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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} |
| 407 |
|
| 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;
|
| 424 |
} |
| 425 |
|
| 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;
|
| 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 |
/** @} */
|