vl5310x: St api library - initial commit
Signed-off-by: Thomas Klaehn <tkl@blackfinn.de>
This commit is contained in:
248
platform/inc/vl53l0x_platform.h
Normal file
248
platform/inc/vl53l0x_platform.h
Normal file
@@ -0,0 +1,248 @@
|
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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.
|
||||
********************************************************************************/
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||||
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||||
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||||
#ifndef _VL53L0X_PLATFORM_H_
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#define _VL53L0X_PLATFORM_H_
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#include "vl53l0x_def.h"
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#include "vl53l0x_platform_log.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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int VL53L0X_i2c_init(char * devPath, int devAddr);
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int32_t VL53L0X_i2c_close(void);
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/**
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* @file vl53l0_platform.h
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*
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* @brief All end user OS/platform/application porting
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*/
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/**
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* @defgroup VL53L0X_platform_group VL53L0 Platform Functions
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* @brief VL53L0 Platform Functions
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* @{
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*/
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/**
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* @struct VL53L0X_Dev_t
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* @brief Generic PAL device type that does link between API and platform abstraction layer
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*
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*/
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typedef struct {
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VL53L0X_DevData_t Data; /*!< embed ST Ewok Dev data as "Data"*/
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/*!< user specific field */
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uint8_t I2cDevAddr; /*!< i2c device address user specific field */
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uint8_t TCA9548A_Device; /*!< Device number on TCA9548A I2C Multiplexer or 255 if TCA9548A not being used */
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uint8_t TCA9548A_Address; /*!< Address of TCA9548A I2C Multiplexer or 255 if TCA9548A not being used */
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} VL53L0X_Dev_t;
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/**
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* @brief Declare the device Handle as a pointer of the structure @a VL53L0X_Dev_t.
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*
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*/
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typedef VL53L0X_Dev_t* VL53L0X_DEV;
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/**
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* @def PALDevDataGet
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* @brief Get ST private structure @a VL53L0X_DevData_t data access
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*
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* @param Dev Device Handle
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* @param field ST structure field name
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* It maybe used and as real data "ref" not just as "get" for sub-structure item
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* like PALDevDataGet(FilterData.field)[i] or PALDevDataGet(FilterData.MeasurementIndex)++
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*/
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#define PALDevDataGet(Dev, field) (Dev->Data.field)
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/**
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* @def PALDevDataSet(Dev, field, data)
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* @brief Set ST private structure @a VL53L0X_DevData_t data field
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* @param Dev Device Handle
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* @param field ST structure field name
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* @param data Data to be set
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*/
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#define PALDevDataSet(Dev, field, data) (Dev->Data.field)=(data)
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/**
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* Initialize PLatform Interface
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* @param Dev Device Handle
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* @return None
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*/
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void VL53L0X_init(VL53L0X_DEV Dev);
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/**
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* @defgroup VL53L0X_registerAccess_group PAL Register Access Functions
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* @brief PAL Register Access Functions
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* @{
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*/
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/**
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* Lock comms interface to serialize all commands to a shared I2C interface for a specific device
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* @param Dev Device Handle
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* @return VL53L0X_ERROR_NONE Success
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* @return "Other error code" See ::VL53L0X_Error
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*/
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VL53L0X_Error VL53L0X_LockSequenceAccess(VL53L0X_DEV Dev);
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/**
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* Unlock comms interface to serialize all commands to a shared I2C interface for a specific device
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* @param Dev Device Handle
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* @return VL53L0X_ERROR_NONE Success
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* @return "Other error code" See ::VL53L0X_Error
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*/
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VL53L0X_Error VL53L0X_UnlockSequenceAccess(VL53L0X_DEV Dev);
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/**
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* Writes the supplied byte buffer to the device
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* @param Dev Device Handle
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* @param index The register index
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* @param pdata Pointer to uint8_t buffer containing the data to be written
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* @param count Number of bytes in the supplied byte buffer
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* @return VL53L0X_ERROR_NONE Success
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* @return "Other error code" See ::VL53L0X_Error
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*/
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VL53L0X_Error VL53L0X_WriteMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count);
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/**
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* Reads the requested number of bytes from the device
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* @param Dev Device Handle
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* @param index The register index
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* @param pdata Pointer to the uint8_t buffer to store read data
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* @param count Number of uint8_t's to read
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* @return VL53L0X_ERROR_NONE Success
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* @return "Other error code" See ::VL53L0X_Error
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*/
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VL53L0X_Error VL53L0X_ReadMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count);
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/**
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* Write single byte register
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* @param Dev Device Handle
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* @param index The register index
