Revision 3ed0cc4d drivers/VL53L1X/v1/alld_VL53L1X.c
| drivers/VL53L1X/v1/alld_VL53L1X.c | ||
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/* |
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AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform. |
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Copyright (C) 2016..2019 Thomas Schöpping et al. |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU Lesser General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU Lesser General Public License for more details. |
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You should have received a copy of the GNU Lesser General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/** |
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* @file alld_VL53L1X.c |
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* @brief ToF sensor function implementations. |
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* |
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* @addtogroup lld_vl53l1x |
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* @{
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*/ |
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#include <alld_VL53L1X.h> |
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//#include "vl53l1_platform.h" |
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#include <vl53l1_api.h> |
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// #include "vl53l1_platform_log.h"
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#include <string.h>
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/******************************************************************************/ |
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/* LOCAL DEFINITIONS */ |
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/******************************************************************************/ |
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// #include "stm32xxx_hal.h" |
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#include <string.h> |
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/** |
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* @brief I2C communication timeout (in microseconds). |
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* @details Cutsom values can be set via alldconf.h file. |
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*/ |
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#if !defined(VL53L1X_LLD_I2C_TIMEOUT) || defined(__DOXYGEN__) |
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# define VL53L1X_LLD_I2C_TIMEOUT ((apalTime_t)1000) |
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#endif |
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/******************************************************************************/ |
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/* EXPORTED VARIABLES */ |
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/******************************************************************************/ |
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/******************************************************************************/ |
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/* LOCAL TYPES */ |
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/******************************************************************************/ |
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/******************************************************************************/ |
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/* LOCAL VARIABLES */ |
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/******************************************************************************/ |
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/******************************************************************************/ |
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/* LOCAL FUNCTIONS */ |
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/******************************************************************************/ |
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/******************************************************************************/ |
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/* EXPORTED FUNCTIONS */ |
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/******************************************************************************/ |
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/* interface functions for ST API *********************************************/ |
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apalExitStatus_t hello_world(void){
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return APAL_STATUS_OK; |
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/** |
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* @brief Initialization of communication interface (I2C). |
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* @details Function not supported. |
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* Initialization must be done by OS or application instead. |
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* |
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* @param[in] pdev VL53L1X device handle. |
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* @param[in] comms_type I2C speed class (?). |
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* @param[in] comms_speed_khz I2C transmission frequency. |
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* |
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* @return Always returns VL53L1_ERROR_NOT_SUPPORTED. |
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*/ |
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VL53L1_Error VL53L1_CommsInitialise(VL53L1_Dev_t *pdev, uint8_t comms_type, uint16_t comms_speed_khz) |
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{
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apalDbgAssert(pdev != NULL); |
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(void)pdev; |
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(void)comms_type; |
