AMiRo-OS

/*

AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2019  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU Lesser General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

/**

 * @file    alld_VL53L1X.c

 * @brief   ToF sensor function implementations.

 *

 * @addtogroup lld_vl53l1x

 * @{

 */

#include <alld_VL53L1X.h>

#include <vl53l1_api.h>

#include <string.h>

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/* LOCAL DEFINITIONS                                                          */

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/**

 * @brief   I2C communication timeout (in microseconds).

 * @details Cutsom values can be set via alldconf.h file.

 */

#if !defined(VL53L1X_LLD_I2C_TIMEOUT) || defined(__DOXYGEN__)

# define VL53L1X_LLD_I2C_TIMEOUT               ((apalTime_t)1000)

#endif

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/* EXPORTED VARIABLES                                                         */

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/* LOCAL TYPES                                                                */

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/* LOCAL VARIABLES                                                            */

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/* LOCAL FUNCTIONS                                                            */

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/* EXPORTED FUNCTIONS                                                         */

/******************************************************************************/

/* interface functions for ST API *********************************************/

/**

 * @brief   Initialization of communication interface (I2C).

 * @details Function not supported.

 *          Initialization must be done by OS or application instead.

 *

 * @param[in] pdev              VL53L1X device handle.

 * @param[in] comms_type        I2C speed class (?).

 * @param[in] comms_speed_khz   I2C transmission frequency.

 *

 * @return  Always returns VL53L1_ERROR_NOT_SUPPORTED.

 */

VL53L1_Error VL53L1_CommsInitialise(VL53L1_Dev_t *pdev, uint8_t comms_type, uint16_t comms_speed_khz)

{

  apalDbgAssert(pdev != NULL);

  (void)pdev;

  (void)comms_type;

  (void)comms_speed_khz;

  return VL53L1_ERROR_NOT_SUPPORTED;

}

/**

 * @brief   Deinitialization of communication interface (I2C).

 * @details Function not supported.

 *          Deinitialization must be done by OS or application instead.

 *

 * @param[in] pdev  VL53L1X device handle.

 *

 * @return  Always returns VL53L1_ERROR_NOT_SUPPORTED.

 */

VL53L1_Error VL53L1_CommsClose(VL53L1_Dev_t *pdev)

{

  apalDbgAssert(pdev != NULL);

  (void)pdev;

  return VL53L1_ERROR_NOT_SUPPORTED;

}

/**

 * @brief   Transmit multiple bytes of data via I2C.

 *

 * @param[in] pdev    Device handle.

 * @param[in] index   Register address to write to.

 * @param[in] pdata   Data buffer to be transmitted.

 * @param[in] count   Number of bytes to transmit.

 *

 * @return  Status indicating whether the call was successful.

 * @retval  VL53L1_ERROR_NONE       Transmission was successful.

 * @retval  VL53L1_ERROR_TIME_OUT   Transmission timed out.

 * @retval  VL53L1_ERROR_UNDEFINED  Transmission failed for some other reason.

 */

VL53L1_Error VL53L1_WriteMulti(VL53L1_Dev_t *pdev, uint16_t index, uint8_t *pdata, uint32_t count)

{

  apalDbgAssert(pdev != NULL);

  // prepare transmit buffer with prepended address bytes.

  uint8_t txbuf[sizeof(uint16_t) + count];

  txbuf[0] = index >> 8;

  txbuf[1] = index & 0xFF;

  memcpy(&txbuf[2], pdata, count);

  // transmit address and data

  apalExitStatus_t status = apalI2CMasterTransmit(pdev->Interface.i2cd, pdev->Interface.addr, txbuf, sizeof(txbuf), NULL, 0, VL53L1X_LLD_I2C_TIMEOUT);

  return (status == APAL_STATUS_OK || status > 0) ? VL53L1_ERROR_NONE :

         (status == APAL_STATUS_TIMEOUT) ? VL53L1_ERROR_TIME_OUT : VL53L1_ERROR_UNDEFINED;

}

/**

 * @brief   Read multiple bytes of data via I2C.

 *

 * @param[in]   pdev    Device handle.

 * @param[in]   index   Register address to read from.

 * @param[out]  pdata   Data buffer to store read data to.

 * @param[in]   count   Number of bytes to read.

 *

 * @return  Status indicating whether the call was successful.

 * @retval  VL53L1_ERROR_NONE       Transmission was successful.

