ST Expansion SW Team / VL53L1CB

The VL53L1CB proximity sensor, based on ST’s FlightSense™, Time-of-Flight technology.

Dependencies:   X_NUCLEO_COMMON ST_INTERFACES

Dependents:   VL53L1CB_noshield_1sensor_polls_auton VL53L1CB_noshield_1sensor_interrupt_auton X_NUCLEO_53L1A2

Based on VL53L1 library, this is a library for the VL53L1CB ToF chip.

X_NUCLEO_COMMON/DevI2C/ToF_I2C.h@0:3ac96e360672, 2020-11-06 (annotated)

Committer:
charlesmn
Date:
Fri Nov 06 10:06:37 2020 +0000
Revision:
0:3ac96e360672
Library for ST Vl53L1A1 time of flight sensor.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
charlesmn 0:3ac96e360672 1 /* Define to prevent from recursive inclusion --------------------------------*/
charlesmn 0:3ac96e360672 2 #ifndef __DEV_ToF_I2C_H
charlesmn 0:3ac96e360672 3 #define __DEV_ToF_I2C_H
charlesmn 0:3ac96e360672 4
charlesmn 0:3ac96e360672 5 /* Includes ------------------------------------------------------------------*/
charlesmn 0:3ac96e360672 6
charlesmn 0:3ac96e360672 7 #include "mbed.h"
charlesmn 0:3ac96e360672 8
charlesmn 0:3ac96e360672 9 #include "pinmap.h"
charlesmn 0:3ac96e360672 10
charlesmn 0:3ac96e360672 11 static int mutex =0;
charlesmn 0:3ac96e360672 12
charlesmn 0:3ac96e360672 13 //Class replacing DevI2C class as it was not implementing a 16bit address registers
charlesmn 0:3ac96e360672 14 class ToF_DevI2C : public I2C
charlesmn 0:3ac96e360672 15 {
charlesmn 0:3ac96e360672 16 public:
charlesmn 0:3ac96e360672 17 /** Create a DevI2C Master interface, connected to the specified pins
charlesmn 0:3ac96e360672 18 *
charlesmn 0:3ac96e360672 19 * @param sda I2C data line pin
charlesmn 0:3ac96e360672 20 * @param scl I2C clock line pin
charlesmn 0:3ac96e360672 21 */
charlesmn 0:3ac96e360672 22 ToF_DevI2C(PinName sda, PinName scl) : I2C(sda, scl) { printf ("hello\n");}
charlesmn 0:3ac96e360672 23
charlesmn 0:3ac96e360672 24 /**
charlesmn 0:3ac96e360672 25 * @brief Writes a buffer towards the I2C peripheral device.
charlesmn 0:3ac96e360672 26 * @param pBuffer pointer to the byte-array data to send
charlesmn 0:3ac96e360672 27 * @param DeviceAddr specifies the peripheral device slave address.
charlesmn 0:3ac96e360672 28 * @param RegisterAddr specifies the internal address register
charlesmn 0:3ac96e360672 29 * where to start writing to (must be correctly masked).
charlesmn 0:3ac96e360672 30 * @param NumByteToWrite number of bytes to be written.
charlesmn 0:3ac96e360672 31 * @retval 0 if ok,
charlesmn 0:3ac96e360672 32 * @retval -1 if an I2C error has occured, or
charlesmn 0:3ac96e360672 33 * @retval -2 on temporary buffer overflow (i.e. NumByteToWrite was too high)
charlesmn 0:3ac96e360672 34 * @note On some devices if NumByteToWrite is greater
charlesmn 0:3ac96e360672 35 * than one, the RegisterAddr must be masked correctly!
charlesmn 0:3ac96e360672 36 */
charlesmn 0:3ac96e360672 37 /*
charlesmn 0:3ac96e360672 38 int v53l1x_i2c_write(uint8_t* pBuffer, uint8_t DeviceAddr, uint16_t RegisterAddr,
charlesmn 0:3ac96e360672 39 uint16_t NumByteToWrite) {
charlesmn 0:3ac96e360672 40 int ret;
charlesmn 0:3ac96e360672 41 uint8_t tmp[TEMP_BUF_SIZE];
charlesmn 0:3ac96e360672 42
charlesmn 0:3ac96e360672 43 if(NumByteToWrite >= TEMP_BUF_SIZE) return -2;
