Commit ce2bb16

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test: increase ToF accurancy, return old value to prevent blocking behaviour

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Lines changed: 7 additions & 8 deletions

Original file line number	Diff line number	Diff line change
`@@ -391,7 +391,7 @@ class ModulinoDistance : public Module {`
`391`	`391`	`tof_sensor = new VL53L4CD((TwoWire*)getWire(), -1);`
`392`	`392`	`auto ret = tof_sensor->InitSensor();`
`393`	`393`	`if (ret == VL53L4CD_ERROR_NONE) {`
`394`		`- tof_sensor->VL53L4CD_SetRangeTiming(10, 0);`
	`394`	`+ tof_sensor->VL53L4CD_SetRangeTiming(200, 0);`
`395`	`395`	`tof_sensor->VL53L4CD_StartRanging();`
`396`	`396`	`return true;`
`397`	`397`	`} else {`
`@@ -406,16 +406,15 @@ class ModulinoDistance : public Module {`
`406`	`406`	`if (tof_sensor == nullptr) {`
`407`	`407`	`return NAN;`
`408`	`408`	`}`
`409`		`- VL53L4CD_Result_t results;`
`410`	`409`	`uint8_t NewDataReady = 0;`
`411`		`- uint8_t status;`
`412`		`- do {`
`413`		`- status = tof_sensor->VL53L4CD_CheckForDataReady(&NewDataReady);`
`414`		`- } while (!NewDataReady);`
`415`		`- tof_sensor->VL53L4CD_ClearInterrupt();`
`416`		`- tof_sensor->VL53L4CD_GetResult(&results);`
	`410`	`+ uint8_t status = tof_sensor->VL53L4CD_CheckForDataReady(&NewDataReady);`
	`411`	`+ if (NewDataReady) {`
	`412`	`+ tof_sensor->VL53L4CD_ClearInterrupt();`
	`413`	`+ tof_sensor->VL53L4CD_GetResult(&results);`
	`414`	`+ }`
`417`	`415`	`return results.distance_mm;`
`418`	`416`	`}`
`419`	`417`	`private:`
`420`	`418`	`VL53L4CD* tof_sensor = nullptr;`
	`419`	`+ VL53L4CD_Result_t results;`
`421`	`420`	`};`

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