/sfeXM125Regs.h

@@ -224,6 +224,7 @@ typedef enum
     XM125_DISTANCE_RESET_MODULE = 1381192737,
 } sfe_xm125_distance_command_t;
 
+const uint32_t SFE_XM125_DISTANCE_APPLY_CONFIGURATION = 1;
 const uint32_t SFE_XM125_DISTANCE_START_DETECTOR = 2;
 const uint32_t SFE_XM125_DISTANCE_STOP_DETECTOR = 3;
 const uint32_t SFE_XM125_DISTANCE_RESET_MODULE = 1381192737;