charlesmn 0:3ac96e360672 44
charlesmn 0:3ac96e360672 45 // First, send device address. Then, send data and STOP condition
charlesmn 0:3ac96e360672 46 tmp[0] = RegisterAddr >> 8;
charlesmn 0:3ac96e360672 47 tmp[1] = RegisterAddr & 0x0FF;
charlesmn 0:3ac96e360672 48 memcpy(tmp+2, pBuffer, NumByteToWrite);
charlesmn 0:3ac96e360672 49 while ( mutex )
charlesmn 0:3ac96e360672 50 {
charlesmn 0:3ac96e360672 51 wait_ms(1);
charlesmn 0:3ac96e360672 52 }
charlesmn 0:3ac96e360672 53 mutex = 1;
charlesmn 0:3ac96e360672 54
charlesmn 0:3ac96e360672 55 ret = write(DeviceAddr, (const char*)tmp, NumByteToWrite+2, false);
charlesmn 0:3ac96e360672 56 mutex = 0;
charlesmn 0:3ac96e360672 57 if(ret)
charlesmn 0:3ac96e360672 58 {
charlesmn 0:3ac96e360672 59 wait_ms(1);
charlesmn 0:3ac96e360672 60 ret = write(DeviceAddr, (const char*)tmp, NumByteToWrite+2, false);
charlesmn 0:3ac96e360672 61 if(ret)
charlesmn 0:3ac96e360672 62 {
charlesmn 0:3ac96e360672 63 printf("***************** v53l1x_i2c_write twice times %d %d %d %d\n",DeviceAddr,RegisterAddr,NumByteToWrite,ret);
charlesmn 0:3ac96e360672 64 }
charlesmn 0:3ac96e360672 65 // printf("v53l1x_i2c_write %d %d %d %d\n",DeviceAddr,RegisterAddr,NumByteToWrite,ret);
charlesmn 0:3ac96e360672 66 return -1;
charlesmn 0:3ac96e360672 67 }
charlesmn 0:3ac96e360672 68 return 0;
charlesmn 0:3ac96e360672 69 }
charlesmn 0:3ac96e360672 70 */
charlesmn 0:3ac96e360672 71
charlesmn 0:3ac96e360672 72 /**
charlesmn 0:3ac96e360672 73 * @brief Reads a buffer from the I2C peripheral device.
charlesmn 0:3ac96e360672 74 * @param pBuffer pointer to the byte-array to read data in to
charlesmn 0:3ac96e360672 75 * @param DeviceAddr specifies the peripheral device slave address.
charlesmn 0:3ac96e360672 76 * @param RegisterAddr specifies the internal address register
charlesmn 0:3ac96e360672 77 * where to start reading from (must be correctly masked).
charlesmn 0:3ac96e360672 78 * @param NumByteToRead number of bytes to be read.
charlesmn 0:3ac96e360672 79 * @retval 0 if ok,
charlesmn 0:3ac96e360672 80 * @retval -1 if an I2C error has occured
charlesmn 0:3ac96e360672 81 * @note On some devices if NumByteToWrite is greater
charlesmn 0:3ac96e360672 82 * than one, the RegisterAddr must be masked correctly!
charlesmn 0:3ac96e360672 83 */
charlesmn 0:3ac96e360672 84 /*
charlesmn 0:3ac96e360672 85 int v53l1x_i2c_read(uint8_t* pBuffer, uint8_t DeviceAddr, uint16_t RegisterAddr,
charlesmn 0:3ac96e360672 86 uint16_t NumByteToRead) {
charlesmn 0:3ac96e360672 87 int ret;
charlesmn 0:3ac96e360672 88
charlesmn 0:3ac96e360672 89
charlesmn 0:3ac96e360672 90 // Read data, with STOP condition
charlesmn 0:3ac96e360672 91 ret = read(DeviceAddr, (char*)pBuffer, NumByteToRead, false);
charlesmn 0:3ac96e360672 92
charlesmn 0:3ac96e360672 93 // printf("class v53l1x_i2c_read read %d %d %d\n",pBuffer[0],pBuffer[1],pBuffer[2]);
charlesmn 0:3ac96e360672 94
charlesmn 0:3ac96e360672 95
charlesmn 0:3ac96e360672 96 if(ret)
charlesmn 0:3ac96e360672 97 {
charlesmn 0:3ac96e360672 98 printf("********************* class v53l1x_i2c_read %d %d %d %d\n",DeviceAddr,RegisterAddr,NumByteToRead,ret);
charlesmn 0:3ac96e360672 99 return -1;
charlesmn 0:3ac96e360672 100 }
