amiro-lld / drivers / VL53L1X / v1 / alld_VL53L1X.c @ f0dd1ac4
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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..2020 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_api.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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/**
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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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/**
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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 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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VL53L1_Error VL53L1_CommsClose(VL53L1_Dev_t *pdev) |
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{ |
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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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// 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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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 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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// 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 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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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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// 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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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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// 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 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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// 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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/**
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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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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 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 read from.
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* @param[out] pdata 32-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_RdDWord(VL53L1_Dev_t *pdev,uint16_t index, uint32_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(uint32_t)];
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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 = (((uint32_t)rxbuf[0]) << 24) & |
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(((uint32_t)rxbuf[1]) << 16) & |
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(((uint32_t)rxbuf[2]) << 8) & |
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(((uint32_t)rxbuf[3]) << 0); |
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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 Wait for a specified amount of microseconds.
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*
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* @param[in] pdev Device handle.
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* @param[in] wait_us Time to wait in microsecnonds.
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*
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* @return Always returns VL53L1_ERROR_NONE.
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*/
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VL53L1_Error VL53L1_WaitUs(VL53L1_Dev_t *pdev, int32_t wait_us) |
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{ |
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(void)pdev;
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apalSleep(wait_us); |
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return VL53L1_ERROR_NONE;
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} |
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/**
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* @brief Wait for a specified amount of milliseconds.
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*
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* @param[in] pdev Device handle.
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* @param[in] wait_ms Time to wait in milliseconds.
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*
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* @return Always returns VL53L1_ERROR_NONE.
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*/
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VL53L1_Error VL53L1_WaitMs(VL53L1_Dev_t *pdev, int32_t wait_ms) |
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{ |
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(void)pdev;
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apalSleep(wait_ms * 1000);
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return VL53L1_ERROR_NONE;
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} |
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/**
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* @brief Retrieve the frequency of a timer?
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* @details Function not supported since it is not used by the ST API.
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* @note Intention of this function is unknown as it is neither documented nor used by the ST API.
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*
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* @param[out] ptimer_freq_hz Buffer to store the timer frequency to.
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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_GetTimerFrequency(int32_t *ptimer_freq_hz) |
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{ |
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apalDbgAssert(ptimer_freq_hz != NULL);
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(void)ptimer_freq_hz;
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return VL53L1_ERROR_NOT_SUPPORTED;
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} |
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/**
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* @brief Retrieve the current value of a timer?
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* @details Function not supported since it is not used by the ST API.
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* @note Intention of this function is unknown as it is neither documented nor used by the ST API.
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*
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* @param[out] ptimer_count Buffer to store the current timer value to.
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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_GetTimerValue(int32_t *ptimer_count) |
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{ |
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apalDbgAssert(ptimer_count != NULL);
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(void)ptimer_count;
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return VL53L1_ERROR_NOT_SUPPORTED;
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} |
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/**
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* @brief Set the mode for a GPIO.
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* @details Function not supported since it is not used by the ST API.
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* @note Intention of this function is unknown as it is neither documented nor used by the ST API.
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*
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* @param[in] pin GPIO pin to modify.
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* @param[in] mode Mode to set for the GPIO.
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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_GpioSetMode(uint8_t pin, uint8_t mode) |
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{ |
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(void)pin;
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(void)mode;
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return VL53L1_ERROR_NOT_SUPPORTED;
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} |
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/**
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* @brief Set the output value for a GPIO.
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* @details Function not supported since it is not used by the ST API.
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* @note Intention of this function is unknown as it is neither documented nor used by the ST API.
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*
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* @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;
|
442 |
} |
443 |
|
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;
|
458 |
|
459 |
return VL53L1_ERROR_NOT_SUPPORTED;
|
460 |
} |
461 |
|
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;
|
476 |
} |
477 |
|
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;
|
492 |
} |
493 |
|
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) |
504 |
{ |
505 |
(void)value;
|
506 |
|
507 |
return VL53L1_ERROR_NOT_SUPPORTED;
|
508 |
} |
509 |
|
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;
|
524 |
|
525 |
return VL53L1_ERROR_NOT_SUPPORTED;
|
526 |
} |
527 |
|
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)
|
536 |
{ |
537 |
return VL53L1_ERROR_NOT_SUPPORTED;
|
538 |
} |
539 |
|
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;
|
552 |
} |
553 |
|
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 |
} |
623 |
} |
624 |
|
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) |
636 |
{ |
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;
|
645 |
} |
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 |
} |
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 |
} |
709 |
|
710 |
/** @} */
|