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(void)comms_speed_khz; |
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return VL53L1_ERROR_NOT_SUPPORTED; |
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} |
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/** |
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* @brief Set the GPIO1 to a specific state. |
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* @param[in] ledp The LED driver object. |
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* @param[in] led_state The state to set the LED to. |
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* @return An indicator whether the call was successful. |
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* @brief Deinitialization of communication interface (I2C). |
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* @details Function not supported. |
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* Deinitialization must be done by OS or application instead. |
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* |
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* @param[in] pdev VL53L1X device handle. |
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* |
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* @return Always returns VL53L1_ERROR_NOT_SUPPORTED. |
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*/ |
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apalExitStatus_t vl53l1x_GPIO1_set(const VL53L1XDriver* const vlx, const gpio_lld_state_t state)
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VL53L1_Error VL53L1_CommsClose(VL53L1_Dev_t *pdev)
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{
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apalDbgAssert(vlx != NULL); |
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return apalControlGpioSet(vlx->xshut, (state == GPIO_LLD_STATE_ON) ? APAL_GPIO_ON : APAL_GPIO_OFF); |
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apalDbgAssert(pdev != NULL); |
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(void)pdev; |
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return VL53L1_ERROR_NOT_SUPPORTED; |
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} |
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/** |
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* @brief Transmit multiple bytes of data via I2C. |
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* |
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* @param[in] pdev Device handle. |
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* @param[in] index Register address to write to. |
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* @param[in] pdata Data buffer to be transmitted. |
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* @param[in] count Number of bytes to transmit. |
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* |
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* @return Status indicating whether the call was successful. |
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* @retval VL53L1_ERROR_NONE Transmission was successful. |
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* @retval VL53L1_ERROR_TIME_OUT Transmission timed out. |
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* @retval VL53L1_ERROR_UNDEFINED Transmission failed for some other reason. |
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*/ |
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VL53L1_Error VL53L1_WriteMulti(VL53L1_Dev_t *pdev, uint16_t index, uint8_t *pdata, uint32_t count) |
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{
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apalDbgAssert(pdev != NULL); |
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// prepare transmit buffer with prepended address bytes. |
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uint8_t txbuf[sizeof(uint16_t) + count]; |
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txbuf[0] = index >> 8; |
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txbuf[1] = index & 0xFF; |
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memcpy(&txbuf[2], pdata, count); |
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// transmit address and data |
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apalExitStatus_t status = apalI2CMasterTransmit(pdev->Interface.i2cd, pdev->Interface.addr, txbuf, sizeof(txbuf), NULL, 0, VL53L1X_LLD_I2C_TIMEOUT); |
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return (status == APAL_STATUS_OK || status > 0) ? VL53L1_ERROR_NONE : |
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(status == APAL_STATUS_TIMEOUT) ? VL53L1_ERROR_TIME_OUT : VL53L1_ERROR_UNDEFINED; |
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} |
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/** |
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* @brief Read multiple bytes of data via I2C. |
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* |
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* @param[in] pdev Device handle. |
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* @param[in] index Register address to read from. |
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* @param[out] pdata Data buffer to store read data to. |
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* @param[in] count Number of bytes to read. |
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* |
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* @return Status indicating whether the call was successful. |
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* @retval VL53L1_ERROR_NONE Transmission was successful. |
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* @retval VL53L1_ERROR_TIME_OUT Transmission timed out. |
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* @retval VL53L1_ERROR_UNDEFINED Transmission failed for some other reason. |
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*/ |
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VL53L1_Error VL53L1_ReadMulti(VL53L1_Dev_t *pdev, uint16_t index, uint8_t *pdata, uint32_t count) |
