vl53l1_platform.c

00001 
00002 // SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause
00003 /******************************************************************************
00004  * Copyright (c) 2020, STMicroelectronics - All Rights Reserved
00005 
00006  This file is part of VL53L1 and is dual licensed,
00007  either GPL-2.0+
00008  or 'BSD 3-clause "New" or "Revised" License' , at your option.
00009  ******************************************************************************
00010  */
00011 
00012 unsigned int i2creadCount = 0;
00013 unsigned int i2cwriteCount = 0;
00014 unsigned char SPI2C_Buffer[256];
00015 
00016 
00017 #include <mbed_wait_api.h>
00018 #include "vl53l1_platform.h"
00019 #include "vl53l1_platform_log.h"
00020 #include "vl53l1_api.h"
00021 #include "spi_interface.h"
00022 #include <string.h>
00023 #include <time.h>
00024 #include <math.h>
00025 
00026 
00027 
00028 #define I2C_TIME_OUT_BASE   10
00029 #define I2C_TIME_OUT_BYTE   1
00030 
00031 #ifdef VL53L1_LOG_ENABLE
00032 #define trace_print(level, ...) VL53L1_trace_print_module_function(VL53L1_TRACE_MODULE_PLATFORM, level, VL53L1_TRACE_FUNCTION_NONE, ##__VA_ARGS__)
00033 #define trace_i2c(...) VL53L1_trace_print_module_function(VL53L1_TRACE_MODULE_NONE, VL53L1_TRACE_LEVEL_NONE, VL53L1_TRACE_FUNCTION_I2C, ##__VA_ARGS__)
00034 #endif
00035 
00036 /* when not customized by application define dummy one */
00037 #ifndef VL53L1_GetI2cBus
00038 /** This macro can be overloaded by user to enforce i2c sharing in RTOS context
00039  */
00040 #   define VL53L1_GetI2cBus(...) (void)0
00041 #endif
00042 
00043 #ifndef VL53L1_PutI2cBus
00044 /** This macro can be overloaded by user to enforce i2c sharing in RTOS context
00045  */
00046 #   define VL53L1_PutI2cBus(...) (void)0
00047 #endif
00048 
00049 uint8_t _I2CBuffer[256];
00050 
00051 
00052 VL53L1_Error VL53L1_WriteMulti(VL53L1_DEV Dev, uint16_t index, uint8_t *pdata, uint32_t count)
00053 {
00054    int  status;
00055 //   printf("VL53L1_WriteMulti %d %d %d \n",Dev->I2cDevAddr,index,count);
00056    status = v53l1cb_i2c_write_if(Dev->dev_i2c, pdata,Dev->i2c_slave_address, index,count);
00057    return status;
00058 }
00059 
00060 
00061 VL53L1_Error VL53L1_ReadMulti(VL53L1_DEV Dev, uint16_t index, uint8_t *pdata, uint32_t count)
00062 {
00063     int status;
00064 
00065     status = v53l1cb_i2c_read_if(Dev->dev_i2c, pdata,Dev->i2c_slave_address, index,count);
00066 
00067     return status;
00068 }
00069 
00070 
00071 VL53L1_Error VL53L1_WrByte(VL53L1_DEV Dev, uint16_t index, uint8_t data)
00072 {
00073    int  status;
00074 
00075    status = v53l1cb_i2c_write_if(Dev->dev_i2c, &data,Dev->i2c_slave_address, index,1);
00076    return status;
00077 }
00078 
00079 
00080 VL53L1_Error VL53L1_WrWord(VL53L1_DEV Dev, uint16_t index, uint16_t data)
00081 {
00082    int  status;
00083    uint8_t buffer[2];
00084 
00085    buffer[0] = data >> 8;
00086    buffer[1] = data & 0x00FF;
00087    status = v53l1cb_i2c_write_if(Dev->dev_i2c, (uint8_t *)buffer,Dev->i2c_slave_address, index,2);
00088    return status;
00089 }
00090 
00091 
00092 VL53L1_Error VL53L1_WrDWord(VL53L1_DEV Dev, uint16_t index, uint32_t data)
00093 {
00094    int  status;
00095    uint8_t buffer[4];
00096 
00097     buffer[0] = (data >> 24) & 0xFF;
00098     buffer[1] = (data >> 16) & 0xFF;
00099     buffer[2] = (data >>  8) & 0xFF;
00100     buffer[3] = (data >>  0) & 0xFF;
00101     status = v53l1cb_i2c_write_if(Dev->dev_i2c, (uint8_t *)buffer,Dev->i2c_slave_address, index,4);
00102    return status;
00103 }
00104 
00105 VL53L1_Error VL53L1_UpdateByte(VL53L1_DEV Dev, uint16_t index, uint8_t AndData, uint8_t OrData)
00106 {
00107    int  status;
00108    uint8_t buffer = 0;
00109 
00110    /* read data direct onto buffer */
00111    status = v53l1cb_i2c_read_if(Dev->dev_i2c, &buffer,Dev->i2c_slave_address, index,1);
00112    if (!status)
00113    {
00114       buffer = (buffer & AndData) | OrData;
00115       status = v53l1cb_i2c_write_if(Dev->dev_i2c, &buffer,Dev->i2c_slave_address, index,1);
00116    }
00117    return status;
00118 }
00119 
00120 VL53L1_Error VL53L1_RdByte(VL53L1_DEV Dev, uint16_t index, uint8_t *data)
00121 {
00122    int  status;
00123 
00124    status = v53l1cb_i2c_read_if(Dev->dev_i2c, data,Dev->i2c_slave_address, index,1);  //is this correct
