vl5310x: St api library - initial commit

Signed-off-by: Thomas Klaehn <tkl@blackfinn.de>
This commit is contained in:
2017-10-12 07:53:52 +02:00
commit d7a741f117
27 changed files with 16578 additions and 0 deletions

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/*******************************************************************************
Copyright <20> 2015, STMicroelectronics International N.V.
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of STMicroelectronics nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
********************************************************************************/
#ifndef _VL53L0X_PLATFORM_H_
#define _VL53L0X_PLATFORM_H_
#include "vl53l0x_def.h"
#include "vl53l0x_platform_log.h"
#ifdef __cplusplus
extern "C" {
#endif
int VL53L0X_i2c_init(char * devPath, int devAddr);
int32_t VL53L0X_i2c_close(void);
/**
* @file vl53l0_platform.h
*
* @brief All end user OS/platform/application porting
*/
/**
* @defgroup VL53L0X_platform_group VL53L0 Platform Functions
* @brief VL53L0 Platform Functions
* @{
*/
/**
* @struct VL53L0X_Dev_t
* @brief Generic PAL device type that does link between API and platform abstraction layer
*
*/
typedef struct {
VL53L0X_DevData_t Data; /*!< embed ST Ewok Dev data as "Data"*/
/*!< user specific field */
uint8_t I2cDevAddr; /*!< i2c device address user specific field */
uint8_t TCA9548A_Device; /*!< Device number on TCA9548A I2C Multiplexer or 255 if TCA9548A not being used */
uint8_t TCA9548A_Address; /*!< Address of TCA9548A I2C Multiplexer or 255 if TCA9548A not being used */
} VL53L0X_Dev_t;
/**
* @brief Declare the device Handle as a pointer of the structure @a VL53L0X_Dev_t.
*
*/
typedef VL53L0X_Dev_t* VL53L0X_DEV;
/**
* @def PALDevDataGet
* @brief Get ST private structure @a VL53L0X_DevData_t data access
*
* @param Dev Device Handle
* @param field ST structure field name
* It maybe used and as real data "ref" not just as "get" for sub-structure item
* like PALDevDataGet(FilterData.field)[i] or PALDevDataGet(FilterData.MeasurementIndex)++
*/
#define PALDevDataGet(Dev, field) (Dev->Data.field)
/**
* @def PALDevDataSet(Dev, field, data)
* @brief Set ST private structure @a VL53L0X_DevData_t data field
* @param Dev Device Handle
* @param field ST structure field name
* @param data Data to be set
*/
#define PALDevDataSet(Dev, field, data) (Dev->Data.field)=(data)
/**
* Initialize PLatform Interface
* @param Dev Device Handle
* @return None
*/
void VL53L0X_init(VL53L0X_DEV Dev);
/**
* @defgroup VL53L0X_registerAccess_group PAL Register Access Functions
* @brief PAL Register Access Functions
* @{
*/
/**
* Lock comms interface to serialize all commands to a shared I2C interface for a specific device
* @param Dev Device Handle
* @return VL53L0X_ERROR_NONE Success
* @return "Other error code" See ::VL53L0X_Error
*/
VL53L0X_Error VL53L0X_LockSequenceAccess(VL53L0X_DEV Dev);
/**
* Unlock comms interface to serialize all commands to a shared I2C interface for a specific device
* @param Dev Device Handle
* @return VL53L0X_ERROR_NONE Success
* @return "Other error code" See ::VL53L0X_Error
*/
VL53L0X_Error VL53L0X_UnlockSequenceAccess(VL53L0X_DEV Dev);
/**
* Writes the supplied byte buffer to the device
* @param Dev Device Handle
* @param index The register index
* @param pdata Pointer to uint8_t buffer containing the data to be written
* @param count Number of bytes in the supplied byte buffer
* @return VL53L0X_ERROR_NONE Success
* @return "Other error code" See ::VL53L0X_Error
*/
VL53L0X_Error VL53L0X_WriteMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count);