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{
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apalDbgAssert(pdev != NULL); |
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// prepare address buffer |
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uint8_t txbuf[sizeof(uint16_t)] = {index >> 8, index & 0xFF};
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// #define I2C_TIME_OUT_BASE 10
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// #define I2C_TIME_OUT_BYTE 1
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// transmit address and recieve data
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apalExitStatus_t status = apalI2CMasterTransmit(pdev->Interface.i2cd, pdev->Interface.addr, txbuf, sizeof(txbuf), pdata, count, VL53L1X_LLD_I2C_TIMEOUT);
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// #ifdef VL53L1_LOG_ENABLE |
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// #define trace_print(level, ...) VL53L1_trace_print_module_function(VL53L1_TRACE_MODULE_PLATFORM, level, VL53L1_TRACE_FUNCTION_NONE, ##__VA_ARGS__) |
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// #define trace_i2c(...) VL53L1_trace_print_module_function(VL53L1_TRACE_MODULE_NONE, VL53L1_TRACE_LEVEL_NONE, VL53L1_TRACE_FUNCTION_I2C, ##__VA_ARGS__) |
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// #endif |
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return (status == APAL_STATUS_OK || status > 0) ? VL53L1_ERROR_NONE : |
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(status == APAL_STATUS_TIMEOUT) ? VL53L1_ERROR_TIME_OUT : VL53L1_ERROR_UNDEFINED; |
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} |
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// #ifndef HAL_I2C_MODULE_ENABLED |
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// #warning "HAL I2C module must be enable " |
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// #endif |
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/** |
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* @brief Transmit a single byte via I2C. |
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* |
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* @param[in] pdev Device handle. |
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* @param[in] index Register address to write to. |
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* @param[in] VL53L1_PRM_00005 Byte to transmit. |
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* |
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* @return Status indicating whether the call was successful. |
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* @retval VL53L1_ERROR_NONE Transmission was successful. |
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* @retval VL53L1_ERROR_TIME_OUT Transmission timed out. |
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* @retval VL53L1_ERROR_UNDEFINED Transmission failed for some other reason. |
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*/ |
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VL53L1_Error VL53L1_WrByte(VL53L1_Dev_t *pdev, uint16_t index, uint8_t VL53L1_PRM_00005) |
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{
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apalDbgAssert(pdev != NULL); |
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// prepare transmit buffer with prepended address bytes. |
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uint8_t txbuf[sizeof(uint16_t) + sizeof(uint8_t)] = {index >> 8, index & 0xFF,
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VL53L1_PRM_00005}; |
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//extern I2C_HandleTypeDef hi2c1;
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//#define VL53L0X_pI2cHandle (&hi2c1)
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// transmit address and data
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apalExitStatus_t status = apalI2CMasterTransmit(pdev->Interface.i2cd, pdev->Interface.addr, txbuf, sizeof(txbuf), NULL, 0, VL53L1X_LLD_I2C_TIMEOUT);
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/* when not customized by application define dummy one */ |
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// #ifndef VL53L1_GetI2cBus |
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/** This macro can be overloaded by user to enforce i2c sharing in RTOS context |
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return (status == APAL_STATUS_OK || status > 0) ? VL53L1_ERROR_NONE : |
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(status == APAL_STATUS_TIMEOUT) ? VL53L1_ERROR_TIME_OUT : VL53L1_ERROR_UNDEFINED; |
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} |
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/** |
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* @brief Transmit a 16-bit data word via I2C. |
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* |
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* @param[in] pdev Device handle. |
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* @param[in] index Register address to write to. |
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* @param[in] VL53L1_PRM_00005 16-bit data word to transmit. |
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* |
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* @return Status indicating whether the call was successful. |
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* @retval VL53L1_ERROR_NONE Transmission was successful. |
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* @retval VL53L1_ERROR_TIME_OUT Transmission timed out. |
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* @retval VL53L1_ERROR_UNDEFINED Transmission failed for some other reason. |
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*/ |
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// # define VL53L1_GetI2cBus(...) (void)0 |
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// #endif |
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VL53L1_Error VL53L1_WrWord(VL53L1_Dev_t *pdev, uint16_t index, uint16_t VL53L1_PRM_00005) |
