File content as of revision 13:3f1b341901dd:

/* Define to prevent from recursive inclusion --------------------------------*/
#ifndef __DEV_ToF_I2C_H
#define __DEV_ToF_I2C_H

/* Includes ------------------------------------------------------------------*/

#include "mbed.h"

#include "pinmap.h"

static int mutex =0;

//Class replacing DevI2C class as it was not implementing a 16bit address registers   
class ToF_DevI2C : public I2C
{
public:
    /** Create a DevI2C Master interface, connected to the specified pins
     *
     *  @param sda I2C data line pin
     *  @param scl I2C clock line pin
     */
    ToF_DevI2C(PinName sda, PinName scl) : I2C(sda, scl) { printf ("hello\n");}
    
    /**
     * @brief  Writes a buffer towards the I2C peripheral device.
     * @param  pBuffer pointer to the byte-array data to send
     * @param  DeviceAddr specifies the peripheral device slave address.
     * @param  RegisterAddr specifies the internal address register
     *         where to start writing to (must be correctly masked).
     * @param  NumByteToWrite number of bytes to be written.
     * @retval 0 if ok,
     * @retval -1 if an I2C error has occured, or
     * @retval -2 on temporary buffer overflow (i.e. NumByteToWrite was too high)
     * @note   On some devices if NumByteToWrite is greater
     *         than one, the RegisterAddr must be masked correctly!
     */
     /*
    int v53l1x_i2c_write(uint8_t* pBuffer, uint8_t DeviceAddr, uint16_t RegisterAddr,
                  uint16_t NumByteToWrite) {
        int ret;
        uint8_t tmp[TEMP_BUF_SIZE];

        if(NumByteToWrite >= TEMP_BUF_SIZE) return -2;

        // First, send device address. Then, send data and STOP condition 
        tmp[0] = RegisterAddr >> 8;
        tmp[1] = RegisterAddr & 0x0FF;
        memcpy(tmp+2, pBuffer, NumByteToWrite);
        while ( mutex )
        {
            wait_ms(1);
        }
        mutex = 1;

        ret = write(DeviceAddr, (const char*)tmp, NumByteToWrite+2, false);
        mutex = 0;
        if(ret)
        {
            wait_ms(1);
            ret = write(DeviceAddr, (const char*)tmp, NumByteToWrite+2, false);
            if(ret)
            {
                            printf("***************** v53l1x_i2c_write twice times %d %d %d %d\n",DeviceAddr,RegisterAddr,NumByteToWrite,ret);
            }
 //           printf("v53l1x_i2c_write %d %d %d %d\n",DeviceAddr,RegisterAddr,NumByteToWrite,ret);
        return -1;
        }
        return 0;
    }
    */

    /**
     * @brief  Reads a buffer from the I2C peripheral device.
     * @param  pBuffer pointer to the byte-array to read data in to
     * @param  DeviceAddr specifies the peripheral device slave address.
     * @param  RegisterAddr specifies the internal address register
     *         where to start reading from (must be correctly masked).
     * @param  NumByteToRead number of bytes to be read.
     * @retval 0 if ok,
     * @retval -1 if an I2C error has occured
     * @note   On some devices if NumByteToWrite is greater
     *         than one, the RegisterAddr must be masked correctly!
     */
     /*
    int v53l1x_i2c_read(uint8_t* pBuffer, uint8_t DeviceAddr, uint16_t RegisterAddr,
                 uint16_t NumByteToRead) {
        int ret;


            // Read data, with STOP condition  
            ret = read(DeviceAddr, (char*)pBuffer, NumByteToRead, false);

       //     printf("class v53l1x_i2c_read read %d %d %d\n",pBuffer[0],pBuffer[1],pBuffer[2]);


        if(ret)
        {
           printf("********************* class v53l1x_i2c_read %d %d %d %d\n",DeviceAddr,RegisterAddr,NumByteToRead,ret);
           return -1;
        }
        return 0;
    }
    */
    
        int ToF_i2c_write(uint8_t* pBuffer, uint8_t DeviceAddr, uint16_t RegisterAddr,
                  uint16_t NumByteToWrite) {
        int ret;
        uint8_t tmp[TEMP_BUF_SIZE];

        if(NumByteToWrite >= TEMP_BUF_SIZE) return -2;

        // First, send device address. Then, send data and STOP condition 
        tmp[0] = RegisterAddr >> 8;
        tmp[1] = RegisterAddr & 0x0FF;
        memcpy(tmp+2, pBuffer, NumByteToWrite);

        ret = write(DeviceAddr, (const char*)tmp, NumByteToWrite+2, false);

        if(ret) return -1;
        return 0;
    }

    /**
     * @brief  Reads a buffer from the I2C peripheral device.
     * @param  pBuffer pointer to the byte-array to read data in to
     * @param  DeviceAddr specifies the peripheral device slave address.
     * @param  RegisterAddr specifies the internal address register
     *         where to start reading from (must be correctly masked).
     * @param  NumByteToRead number of bytes to be read.
     * @retval 0 if ok,
     * @retval -1 if an I2C error has occured
     * @note   On some devices if NumByteToWrite is greater
     *         than one, the RegisterAddr must be masked correctly!
     */
    int ToF_i2c_read(uint8_t* pBuffer, uint8_t DeviceAddr, uint16_t RegisterAddr,
                 uint16_t NumByteToRead) {
        int ret;
        uint8_t ExpanderData[2];
        ExpanderData[0] = RegisterAddr >> 8;
        ExpanderData[1] = RegisterAddr & 0x0FF;
        /* Send device address, with no STOP condition */
        ret = write(DeviceAddr, (const char*)ExpanderData, 2, true);
        if(!ret) {
            /* Read data, with STOP condition  */
            ret = read(DeviceAddr, (char*)pBuffer, NumByteToRead, false);
        }

        if(ret) return -1;
        return 0;
    }

private:
    static const unsigned int TEMP_BUF_SIZE = 256;
};

#endif /* __DEV_53L1X_I2C_H */