/**
* Reads the requested number of bytes from the device
* @param Dev Device Handle
* @param index The register index
* @param pdata Pointer to the uint8_t buffer to store read data
* @param count Number of uint8_t's to read
* @return VL53L0X_ERROR_NONE Success
* @return "Other error code" See ::VL53L0X_Error
*/
VL53L0X_Error VL53L0X_ReadMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count);
/**
* Write single byte register
* @param Dev Device Handle
* @param index The register index
* @param data 8 bit register data
* @return VL53L0X_ERROR_NONE Success
* @return "Other error code" See ::VL53L0X_Error
*/
VL53L0X_Error VL53L0X_WrByte(VL53L0X_DEV Dev, uint8_t index, uint8_t data);
/**
* Write word register
* @param Dev Device Handle
* @param index The register index
* @param data 16 bit register data
* @return VL53L0X_ERROR_NONE Success
* @return "Other error code" See ::VL53L0X_Error
*/
VL53L0X_Error VL53L0X_WrWord(VL53L0X_DEV Dev, uint8_t index, uint16_t data);
/**
* Write double word (4 byte) register
* @param Dev Device Handle
* @param index The register index
* @param data 32 bit register data
* @return VL53L0X_ERROR_NONE Success
* @return "Other error code" See ::VL53L0X_Error
*/
VL53L0X_Error VL53L0X_WrDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t data);
/**
* Read single byte register
* @param Dev Device Handle
* @param index The register index
* @param data pointer to 8 bit data
* @return VL53L0X_ERROR_NONE Success
* @return "Other error code" See ::VL53L0X_Error
*/
VL53L0X_Error VL53L0X_RdByte(VL53L0X_DEV Dev, uint8_t index, uint8_t *data);
/**
* Read word (2byte) register
* @param Dev Device Handle
* @param index The register index
* @param data pointer to 16 bit data
* @return VL53L0X_ERROR_NONE Success
* @return "Other error code" See ::VL53L0X_Error
*/
VL53L0X_Error VL53L0X_RdWord(VL53L0X_DEV Dev, uint8_t index, uint16_t *data);
/**
* Read dword (4byte) register
* @param Dev Device Handle
* @param index The register index
* @param data pointer to 32 bit data
* @return VL53L0X_ERROR_NONE Success
* @return "Other error code" See ::VL53L0X_Error
*/
VL53L0X_Error VL53L0X_RdDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t *data);
/**
* Threat safe Update (read/modify/write) single byte register
*
* Final_reg = (Initial_reg & and_data) |or_data
*
* @param Dev Device Handle
* @param index The register index
* @param AndData 8 bit and data
* @param OrData 8 bit or data
* @return VL53L0X_ERROR_NONE Success
* @return "Other error code" See ::VL53L0X_Error
*/
VL53L0X_Error VL53L0X_UpdateByte(VL53L0X_DEV Dev, uint8_t index, uint8_t AndData, uint8_t OrData);
/** @} end of VL53L0X_registerAccess_group */
/**
* @brief execute delay in all polling API call
*
* A typical multi-thread or RTOs implementation is to sleep the task for some 5ms (with 100Hz max rate faster polling is not needed)
* if nothing specific is need you can define it as an empty/void macro
* @code
* #define VL53L0X_PollingDelay(...) (void)0
* @endcode
* @param Dev Device Handle
* @return VL53L0X_ERROR_NONE Success
* @return "Other error code" See ::VL53L0X_Error
*/
VL53L0X_Error VL53L0X_PollingDelay(VL53L0X_DEV Dev); /* usually best implemented as a real function */
/** @} end of VL53L0X_platform_group */
#ifdef __cplusplus
}
#endif
#endif /* _VL53L0X_PLATFORM_H_ */

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/*******************************************************************************
Copyright <20> 2015, STMicroelectronics International N.V.