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{
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apalDbgAssert(pdev != NULL); |
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// prepare transmit buffer with prepended address bytes. |
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uint8_t txbuf[sizeof(uint16_t) + sizeof(uint16_t)] = {index >> 8, index & 0xFF,
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(VL53L1_PRM_00005 >> 8) & 0xFF, |
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(VL53L1_PRM_00005 >> 0) & 0xFF}; |
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// #ifndef VL53L1_PutI2cBus |
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/** This macro can be overloaded by user to enforce i2c sharing in RTOS context |
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// transmit address and data |
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apalExitStatus_t status = apalI2CMasterTransmit(pdev->Interface.i2cd, pdev->Interface.addr, txbuf, sizeof(txbuf), NULL, 0, VL53L1X_LLD_I2C_TIMEOUT); |
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return (status == APAL_STATUS_OK || status > 0) ? VL53L1_ERROR_NONE : |
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(status == APAL_STATUS_TIMEOUT) ? VL53L1_ERROR_TIME_OUT : VL53L1_ERROR_UNDEFINED; |
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} |
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/** |
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* @brief Transmit a 32-bit data word via I2C. |
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* |
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* @param[in] pdev Device handle. |
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* @param[in] index Register address to write to. |
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* @param[in] VL53L1_PRM_00005 32-bit data word to transmit. |
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* |
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* @return Status indicating whether the call was successful. |
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* @retval VL53L1_ERROR_NONE Transmission was successful. |
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* @retval VL53L1_ERROR_TIME_OUT Transmission timed out. |
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* @retval VL53L1_ERROR_UNDEFINED Transmission failed for some other reason. |
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*/ |
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// # define VL53L1_PutI2cBus(...) (void)0 |
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// #endif |
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VL53L1_Error VL53L1_WrDWord(VL53L1_Dev_t *pdev,uint16_t index, uint32_t VL53L1_PRM_00005) |
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{
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apalDbgAssert(pdev != NULL); |
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// prepare transmit buffer with prepended address bytes. |
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uint8_t txbuf[sizeof(uint16_t) + sizeof(uint32_t)] = {index >> 8, index & 0xFF,
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(VL53L1_PRM_00005 >> 24) & 0xFF, |
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(VL53L1_PRM_00005 >> 16) & 0xFF, |
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(VL53L1_PRM_00005 >> 8) & 0xFF, |
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(VL53L1_PRM_00005 >> 0) & 0xFF}; |
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#define I2C_TIME_OUT_BASE 10
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#define I2C_TIME_OUT_BYTE 1
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// transmit address and data
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apalExitStatus_t status = apalI2CMasterTransmit(pdev->Interface.i2cd, pdev->Interface.addr, txbuf, sizeof(txbuf), NULL, 0, VL53L1X_LLD_I2C_TIMEOUT);
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uint8_t _I2CBuffer[256] = { 0 };
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uint8_t rx_buf[256];
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uint8_t tx_buf[256];
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return (status == APAL_STATUS_OK || status > 0) ? VL53L1_ERROR_NONE :
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(status == APAL_STATUS_TIMEOUT) ? VL53L1_ERROR_TIME_OUT : VL53L1_ERROR_UNDEFINED;
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}
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int _I2CWrite(VL53L1_DEV Dev, uint8_t *pdata, uint32_t count) {
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int status = 0; |
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int i2c_time_out = 1000 * (I2C_TIME_OUT_BASE + count * I2C_TIME_OUT_BYTE); |
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/** |
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* @brief Read a single byte via I2C. |
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* |
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* @param[in] pdev Device handle. |
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* @param[in] index Register address to read from. |
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* @param[out] pdata Single byte buffer to store the read data to. |
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* |
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* @return Status indicating whether the call was successful. |
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* @retval VL53L1_ERROR_NONE Transmission was successful. |
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* @retval VL53L1_ERROR_TIME_OUT Transmission timed out. |
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* @retval VL53L1_ERROR_UNDEFINED Transmission failed for some other reason. |
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*/ |
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VL53L1_Error VL53L1_RdByte(VL53L1_Dev_t *pdev, uint16_t index, uint8_t *pdata) |