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* @param data 8 bit register data
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* @return VL53L0X_ERROR_NONE Success
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* @return "Other error code" See ::VL53L0X_Error
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*/
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VL53L0X_Error VL53L0X_WrByte(VL53L0X_DEV Dev, uint8_t index, uint8_t data);
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/**
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* Write word register
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* @param Dev Device Handle
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* @param index The register index
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* @param data 16 bit register data
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* @return VL53L0X_ERROR_NONE Success
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* @return "Other error code" See ::VL53L0X_Error
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*/
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VL53L0X_Error VL53L0X_WrWord(VL53L0X_DEV Dev, uint8_t index, uint16_t data);
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/**
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* Write double word (4 byte) register
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* @param Dev Device Handle
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* @param index The register index
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* @param data 32 bit register data
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* @return VL53L0X_ERROR_NONE Success
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* @return "Other error code" See ::VL53L0X_Error
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*/
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VL53L0X_Error VL53L0X_WrDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t data);
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/**
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* Read single byte register
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* @param Dev Device Handle
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* @param index The register index
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* @param data pointer to 8 bit data
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* @return VL53L0X_ERROR_NONE Success
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* @return "Other error code" See ::VL53L0X_Error
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*/
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VL53L0X_Error VL53L0X_RdByte(VL53L0X_DEV Dev, uint8_t index, uint8_t *data);
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/**
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* Read word (2byte) register
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* @param Dev Device Handle
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* @param index The register index
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* @param data pointer to 16 bit data
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* @return VL53L0X_ERROR_NONE Success
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* @return "Other error code" See ::VL53L0X_Error
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*/
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VL53L0X_Error VL53L0X_RdWord(VL53L0X_DEV Dev, uint8_t index, uint16_t *data);
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/**
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* Read dword (4byte) register
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* @param Dev Device Handle
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* @param index The register index
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* @param data pointer to 32 bit data
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* @return VL53L0X_ERROR_NONE Success
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* @return "Other error code" See ::VL53L0X_Error
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*/
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VL53L0X_Error VL53L0X_RdDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t *data);
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/**
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* Threat safe Update (read/modify/write) single byte register
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*
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* Final_reg = (Initial_reg & and_data) |or_data
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*
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* @param Dev Device Handle
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* @param index The register index
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* @param AndData 8 bit and data
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* @param OrData 8 bit or data
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* @return VL53L0X_ERROR_NONE Success
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* @return "Other error code" See ::VL53L0X_Error
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*/
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VL53L0X_Error VL53L0X_UpdateByte(VL53L0X_DEV Dev, uint8_t index, uint8_t AndData, uint8_t OrData);
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/** @} end of VL53L0X_registerAccess_group */
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/**
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* @brief execute delay in all polling API call
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*
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* A typical multi-thread or RTOs implementation is to sleep the task for some 5ms (with 100Hz max rate faster polling is not needed)
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* if nothing specific is need you can define it as an empty/void macro
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* @code
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* #define VL53L0X_PollingDelay(...) (void)0
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* @endcode
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* @param Dev Device Handle
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* @return VL53L0X_ERROR_NONE Success
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* @return "Other error code" See ::VL53L0X_Error
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*/
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VL53L0X_Error VL53L0X_PollingDelay(VL53L0X_DEV Dev); /* usually best implemented as a real function */
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/** @} end of VL53L0X_platform_group */
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#ifdef __cplusplus
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}
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#endif
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#endif /* _VL53L0X_PLATFORM_H_ */
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|
118
platform/inc/vl53l0x_platform_log.h
Normal file
118
platform/inc/vl53l0x_platform_log.h
Normal file
@@ -0,0 +1,118 @@
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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_
|
||||
|
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#include <stdio.h>
|
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#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
|
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|
||||
enum {
|
||||
TRACE_LEVEL_NONE,
|
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TRACE_LEVEL_ERRORS,
|
||||
TRACE_LEVEL_WARNING,
|
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TRACE_LEVEL_INFO,
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TRACE_LEVEL_DEBUG,
|
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TRACE_LEVEL_ALL,
|
||||
TRACE_LEVEL_IGNORE
|
||||
};
|
||||
|
||||
enum {
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TRACE_FUNCTION_NONE = 0,
|
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TRACE_FUNCTION_I2C = 1,
|
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TRACE_FUNCTION_ALL = 0x7fffffff //all bits except sign
|
||||
};
|
||||
|
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enum {
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TRACE_MODULE_NONE = 0x0,
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||||
TRACE_MODULE_API = 0x1,
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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_ */
|
||||
|
||||
|
||||
|
111
platform/inc/vl53l0x_types.h
Normal file
111
platform/inc/vl53l0x_types.h
Normal file
@@ -0,0 +1,111 @@
|
||||
/*******************************************************************************
|
||||
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_ */
|
251
platform/src/vl53l0x_platform.c
Normal file
251
platform/src/vl53l0x_platform.c
Normal file
@@ -0,0 +1,251 @@
|
||||
/*
|
||||
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;
|
||||
}
|
Reference in New Issue
Block a user