charlesmn 0:3ac96e360672 101 return 0;
charlesmn 0:3ac96e360672 102 }
charlesmn 0:3ac96e360672 103 */
charlesmn 0:3ac96e360672 104
charlesmn 0:3ac96e360672 105 int ToF_i2c_write(uint8_t* pBuffer, uint8_t DeviceAddr, uint16_t RegisterAddr,
charlesmn 0:3ac96e360672 106 uint16_t NumByteToWrite) {
charlesmn 0:3ac96e360672 107 int ret;
charlesmn 0:3ac96e360672 108 uint8_t tmp[TEMP_BUF_SIZE];
charlesmn 0:3ac96e360672 109
charlesmn 0:3ac96e360672 110 if(NumByteToWrite >= TEMP_BUF_SIZE) return -2;
charlesmn 0:3ac96e360672 111
charlesmn 0:3ac96e360672 112 // First, send device address. Then, send data and STOP condition
charlesmn 0:3ac96e360672 113 tmp[0] = RegisterAddr >> 8;
charlesmn 0:3ac96e360672 114 tmp[1] = RegisterAddr & 0x0FF;
charlesmn 0:3ac96e360672 115 memcpy(tmp+2, pBuffer, NumByteToWrite);
charlesmn 0:3ac96e360672 116
charlesmn 0:3ac96e360672 117 ret = write(DeviceAddr, (const char*)tmp, NumByteToWrite+2, false);
charlesmn 0:3ac96e360672 118
charlesmn 0:3ac96e360672 119 if(ret) return -1;
charlesmn 0:3ac96e360672 120 return 0;
charlesmn 0:3ac96e360672 121 }
charlesmn 0:3ac96e360672 122
charlesmn 0:3ac96e360672 123 /**
charlesmn 0:3ac96e360672 124 * @brief Reads a buffer from the I2C peripheral device.
charlesmn 0:3ac96e360672 125 * @param pBuffer pointer to the byte-array to read data in to
charlesmn 0:3ac96e360672 126 * @param DeviceAddr specifies the peripheral device slave address.
charlesmn 0:3ac96e360672 127 * @param RegisterAddr specifies the internal address register
charlesmn 0:3ac96e360672 128 * where to start reading from (must be correctly masked).
charlesmn 0:3ac96e360672 129 * @param NumByteToRead number of bytes to be read.
charlesmn 0:3ac96e360672 130 * @retval 0 if ok,
charlesmn 0:3ac96e360672 131 * @retval -1 if an I2C error has occured
charlesmn 0:3ac96e360672 132 * @note On some devices if NumByteToWrite is greater
charlesmn 0:3ac96e360672 133 * than one, the RegisterAddr must be masked correctly!
charlesmn 0:3ac96e360672 134 */
charlesmn 0:3ac96e360672 135 int ToF_i2c_read(uint8_t* pBuffer, uint8_t DeviceAddr, uint16_t RegisterAddr,
charlesmn 0:3ac96e360672 136 uint16_t NumByteToRead) {
charlesmn 0:3ac96e360672 137 int ret;
charlesmn 0:3ac96e360672 138 uint8_t ExpanderData[2];
charlesmn 0:3ac96e360672 139 ExpanderData[0] = RegisterAddr >> 8;
charlesmn 0:3ac96e360672 140 ExpanderData[1] = RegisterAddr & 0x0FF;
charlesmn 0:3ac96e360672 141 /* Send device address, with no STOP condition */
charlesmn 0:3ac96e360672 142 ret = write(DeviceAddr, (const char*)ExpanderData, 2, true);
charlesmn 0:3ac96e360672 143 if(!ret) {
charlesmn 0:3ac96e360672 144 /* Read data, with STOP condition */
charlesmn 0:3ac96e360672 145 ret = read(DeviceAddr, (char*)pBuffer, NumByteToRead, false);
charlesmn 0:3ac96e360672 146 }
charlesmn 0:3ac96e360672 147
charlesmn 0:3ac96e360672 148 if(ret) return -1;
charlesmn 0:3ac96e360672 149 return 0;
charlesmn 0:3ac96e360672 150 }
charlesmn 0:3ac96e360672 151
charlesmn 0:3ac96e360672 152 private:
charlesmn 0:3ac96e360672 153 static const unsigned int TEMP_BUF_SIZE = 256;
charlesmn 0:3ac96e360672 154 };
charlesmn 0:3ac96e360672 155
charlesmn 0:3ac96e360672 156 #endif /* __DEV_53L1X_I2C_H */