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{
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apalDbgAssert(pdev != NULL); |
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apalExitStatus_t status2 = apalI2CMasterTransmit(Dev->vl53l1x.i2cd, Dev->vl53l1x.addr, pdata, count, rx_buf, 0, 100); |
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return status; |
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// prepare address buffer |
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uint8_t txbuf[sizeof(uint16_t)] = {index >> 8, index & 0xFF};
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// transmit address and recieve data |
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apalExitStatus_t status = apalI2CMasterTransmit(pdev->Interface.i2cd, pdev->Interface.addr, txbuf, sizeof(txbuf), pdata, 1, VL53L1X_LLD_I2C_TIMEOUT); |
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return (status == APAL_STATUS_OK || status > 0) ? VL53L1_ERROR_NONE : |
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(status == APAL_STATUS_TIMEOUT) ? VL53L1_ERROR_TIME_OUT : VL53L1_ERROR_UNDEFINED; |
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} |
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int _I2CRead(VL53L1_DEV Dev, uint8_t *pdata, uint32_t count) {
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int status = 0; |
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// apalI2CMasterReceive(Dev->vl53l1x->i2cd, Dev->vl53l1x->addr, uint8_t* const rxbuf, const size_t rxbytes, const apalTime_t timeout) |
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/** |
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* @brief Read a 16-bit data word via I2C. |
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* |
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* @param[in] pdev Device handle. |
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* @param[in] index Register address to read from. |
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* @param[out] pdata 16-bit buffer to store the read data to. |
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* |
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* @return Status indicating whether the call was successful. |
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* @retval VL53L1_ERROR_NONE Transmission was successful. |
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* @retval VL53L1_ERROR_TIME_OUT Transmission timed out. |
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* @retval VL53L1_ERROR_UNDEFINED Transmission failed for some other reason. |
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*/ |
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VL53L1_Error VL53L1_RdWord(VL53L1_Dev_t *pdev,uint16_t index, uint16_t *pdata) |
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{
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apalDbgAssert(pdev != NULL); |
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// prepare address buffer |
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uint8_t txbuf[sizeof(uint16_t)] = {index >> 8, index & 0xFF};
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// prepare receive buffer |
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uint8_t rxbuf[sizeof(uint16_t)]; |
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// transmit address and recieve data |
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apalExitStatus_t status = apalI2CMasterTransmit(pdev->Interface.i2cd, pdev->Interface.addr, txbuf, sizeof(txbuf), rxbuf, sizeof(rxbuf), VL53L1X_LLD_I2C_TIMEOUT); |
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// fill return value |
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*pdata = (((uint16_t)rxbuf[0]) << 8) & |
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(((uint16_t)rxbuf[1]) << 0); |
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| 79 | 300 |
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return status; |
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return (status == APAL_STATUS_OK || status > 0) ? VL53L1_ERROR_NONE : |
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(status == APAL_STATUS_TIMEOUT) ? VL53L1_ERROR_TIME_OUT : VL53L1_ERROR_UNDEFINED; |
|
| 81 | 303 |
} |
| 82 | 304 |
|
| 83 |
// TODO: Needs to be defined |
|
| 305 |
/** |
|
| 306 |
* @brief Read a 32-bit data word via I2C. |
|
| 307 |
* |
|
| 308 |
* @param[in] pdev Device handle. |
|
| 309 |
* @param[in] index Register address to read from. |
|
| 310 |
* @param[out] pdata 32-bit buffer to store the read data to. |
|
| 311 |
* |
|
| 312 |
* @return Status indicating whether the call was successful. |
|
| 313 |
* @retval VL53L1_ERROR_NONE Transmission was successful. |
|
| 314 |
* @retval VL53L1_ERROR_TIME_OUT Transmission timed out. |
|
| 315 |
* @retval VL53L1_ERROR_UNDEFINED Transmission failed for some other reason. |
|
| 316 |
*/ |
|
| 317 |
VL53L1_Error VL53L1_RdDWord(VL53L1_Dev_t *pdev,uint16_t index, uint32_t *pdata) |
|
| 318 |
{
|
|
| 319 |
apalDbgAssert(pdev != NULL); |
|
| 320 |
|
|
| 321 |
// prepare address buffer |
|
| 322 |
uint8_t txbuf[sizeof(uint16_t)] = {index >> 8, index & 0xFF};
|
|
| 323 |
// prepare receive buffer |
|
| 324 |
uint8_t rxbuf[sizeof(uint32_t)]; |
|
| 84 | 325 |
|
| 85 |
VL53L1_Error VL53L1_WriteMulti(VL53L1_DEV Dev, uint16_t index, uint8_t *pdata, uint32_t count) {
|
|
| 86 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
|
| 326 |
apalExitStatus_t status = apalI2CMasterTransmit(pdev->Interface.i2cd, pdev->Interface.addr, txbuf, sizeof(txbuf), rxbuf, sizeof(rxbuf), VL53L1X_LLD_I2C_TIMEOUT); |
|
| 87 | 327 |
|
| 88 |
return Status; |
|
| 328 |
// fill return value |
|
| 329 |
*pdata = (((uint32_t)rxbuf[0]) << 24) & |
|
| 330 |
(((uint32_t)rxbuf[1]) << 16) & |
|
| 331 |
(((uint32_t)rxbuf[2]) << 8) & |
|
| 332 |
(((uint32_t)rxbuf[3]) << 0); |
|
| 333 |
|
|
| 334 |
return (status == APAL_STATUS_OK || status > 0) ? VL53L1_ERROR_NONE : |
|
| 335 |
(status == APAL_STATUS_TIMEOUT) ? VL53L1_ERROR_TIME_OUT : VL53L1_ERROR_UNDEFINED; |
|
| 89 | 336 |
} |
| 90 | 337 |