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of STMicroelectronics nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
********************************************************************************/
#ifndef _VL53L0X_PLATFORM_LOG_H_
#define _VL53L0X_PLATFORM_LOG_H_
#include <stdio.h>
#include <string.h>
/* LOG Functions */
#ifdef __cplusplus
extern "C" {
#endif
/**
* @file vl53l0_platform_log.h
*
* @brief platform log function definition
*/
//#define VL53L0X_LOG_ENABLE 0
enum {
TRACE_LEVEL_NONE,
TRACE_LEVEL_ERRORS,
TRACE_LEVEL_WARNING,
TRACE_LEVEL_INFO,
TRACE_LEVEL_DEBUG,
TRACE_LEVEL_ALL,
TRACE_LEVEL_IGNORE
};
enum {
TRACE_FUNCTION_NONE = 0,
TRACE_FUNCTION_I2C = 1,
TRACE_FUNCTION_ALL = 0x7fffffff //all bits except sign
};
enum {
TRACE_MODULE_NONE = 0x0,
TRACE_MODULE_API = 0x1,
TRACE_MODULE_PLATFORM = 0x2,
TRACE_MODULE_ALL = 0x7fffffff //all bits except sign
};
#ifdef VL53L0X_LOG_ENABLE
#include <sys/time.h>
extern uint32_t _trace_level;
int32_t VL53L0X_trace_config(char *filename, uint32_t modules, uint32_t level, uint32_t functions);
void trace_print_module_function(uint32_t module, uint32_t level, uint32_t function, const char *format, ...);
//extern FILE * log_file;
#define LOG_GET_TIME() (int)clock()
#define _LOG_FUNCTION_START(module, fmt, ... ) \
trace_print_module_function(module, _trace_level, TRACE_FUNCTION_ALL, "%ld <START> %s "fmt"\n", LOG_GET_TIME(), __FUNCTION__, ##__VA_ARGS__);
#define _LOG_FUNCTION_END(module, status, ... )\
trace_print_module_function(module, _trace_level, TRACE_FUNCTION_ALL, "%ld <END> %s %d\n", LOG_GET_TIME(), __FUNCTION__, (int)status, ##__VA_ARGS__)
#define _LOG_FUNCTION_END_FMT(module, status, fmt, ... )\
trace_print_module_function(module, _trace_level, TRACE_FUNCTION_ALL, "%ld <END> %s %d "fmt"\n", LOG_GET_TIME(), __FUNCTION__, (int)status,##__VA_ARGS__)
// __func__ is gcc only
//#define VL53L0X_ErrLog( fmt, ...) fprintf(stderr, "VL53L0X_ErrLog %s" fmt "\n", __func__, ##__VA_ARGS__)
#else /* VL53L0X_LOG_ENABLE no logging */
#define VL53L0X_ErrLog(...) (void)0
#define _LOG_FUNCTION_START(module, fmt, ... ) (void)0
#define _LOG_FUNCTION_END(module, status, ... ) (void)0
#define _LOG_FUNCTION_END_FMT(module, status, fmt, ... ) (void)0
#endif /* else */
#define VL53L0X_COPYSTRING(str, ...) strcpy(str, ##__VA_ARGS__)
#ifdef __cplusplus
}
#endif
#endif /* _VL53L0X_PLATFORM_LOG_H_ */

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/*******************************************************************************
Copyright <20> 2015, STMicroelectronics International N.V.
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of STMicroelectronics nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
********************************************************************************/
/**
* @file vl53l0_types.h
* @brief VL53L0 types definition
*/
#ifndef VL53L0X_TYPES_H_
#define VL53L0X_TYPES_H_
/** @defgroup porting_type Basic type definition
* @ingroup VL53L0X_platform_group
*
* @brief file vl53l0_types.h files hold basic type definition that may requires porting
*
* contains type that must be defined for the platform\n
* when target platform and compiler provide stdint.h and stddef.h it is enough to include it.\n
* If stdint.h is not available review and adapt all signed and unsigned 8/16/32 bits basic types. \n
* If stddef.h is not available review and adapt NULL definition .
*/
#include <stdint.h>
#include <stddef.h>
#ifndef NULL
#error "Error NULL definition should be done. Please add required include "
#endif
#if ! defined(STDINT_H) && !defined(_GCC_STDINT_H) &&!defined(__STDINT_DECLS) && !defined(_GCC_WRAP_STDINT_H)
#pragma message("Please review type definition of STDINT define for your platform and add to list above ")
/*
* target platform do not provide stdint or use a different #define than above
* to avoid seeing the message below addapt the #define list above or implement
* all type and delete these pragma
*/
/** \ingroup VL53L0X_portingType_group
* @{
*/
typedef unsigned long long uint64_t;
/** @brief Typedef defining 32 bit unsigned int type.\n
* The developer should modify this to suit the platform being deployed.