 * @retval  VL53L1_ERROR_TIME_OUT   Transmission timed out.

 * @retval  VL53L1_ERROR_UNDEFINED  Transmission failed for some other reason.

 */

VL53L1_Error VL53L1_ReadMulti(VL53L1_Dev_t *pdev, uint16_t index, uint8_t *pdata, uint32_t count)

{

  apalDbgAssert(pdev != NULL);

  // prepare address buffer

  uint8_t txbuf[sizeof(uint16_t)] = {index >> 8, index & 0xFF};

  // transmit address and recieve data

  apalExitStatus_t status = apalI2CMasterTransmit(pdev->Interface.i2cd, pdev->Interface.addr, txbuf, sizeof(txbuf), pdata, count, VL53L1X_LLD_I2C_TIMEOUT);

  return (status == APAL_STATUS_OK || status > 0) ? VL53L1_ERROR_NONE :

         (status == APAL_STATUS_TIMEOUT) ? VL53L1_ERROR_TIME_OUT : VL53L1_ERROR_UNDEFINED;

}

/**

 * @brief   Transmit a single byte via I2C.

 *

 * @param[in] pdev              Device handle.

 * @param[in] index             Register address to write to.

 * @param[in] VL53L1_PRM_00005  Byte to transmit.

 *

 * @return  Status indicating whether the call was successful.

 * @retval  VL53L1_ERROR_NONE       Transmission was successful.

 * @retval  VL53L1_ERROR_TIME_OUT   Transmission timed out.

 * @retval  VL53L1_ERROR_UNDEFINED  Transmission failed for some other reason.

 */

VL53L1_Error VL53L1_WrByte(VL53L1_Dev_t *pdev, uint16_t index, uint8_t VL53L1_PRM_00005)

{

  apalDbgAssert(pdev != NULL);

  // prepare transmit buffer with prepended address bytes.

  uint8_t txbuf[sizeof(uint16_t) + sizeof(uint8_t)] = {index >> 8, index & 0xFF,

                                                       VL53L1_PRM_00005};

  // transmit address and data

  apalExitStatus_t status = apalI2CMasterTransmit(pdev->Interface.i2cd, pdev->Interface.addr, txbuf, sizeof(txbuf), NULL, 0, VL53L1X_LLD_I2C_TIMEOUT);

  return (status == APAL_STATUS_OK || status > 0) ? VL53L1_ERROR_NONE :

         (status == APAL_STATUS_TIMEOUT) ? VL53L1_ERROR_TIME_OUT : VL53L1_ERROR_UNDEFINED;

}

/**

 * @brief   Transmit a 16-bit data word via I2C.

 *

 * @param[in] pdev              Device handle.

 * @param[in] index             Register address to write to.

 * @param[in] VL53L1_PRM_00005  16-bit data word to transmit.

 *

 * @return  Status indicating whether the call was successful.

 * @retval  VL53L1_ERROR_NONE       Transmission was successful.

 * @retval  VL53L1_ERROR_TIME_OUT   Transmission timed out.

 * @retval  VL53L1_ERROR_UNDEFINED  Transmission failed for some other reason.

 */

VL53L1_Error VL53L1_WrWord(VL53L1_Dev_t *pdev, uint16_t index, uint16_t VL53L1_PRM_00005)

{

  apalDbgAssert(pdev != NULL);

  // prepare transmit buffer with prepended address bytes.

  uint8_t txbuf[sizeof(uint16_t) + sizeof(uint16_t)] = {index >> 8, index & 0xFF,

                                                        (VL53L1_PRM_00005 >> 8) & 0xFF,

                                                        (VL53L1_PRM_00005 >> 0) & 0xFF};

  // transmit address and data

  apalExitStatus_t status = apalI2CMasterTransmit(pdev->Interface.i2cd, pdev->Interface.addr, txbuf, sizeof(txbuf), NULL, 0, VL53L1X_LLD_I2C_TIMEOUT);

  return (status == APAL_STATUS_OK || status > 0) ? VL53L1_ERROR_NONE :

         (status == APAL_STATUS_TIMEOUT) ? VL53L1_ERROR_TIME_OUT : VL53L1_ERROR_UNDEFINED;

}

/**

 * @brief   Transmit a 32-bit data word via I2C.

 *

 * @param[in] pdev              Device handle.

 * @param[in] index             Register address to write to.

 * @param[in] VL53L1_PRM_00005  32-bit da