|
| 91 |
// the ranging_sensor_comms.dll will take care of the page selection |
|
| 92 |
VL53L1_Error VL53L1_ReadMulti(VL53L1_DEV Dev, uint16_t index, uint8_t *pdata, uint32_t count) {
|
|
| 93 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
|
| 94 |
return Status; |
|
| 338 |
/** |
|
| 339 |
* @brief Wait for a specified amount of microseconds. |
|
| 340 |
* |
|
| 341 |
* @param[in] pdev Device handle. |
|
| 342 |
* @param[in] wait_us Time to wait in microsecnonds. |
|
| 343 |
* |
|
| 344 |
* @return Always returns VL53L1_ERROR_NONE. |
|
| 345 |
*/ |
|
| 346 |
VL53L1_Error VL53L1_WaitUs(VL53L1_Dev_t *pdev, int32_t wait_us) |
|
| 347 |
{
|
|
| 348 |
(void)pdev; |
|
| 349 |
|
|
| 350 |
apalSleep(wait_us); |
|
| 351 |
|
|
| 352 |
return VL53L1_ERROR_NONE; |
|
| 95 | 353 |
} |
| 96 | 354 |
|
| 97 |
VL53L1_Error VL53L1_WrByte(VL53L1_DEV Dev, uint16_t index, uint8_t data) {
|
|
| 98 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
|
| 99 |
// printf("Starting to write byte: %X\n", data);
|
|
| 100 |
int32_t status_int; |
|
| 355 |
/** |
|
| 356 |
* @brief Wait for a specified amount of milliseconds. |
|
| 357 |
* |
|
| 358 |
* @param[in] pdev Device handle. |
|
| 359 |
* @param[in] wait_ms Time to wait in milliseconds. |
|
| 360 |
* |
|
| 361 |
* @return Always returns VL53L1_ERROR_NONE. |
|
| 362 |
*/ |
|
| 363 |
VL53L1_Error VL53L1_WaitMs(VL53L1_Dev_t *pdev, int32_t wait_ms) |
|
| 364 |
{
|
|
| 365 |
(void)pdev; |
|
| 101 | 366 |
|
| 102 |
_I2CBuffer[0] = index>>8; |
|
| 103 |
_I2CBuffer[1] = index&0xFF; |
|
| 104 |
_I2CBuffer[2] = data; |
|
| 367 |
apalSleep(wait_ms * 1000); |
|
| 105 | 368 |
|
| 106 |
_I2CWrite(Dev, _I2CBuffer, 3); |
|
| 369 |
return VL53L1_ERROR_NONE; |
|
| 370 |
} |
|
| 107 | 371 |
|
| 108 |
return Status; |
|
| 372 |
/** |
|
| 373 |
* @brief Retrieve the frequency of a timer? |
|
| 374 |
* @details Function not supported since it is not used by the ST API. |
|
| 375 |
* @note Intention of this function is unknown as it is neither documented nor used by the ST API. |
|
| 376 |
* |
|
| 377 |
* @param[out] ptimer_freq_hz Buffer to store the timer frequency to. |
|
| 378 |
* |
|
| 379 |
* @return Always returns VL53L1_ERROR_NOT_SUPPORTED. |
|
| 380 |
*/ |
|
| 381 |
VL53L1_Error VL53L1_GetTimerFrequency(int32_t *ptimer_freq_hz) |
|
| 382 |
{
|
|
| 383 |
apalDbgAssert(ptimer_freq_hz != NULL); |
|
| 384 |
|
|
| 385 |
(void)ptimer_freq_hz; |
|
| 386 |
|
|
| 387 |
return VL53L1_ERROR_NOT_SUPPORTED; |
|
| 109 | 388 |
} |
| 110 | 389 |
|
| 111 |
VL53L1_Error VL53L1_WrWord(VL53L1_DEV Dev, uint16_t index, uint16_t data) {
|
|
| 112 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
|
| 113 |
return Status; |
|
| 390 |
/** |
|
| 391 |
* @brief Retrieve the current value of a timer? |
|
| 392 |
* @details Function not supported since it is not used by the ST API. |
|
| 393 |
* @note Intention of this function is unknown as it is neither documented nor used by the ST API. |
|
| 394 |
* |
|
| 395 |
* @param[out] ptimer_count Buffer to store the current timer value to. |
|
| 396 |
* |
|
| 397 |
* @return Always returns VL53L1_ERROR_NOT_SUPPORTED. |
|
| 398 |
*/ |
|
| 399 |
VL53L1_Error VL53L1_GetTimerValue(int32_t *ptimer_count) |
|
| 400 |
{
|
|
| 401 |
apalDbgAssert(ptimer_count != NULL); |
|
| 402 |
|
|
| 403 |
(void)ptimer_count; |
|
| 404 |
|
|
| 405 |
return VL53L1_ERROR_NOT_SUPPORTED; |
|
| 114 | 406 |
} |
| 115 | 407 |
|
| 116 |
VL53L1_Error VL53L1_WrDWord(VL53L1_DEV Dev, uint16_t index, uint32_t data) {
|
|
| 117 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
|
| 118 |
return Status; |
|
| 408 |
/** |
|
| 409 |
* @brief Set the mode for a GPIO. |
|
| 410 |
* @details Function not supported since it is not used by the ST API. |
|
| 411 |
* @note Intention of this function is unknown as it is neither documented nor used by the ST API. |
|
| 412 |
* |
|
| 413 |
* @param[in] pin GPIO pin to modify. |
|
| 414 |
* @param[in] mode Mode to set for the GPIO. |
|
| 415 |
* |
|
| 416 |
* @return Always returns VL53L1_ERROR_NOT_SUPPORTED. |
|
| 417 |
*/ |
|
| 418 |
VL53L1_Error VL53L1_GpioSetMode(uint8_t pin, uint8_t mode) |
|
| 419 |
{
|
|
| 420 |
(void)pin; |
|
| 421 |
(void)mode; |
|
| 422 |
|
|
| 423 |
return VL53L1_ERROR_NOT_SUPPORTED; |
|
| 119 | 424 |
} |
| 120 | 425 |
|
| 121 |
VL53L1_Error VL53L1_UpdateByte(VL53L1_DEV Dev, uint16_t index, uint8_t AndData, uint8_t OrData) {
|
|
| 122 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
|
| 123 |
return Status; |
|
| 426 |
/** |
|
| 427 |
* @brief Set the output value for a GPIO. |
|
| 428 |
* @details Function not supported since it is not used by the ST API. |
|
| 429 |
* @note Intention of this function is unknown as it is neither documented nor used by the ST API. |
|
| 430 |
* |
|
| 431 |
* @param[in] pin GPIO pin to set. |
|
| 432 |
* @param[in] value Value to set for the GPIO. |
|
| 433 |
* |
|
| 434 |
* @return Always returns VL53L1_ERROR_NOT_SUPPORTED. |
|
| 435 |
*/ |
|
| 436 |
VL53L1_Error VL53L1_GpioSetValue(uint8_t pin, uint8_t value) |
|
| 437 |
{
|
|
| 438 |
(void)pin; |
|
| 439 |
(void)value; |
|
| 440 |
|
|
| 441 |
return VL53L1_ERROR_NOT_SUPPORTED; |
|
| 124 | 442 |
} |
| 125 | 443 |
|
| 126 |
VL53L1_Error VL53L1_RdByte(VL53L1_DEV Dev, uint16_t index, uint8_t *data) {
|
|
| 127 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
|
| 128 |
|
|
| 129 |
uint8_t indx[2] = { index >> 8, index & 0xFF };
|
|
| 130 |
apalExitStatus_t status2 = apalI2CMasterTransmit(Dev->vl53l1x.i2cd, Dev->vl53l1x.addr, indx, 2, data, 1, 0); |
|
| 444 |
/** |
|
| 445 |
* @brief Read the input value of a GPIO. |
|
| 446 |
* @details Function not supported since it is not used by the ST API. |
|
| 447 |
* @note Intention of this function is unknown as it is neither documented nor used by the ST API. |
|
| 448 |
* |
|
| 449 |
* @param[in] pin GPIO pin to read. |
|
| 450 |
* @param[out] pvalue Buffer to write the read value to. |
|
| 451 |
* |
|
| 452 |
* @return Always returns VL53L1_ERROR_NOT_SUPPORTED. |
|
| 453 |
*/ |
|
| 454 |
VL53L1_Error VL53L1_GpioGetValue(uint8_t pin, uint8_t *pvalue) |
|
| 455 |
{
|
|
| 456 |
(void)pin; |
|
| 457 |