*/
typedef unsigned int uint32_t;
/** @brief Typedef defining 32 bit int type.\n
* The developer should modify this to suit the platform being deployed.
*/
typedef int int32_t;
/** @brief Typedef defining 16 bit unsigned short type.\n
* The developer should modify this to suit the platform being deployed.
*/
typedef unsigned short uint16_t;
/** @brief Typedef defining 16 bit short type.\n
* The developer should modify this to suit the platform being deployed.
*/
typedef short int16_t;
/** @brief Typedef defining 8 bit unsigned char type.\n
* The developer should modify this to suit the platform being deployed.
*/
typedef unsigned char uint8_t;
/** @brief Typedef defining 8 bit char type.\n
* The developer should modify this to suit the platform being deployed.
*/
typedef signed char int8_t;
/** @} */
#endif /* _STDINT_H */
/** use where fractional values are expected
*
* Given a floating point value f it's .16 bit point is (int)(f*(1<<16))*/
typedef uint32_t FixPoint1616_t;
#endif /* VL53L0X_TYPES_H_ */

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/*
MIT License
Copyright (c) 2017 John Bryan Moore
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
*/
#include <stdio.h>
#include <stdlib.h>
#include <time.h>
#include <unistd.h>
#include <pthread.h>
#include "vl53l0x_platform.h"
#include "vl53l0x_api.h"
// calls read_i2c_block_data(address, reg, length)
static int (*i2c_read_func)(uint8_t address, uint8_t reg,
uint8_t *list, uint8_t length) = NULL;
// calls write_i2c_block_data(address, reg, list)
static int (*i2c_write_func)(uint8_t address, uint8_t reg,
uint8_t *list, uint8_t length) = NULL;
static pthread_mutex_t i2c_mutex = PTHREAD_MUTEX_INITIALIZER;
void VL53L0X_init(VL53L0X_DEV Dev)
{
}
void VL53L0X_set_i2c(void *read_func, void *write_func)
{
i2c_read_func = read_func;
i2c_write_func = write_func;
}
static int i2c_write(VL53L0X_DEV Dev, uint8_t cmd,
uint8_t *data, uint8_t len)
{
int result = VL53L0X_ERROR_NONE;
if (i2c_write_func != NULL)
{
if (Dev->TCA9548A_Device < 8)
{
// Make sure that the call to set the bus on the TCA9548A is
// synchronized with the write to the VL53L0X device to allow
// to make the transaction thread-safe
pthread_mutex_lock(&i2c_mutex);
// If the value is < 8 then a TCA9548A I2C Multiplexer
// is being used so prefix each call with a call to
// set the device at the multiplexer to the number
// specified
if (i2c_write_func(Dev->TCA9548A_Address, (1 << Dev->TCA9548A_Device), NULL, 0) < 0)
{
printf("TCA9548A write error\n");
result = VL53L0X_ERROR_CONTROL_INTERFACE;
}
}
if (result == VL53L0X_ERROR_NONE)
{
if (i2c_write_func(Dev->I2cDevAddr, cmd, data, len) < 0)
{
result = VL53L0X_ERROR_CONTROL_INTERFACE;
}
}
if (Dev->TCA9548A_Device < 8)
{
pthread_mutex_unlock(&i2c_mutex);
}
}
else
{
printf("i2c bus write not set.\n");
result = VL53L0X_ERROR_CONTROL_INTERFACE;
}
return result;
}
static int i2c_read(VL53L0X_DEV Dev, uint8_t cmd,
uint8_t * data, uint8_t len)
{
int result = VL53L0X_ERROR_NONE;
if (i2c_read_func != NULL)
{
if (Dev->TCA9548A_Device < 8)