(void)pvalue; |
|
| 131 | 458 |
|
| 132 |
return Status;
|
|
| 459 |
return VL53L1_ERROR_NOT_SUPPORTED;
|
|
| 133 | 460 |
} |
| 134 | 461 |
|
| 135 |
VL53L1_Error VL53L1_RdWord(VL53L1_DEV Dev, uint16_t index, uint16_t *data) {
|
|
| 136 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
|
| 137 |
return Status; |
|
| 462 |
/** |
|
| 463 |
* @brief Set to XSHUT GPIO. |
|
| 464 |
* @details Function not supported since it is not used by the ST API. |
|
| 465 |
* @note Intention of this function is unknown as it is neither documented nor used by the ST API. |
|
| 466 |
* |
|
| 467 |
* @param[in] value Value to set the XSHUT GPIO to. |
|
| 468 |
* |
|
| 469 |
* @return Always returns VL53L1_ERROR_NOT_SUPPORTED. |
|
| 470 |
*/ |
|
| 471 |
VL53L1_Error VL53L1_GpioXshutdown(uint8_t value) |
|
| 472 |
{
|
|
| 473 |
(void)value; |
|
| 474 |
|
|
| 475 |
return VL53L1_ERROR_NOT_SUPPORTED; |
|
| 138 | 476 |
} |
| 139 | 477 |
|
| 140 |
VL53L1_Error VL53L1_RdDWord(VL53L1_DEV Dev, uint16_t index, uint32_t *data) {
|
|
| 141 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
|
| 142 |
return Status; |
|
| 478 |
/** |
|
| 479 |
* @brief Select a GPIO communication interface? |
|
| 480 |
* @details Function not supported since it is not used by the ST API. |
|
| 481 |
* @note Intention of this function is unknown as it is neither documented nor used by the ST API. |
|
| 482 |
* |
|
| 483 |
* @param[in] value Identifier of the interface to select? |
|
| 484 |
* |
|
| 485 |
* @return Always returns VL53L1_ERROR_NOT_SUPPORTED. |
|
| 486 |
*/ |
|
| 487 |
VL53L1_Error VL53L1_GpioCommsSelect(uint8_t value) |
|
| 488 |
{
|
|
| 489 |
(void)value; |
|
| 490 |
|
|
| 491 |
return VL53L1_ERROR_NOT_SUPPORTED; |
|
| 143 | 492 |
} |
| 144 | 493 |
|
| 145 |
VL53L1_Error VL53L1_GetTickCount( |
|
| 146 |
uint32_t *ptick_count_ms) |
|
| 494 |
/** |
|
| 495 |
* @brief Enable power? |
|
| 496 |
* @details Function not supported since it is not used by the ST API. |
|
| 497 |
* @note Intention of this function is unknown as it is neither documented nor used by the ST API. |
|
| 498 |
* |
|
| 499 |
* @param[in] value ? |
|
| 500 |
* |
|
| 501 |
* @return Always returns VL53L1_ERROR_NOT_SUPPORTED. |
|
| 502 |
*/ |
|
| 503 |
VL53L1_Error VL53L1_GpioPowerEnable(uint8_t value) |
|
| 147 | 504 |
{
|
| 148 |
VL53L1_Error status = VL53L1_ERROR_NONE; |
|
| 149 |
return status; |
|
| 505 |
(void)value; |
|
| 506 |
|
|
| 507 |
return VL53L1_ERROR_NOT_SUPPORTED; |
|
| 150 | 508 |
} |
| 151 | 509 |
|
| 152 |
//#define trace_print(level, ...) \ |
|
| 153 |
// _LOG_TRACE_PRINT(VL53L1_TRACE_MODULE_PLATFORM, \ |
|
| 154 |
// level, VL53L1_TRACE_FUNCTION_NONE, ##__VA_ARGS__) |
|
| 510 |
/** |
|
| 511 |
* @brief Enable GPIO interrupt. |
|
| 512 |
* @details Function not supported since it is not used by the ST API. |
|
| 513 |
* @note Intention of this function is unknown as it is neither documented nor used by the ST API. |
|
| 514 |
* |
|
| 515 |
* @param[in] fucntion Callback function to be executed on interrupt. |
|
| 516 |
* @param[in] edge_type Signal edge to trigger an interrupts. |
|
| 517 |
* |
|
| 518 |
* @return Always returns VL53L1_ERROR_NOT_SUPPORTED. |
|
| 519 |
*/ |
|
| 520 |
VL53L1_Error VL53L1_GpioInterruptEnable(void (*function)(void), uint8_t edge_type) |
|
| 521 |
{
|
|
| 522 |
(void)function; |
|
| 523 |
(void)edge_type; |
|
| 155 | 524 |
|
| 156 |
//#define trace_i2c(...) \ |
|
| 157 |
// _LOG_TRACE_PRINT(VL53L1_TRACE_MODULE_NONE, \ |
|
| 158 |
// VL53L1_TRACE_LEVEL_NONE, VL53L1_TRACE_FUNCTION_I2C, ##__VA_ARGS__) |
|
| 525 |
return VL53L1_ERROR_NOT_SUPPORTED; |
|
| 526 |
} |
|
| 159 | 527 |
|
| 160 |
VL53L1_Error VL53L1_GetTimerFrequency(int32_t *ptimer_freq_hz) |
|
| 528 |
/** |
|
| 529 |
* @brief Disable GPIO interrupt. |
|
| 530 |
* @details Function not supported since it is not used by the ST API. |
|
| 531 |
* @note Intention of this function is unknown as it is neither documented nor used by the ST API. |
|
| 532 |
* |
|
| 533 |
* @return Always returns VL53L1_ERROR_NOT_SUPPORTED. |
|
| 534 |
*/ |
|
| 535 |
VL53L1_Error VL53L1_GpioInterruptDisable(void) |
|
| 161 | 536 |
{
|
| 162 |
VL53L1_Error status = VL53L1_ERROR_NONE; |
|
| 163 |
return status; |
|
| 537 |
return VL53L1_ERROR_NOT_SUPPORTED; |
|
| 164 | 538 |
} |
| 165 | 539 |
|
| 166 |
VL53L1_Error VL53L1_WaitMs(VL53L1_Dev_t *pdev, int32_t wait_ms){
|
|
| 167 |
VL53L1_Error status = VL53L1_ERROR_NONE; |
|
| 168 |
return status; |
|
| 540 |
/** |
|
| 541 |
* @brief Retrieve the current system tick count. |
|
| 542 |
* |
|
| 543 |
* @param[out] ptime_ms Buffer to store the current system tick count to. |
|
| 544 |
* |
|
| 545 |
* @return Always returns VL53L1_ERROR_NONE. |
|
| 546 |
*/ |
|
| 547 |
VL53L1_Error VL53L1_GetTickCount(uint32_t *ptime_ms) |
|
| 548 |
{
|
|
| 549 |
*ptime_ms = apalGetTime() / 1000; |
|
| 550 |
|
|
| 551 |
return VL53L1_ERROR_NONE; |
|
| 169 | 552 |
} |
| 170 | 553 |
|
| 171 |
VL53L1_Error VL53L1_WaitUs(VL53L1_Dev_t *pdev, int32_t wait_us){
|
|
| 172 |
VL53L1_Error status = VL53L1_ERROR_NONE; |
|
| 173 |
return status; |
|
| 554 |
/** |
|
| 555 |
* @brief Wait for a specific register to match a (masked) value. |
|
| 556 |
* |
|
| 557 |
* @param[in] pdev Device handle. |
|
| 558 |
* @param[in] timeout_ms Timeout value in milliseconds. |
|
| 559 |
* @param[in] index Register address to check. |
|
| 560 |
* @param[in] value Value to be matched. |
|
| 561 |
* @param[in] mask Mask to apply to the register value. |
|
| 562 |
* Must not be 0x00. |
|
| 563 |
* @param[in] poll_delay_ms Poll delay in milliseconds. |
|
| 564 |
* |
|
| 565 |
* @return Status indicating whether the call was successful. |
|
| 566 |
* @retval VL53L1_ERROR_NONE Value matched before timeout. |
|
| 567 |
* @retval VL53L1_ERROR_TIME_OUT Value did not match before timeout occurred. |
|
| 568 |
* @retval VL53L1_ERROR_UNDEFINED I2C communication failed. |
|
| 569 |
*/ |
|
| 570 |
VL53L1_Error VL53L1_WaitValueMaskEx(VL53L1_Dev_t *pdev, uint32_t timeout_ms, uint16_t index, uint8_t value, uint8_t mask, uint32_t poll_delay_ms) |
|
| 571 |
{
|
|
| 572 |
apalDbgAssert(pdev != NULL); |
|
| 573 |
apalDbgAssert(mask != 0x00); |
|
| 574 |
|
|
| 575 |
// local variables |
|
| 576 |
const apalTime_t starttime = apalGetTime(); |
|
| 577 |
apalTime_t transmissionstartoffset, transmissionendoffset; |
|
| 578 |
apalTime_t remaintime = timeout_ms * 1000; |
|
| 579 |
uint8_t txbuf[sizeof(uint16_t)] = {index >> 8, index & 0xFF};
|
|
| 580 |
uint8_t rxbuf[sizeof(uint8_t)]; |
|
| 581 |
|
|
| 582 |
// infinite loop will return from within |
|
| 583 |
for(;;) {
|
|
| 584 |
// measure time before transmission |
|
| 585 |
transmissionstartoffset = apalGetTime() - starttime; |
|
| 586 |
|
|
| 587 |
// try transmission |
|
| 588 |
if (apalI2CMasterTransmit(pdev->Interface.i2cd, pdev->Interface.addr, txbuf, sizeof(txbuf), rxbuf, sizeof(rxbuf), (remaintime < VL53L1X_LLD_I2C_TIMEOUT) ? remaintime : VL53L1X_LLD_I2C_TIMEOUT) < 0) {
|
|
| 589 |
return VL53L1_ERROR_UNDEFINED; |
|
| 590 |
} |
|
| 591 |
|
|
| 592 |
// check returned data |
|
| 593 |
if ((rxbuf[0] & mask) == value) {
|
|
| 594 |
return VL53L1_ERROR_NONE; |
|
| 595 |
} |
|
| 596 |
|
|
| 597 |
// measure time after transmission |
|
| 598 |
transmissionendoffset = apalGetTime() - starttime; |
|
| 599 |
|
|
| 600 |
// check for timeout and recalculate remaining time |
|
| 601 |
if (transmissionendoffset < timeout_ms * 1000) {
|
|
| 602 |
remaintime = (timeout_ms * 1000) - transmissionendoffset; |
|
| 603 |
} else {
|
|
| 604 |
return VL53L1_ERROR_TIME_OUT; |
|
| 605 |
} |
|
| 606 |
|
|
| 607 |
// sleep one poll delay, or the remaining time |
|
| 608 |
if (remaintime > (poll_delay_ms * 1000) - (transmissionendoffset - transmissionstartoffset)) {
|
|
| 609 |
apalSleep((poll_delay_ms * 1000) - (transmissionendoffset - transmissionstartoffset)); |
|
| 610 |
} else {
|
|
| 611 |
apalSleep(remaintime); |
|
| 612 |
return VL53L1_ERROR_TIME_OUT; |
|
| 613 |
} |
|
| 614 |
|
|
| 615 |
// recalculate remaining time |
|
| 616 |
remaintime = apalGetTime() - starttime; |
|
| 617 |
if (remaintime < timeout_ms * 1000) {
|
|
| 618 |
remaintime = (timeout_ms * 1000) - remaintime; |
|
| 619 |
} else {
|
|
| 620 |
return VL53L1_ERROR_TIME_OUT; |
|
| 621 |
} |
|
| 622 |
} |
|
| 174 | 623 |
} |
| 175 | 624 |
|
| 176 |
VL53L1_Error VL53L1_WaitValueMaskEx( |
|
| 177 |
VL53L1_Dev_t *pdev, |
|
| 178 |
uint32_t timeout_ms, |
|
| 179 |
uint16_t index, |
|
| 180 |
uint8_t value, |
|
| 181 |
uint8_t mask, |
|
| 182 |
uint32_t poll_delay_ms) |
|
| 625 |
/* driver functions ***********************************************************/ |
|
| 626 |
|
|
| 627 |
/** |
|
| 628 |
* @brief Read the current activation state of the device. |
|
| 629 |
* |
|
| 630 |
* @param[in] vl53l1x Driver object to check. |
|
| 631 |
* @param[out] state State of the device. |
|
| 632 |
* |
|
| 633 |
* @return Indicator whether the call was successful. |
|
| 634 |
*/ |
|
| 635 |
apalExitStatus_t vl53l1x_lld_getState(VL53L1XDriver* vl53l1x, vl53l1x_lld_state_t* state) |
|
| 183 | 636 |
{
|
| 184 |
VL53L1_Error status = VL53L1_ERROR_NONE; |
|
| 185 |
return status; |
|
| 637 |
apalDbgAssert(vl53l1x != NULL); |
|
| 638 |
apalDbgAssert(state != NULL); |
|
| 639 |
|
|
| 640 |
apalControlGpioState_t gpio_state; |
|
| 641 |
apalExitStatus_t status = apalControlGpioGet(vl53l1x->Interface.xshut, &gpio_state); |
|
| 642 |
*state = gpio_state == APAL_GPIO_ON ? VL53L1X_LLD_STATE_ON : VL53L1X_LLD_STATE_OFF; |
|
| 643 |
|
|
| 644 |
return status; |
|
| 186 | 645 |
} |
| 187 | 646 |
|
| 647 |
/** |
|
| 648 |
* @brief Performs initialization procedure according to manual after device |
|
| 649 |
* brought out of reset. |
|
| 650 |
* |
|
| 651 |
* @param[in,out] vl53l1x Device to be initialized. |
|
| 652 |
* |
|
| 653 |
* @return Indicator whether the call was successful. |
|
| 654 |
*/ |
|
| 655 |
apalExitStatus_t vl53l1x_lld_init(VL53L1XDriver* vl53l1x) |
|
| 656 |
{
|
|
| 657 |
apalDbgAssert(vl53l1x != NULL); |
|
| 658 |
|
|
| 659 |
// local variables |
|
| 660 |
apalExitStatus_t status; |
|
| 661 |
VL53L1_Error errval; |
|
| 662 |
|
|
| 663 |
// check whether the device is already active |
|
| 664 |
{
|
|
| 665 |
vl53l1x_lld_state_t xshut_state; |
|
| 666 |
status = vl53l1x_lld_getState(vl53l1x, &xshut_state); |
|
| 667 |
if (status != APAL_STATUS_OK) {
|
|
| 668 |
return APAL_STATUS_ERROR; |
|
| 669 |
} |
|
| 670 |
// return warning if the device is already active |
|
| 671 |
if (xshut_state == VL53L1X_LLD_STATE_ON) {
|
|
| 672 |
return APAL_STATUS_WARNING; |
|
| 673 |
} |
|
| 674 |
} |
|
| 675 |
|
|
| 676 |
// activate the device |
|
| 677 |
apalDbgPrintf("apalControlGpioSet()\n");
|
|
| 678 |
status |= apalControlGpioSet(vl53l1x->Interface.xshut, APAL_GPIO_ON); |
|
| 679 |
apalDbgPrintf("\tstatus: %d\n", status);
|
|
| 680 |
|
|
| 681 |
// initialize device as described in manual |
|
| 682 |
apalDbgPrintf("VL53L1_WaitDeviceBooted()\n");
|
|
| 683 |
errval = VL53L1_WaitDeviceBooted(vl53l1x); |
|
| 684 |
status |= (errval == VL53L1_ERROR_NONE) ? APAL_STATUS_SUCCESS : APAL_STATUS_ERROR; |
|
| 685 |
apalDbgPrintf("\tstatus: %d\terrval: %d\n", status, errval);
|
|
| 686 |
apalDbgPrintf("VL53L1_DataInit()\n");
|
|
| 687 |
errval = VL53L1_DataInit(vl53l1x); |
|
| 688 |
status |= (errval == VL53L1_ERROR_NONE) ? APAL_STATUS_SUCCESS : APAL_STATUS_ERROR; |
|
| 689 |
apalDbgPrintf("\tstatus: %d\terrval: %d\n", status, errval);
|
|
| 690 |
apalDbgPrintf("VL53L1_StaticInit()\n");
|
|
| 691 |
errval = VL53L1_StaticInit(vl53l1x); |
|
| 692 |
status |= (errval == VL53L1_ERROR_NONE) ? APAL_STATUS_SUCCESS : APAL_STATUS_ERROR; |
|
| 693 |
apalDbgPrintf("\tstatus: %d\terrval: %d\n", status, errval);
|
|
| 694 |
|
|
| 695 |
return status; |
|
| 696 |
} |
|
| 188 | 697 |
|
| 698 |
/** |
|
| 699 |
* @brief Reset a device by deactivating the XSHUT signal. |
|
| 700 |
* |
|
| 701 |
* @param[in] vl53l1x Device to reset. |
|
| 702 |
* |
|
| 703 |
* @return Indicator whether the call was successful. |
|
| 704 |
*/ |
|
| 705 |
apalExitStatus_t vl53l1x_lld_reset(VL53L1XDriver* vl53l1x) |
|
| 706 |
{
|
|
| 707 |
return apalControlGpioSet(vl53l1x->Interface.xshut, APAL_GPIO_OFF); |
|
| 708 |
} |
|
| 189 | 709 |
|
| 710 |
/** @} */ |
|
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