{
// Make sure that the call to set the bus on the TCA9548A is
// synchronized with the read of the VL53L0X device to allow
// to make the transaction thread-safe
pthread_mutex_lock(&i2c_mutex);
// If the value is < 8 then a TCA9548A I2C Multiplexer
// is being used so prefix each call with a call to
// set the device at the multiplexer to the number
// specified
if (i2c_write_func(Dev->TCA9548A_Address, (1 << Dev->TCA9548A_Device), NULL, 0) < 0)
{
printf("TCA9548A read error\n");
result = VL53L0X_ERROR_CONTROL_INTERFACE;
}
}
if (result == VL53L0X_ERROR_NONE)
{
if (i2c_read_func(Dev->I2cDevAddr, cmd, data, len) < 0)
{
result = VL53L0X_ERROR_CONTROL_INTERFACE;
}
}
if (Dev->TCA9548A_Device < 8)
{
pthread_mutex_unlock(&i2c_mutex);
}
}
else
{
printf("i2c bus read not set.\n");
result = VL53L0X_ERROR_CONTROL_INTERFACE;
}
return result;
}
VL53L0X_Error VL53L0X_LockSequenceAccess(VL53L0X_DEV Dev)
{
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
return Status;
}
VL53L0X_Error VL53L0X_UnlockSequenceAccess(VL53L0X_DEV Dev)
{
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
return Status;
}
VL53L0X_Error VL53L0X_WriteMulti(VL53L0X_DEV Dev, uint8_t index,
uint8_t *pdata, uint32_t count)
{
return i2c_write(Dev, index, pdata, count);
}
VL53L0X_Error VL53L0X_ReadMulti(VL53L0X_DEV Dev, uint8_t index,
uint8_t *pdata, uint32_t count)
{
return i2c_read(Dev, index, pdata, count);
}
VL53L0X_Error VL53L0X_WrByte(VL53L0X_DEV Dev, uint8_t index, uint8_t data)
{
return i2c_write(Dev, index, &data, 1);
}
VL53L0X_Error VL53L0X_WrWord(VL53L0X_DEV Dev, uint8_t index, uint16_t data)
{
uint8_t buf[4];
buf[1] = data>>0&0xFF;
buf[0] = data>>8&0xFF;
return i2c_write(Dev, index, buf, 2);
}
VL53L0X_Error VL53L0X_WrDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t data)
{
uint8_t buf[4];
buf[3] = data>>0&0xFF;
buf[2] = data>>8&0xFF;
buf[1] = data>>16&0xFF;
buf[0] = data>>24&0xFF;
return i2c_write(Dev, index, buf, 4);
}
VL53L0X_Error VL53L0X_UpdateByte(VL53L0X_DEV Dev, uint8_t index,
uint8_t AndData, uint8_t OrData)
{
int32_t status_int;
uint8_t data;
status_int = i2c_read(Dev, index, &data, 1);
if (status_int != 0)
{
return status_int;
}
data = (data & AndData) | OrData;
return i2c_write(Dev, index, &data, 1);
}
VL53L0X_Error VL53L0X_RdByte(VL53L0X_DEV Dev, uint8_t index, uint8_t *data)
{
uint8_t tmp = 0;
int ret = i2c_read(Dev, index, &tmp, 1);
*data = tmp;
// printf("%u\n", tmp);
return ret;
}
VL53L0X_Error VL53L0X_RdWord(VL53L0X_DEV Dev, uint8_t index, uint16_t *data)
{
uint8_t buf[2];
int ret = i2c_read(Dev, index, buf, 2);
uint16_t tmp = 0;
tmp |= buf[1]<<0;
tmp |= buf[0]<<8;
// printf("%u\n", tmp);
*data = tmp;
return ret;
}
VL53L0X_Error VL53L0X_RdDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t *data)
{
uint8_t buf[4];
int ret = i2c_read(Dev, index, buf, 4);
uint32_t tmp = 0;
tmp |= buf[3]<<0;
tmp |= buf[2]<<8;
tmp |= buf[1]<<16;
tmp |= buf[0]<<24;
*data = tmp;
// printf("%zu\n", tmp);
return ret;
}
VL53L0X_Error VL53L0X_PollingDelay(VL53L0X_DEV Dev)
{
usleep(5000);
return VL53L0X_ERROR_NONE;
}