00125  // printf("VL53L1_RdByte %d %d %d\n",Dev->i2c_slave_address, status,*data);
00126    if(status)
00127      return -1;
00128 
00129    return 0;
00130 }
00131 
00132 
00133 VL53L1_Error VL53L1_RdWord(VL53L1_DEV Dev, uint16_t index, uint16_t *data)
00134 {
00135    int  status;
00136    uint8_t buffer[2] = {0,0};
00137    
00138    status = v53l1cb_i2c_read_if(Dev->dev_i2c, buffer,Dev->i2c_slave_address, index,2);  //is this correct
00139    if (!status)
00140    {
00141        *data = (buffer[0] << 8) + buffer[1];
00142    }
00143    return status;
00144 
00145 }
00146 
00147 
00148 
00149 VL53L1_Error VL53L1_RdDWord(VL53L1_DEV Dev, uint16_t index, uint32_t *data)
00150 {
00151    int status;
00152    uint8_t buffer[4] = {0,0,0,0};
00153 
00154    status = v53l1cb_i2c_read_if(Dev->dev_i2c, buffer,Dev->i2c_slave_address, index,4);
00155    if(!status)
00156    {
00157        *data = (buffer[0] << 24) + (buffer[1] << 16) + (buffer[2] << 8) + buffer[3];
00158    }
00159    return status;
00160 
00161 }
00162 
00163 
00164 VL53L1_Error VL53L1_GetTickCount(
00165     VL53L1_DEV Dev,
00166     uint32_t *ptick_count_ms)
00167 {
00168 
00169     /* Returns current tick count in [ms] */
00170 
00171     VL53L1_Error status  = VL53L1_ERROR_NONE;
00172     (void) Dev;
00173 
00174     GetTickCount( ptick_count_ms); 
00175 
00176 #ifdef VL53L1_LOG_ENABLE
00177     trace_print(
00178         VL53L1_TRACE_LEVEL_DEBUG,
00179         "VL53L1_GetTickCount() = %5u ms;\n",
00180     *ptick_count_ms);
00181 #endif
00182 
00183     return status;
00184 }
00185 
00186 
00187 #define trace_print(level, ...) \
00188     _LOG_TRACE_PRINT(VL53L1_TRACE_MODULE_PLATFORM, \
00189     level, VL53L1_TRACE_FUNCTION_NONE, ##__VA_ARGS__)
00190 
00191 #define trace_i2c(...) \
00192     _LOG_TRACE_PRINT(VL53L1_TRACE_MODULE_NONE, \
00193     VL53L1_TRACE_LEVEL_NONE, VL53L1_TRACE_FUNCTION_I2C, ##__VA_ARGS__)
00194 
00195 
00196 VL53L1_Error VL53L1_GetTimerFrequency(int32_t *ptimer_freq_hz)
00197 {
00198     *ptimer_freq_hz = 0;
00199     
00200     trace_print(VL53L1_TRACE_LEVEL_INFO, "VL53L1_GetTimerFrequency: Freq : %dHz\n", *ptimer_freq_hz);
00201     return VL53L1_ERROR_NONE;
00202 }
00203 
00204 
00205 VL53L1_Error VL53L1_WaitMs(VL53L1_Dev_t *pdev, int32_t wait_time){
00206     (void)pdev;
00207     wait_us(wait_time * 1000);
00208     return VL53L1_ERROR_NONE;
00209 }
00210 
00211 
00212 VL53L1_Error VL53L1_WaitUs(VL53L1_Dev_t *pdev, int32_t wait_time){
00213     (void)pdev;
00214     wait_us(wait_time);
00215     return VL53L1_ERROR_NONE;
00216 }
00217 
00218 VL53L1_Error VL53L1_WaitValueMaskEx(
00219     VL53L1_Dev_t *pdev,
00220     uint32_t      timeout_ms,
00221     uint16_t      index,
00222     uint8_t       value,
00223     uint8_t       mask,
00224     uint32_t      poll_delay_ms)
00225 {
00226 
00227     /*
00228      * Platform implementation of WaitValueMaskEx V2WReg script command
00229      *
00230      * WaitValueMaskEx(
00231      *          duration_ms,
00232      *          index,
00233      *          value,
00234      *          mask,
00235      *          poll_delay_ms);
00236      */
00237 
00238     VL53L1_Error status         = VL53L1_ERROR_NONE;
00239     uint32_t     start_time_ms = 0;
00240     uint32_t     current_time_ms = 0;
00241     uint32_t     polling_time_ms = 0;
00242     uint8_t      byte_value      = 0;
00243     uint8_t      found           = 0;
00244 #ifdef VL53L1_LOG_ENABLE
00245     uint8_t      trace_functions = VL53L1_TRACE_FUNCTION_NONE;
00246 #endif
00247 
00248     char   register_name[VL53L1_MAX_STRING_LENGTH];
00249 
00250     /* look up register name */
00251 #ifdef PAL_EXTENDED
00252     VL53L1_get_register_name(
00253             index,
00254             register_name);
00255 #else
00256     VL53L1_COPYSTRING(register_name, "");
00257 #endif
00258 
00259     /* Output to I2C logger for FMT/DFT  */
00260 
00261     /*trace_i2c("WaitValueMaskEx(%5d, 0x%04X, 0x%02X, 0x%02X, %5d);\n",
00262                  timeout_ms, index, value, mask, poll_delay_ms); */
00263     trace_i2c("WaitValueMaskEx(%5d, %s, 0x%02X, 0x%02X, %5d);\n",
00264                  timeout_ms, register_name, value, mask, poll_delay_ms);
00265 
00266     /* calculate time limit in absolute time */
00267 
00268      VL53L1_GetTickCount(pdev, &start_time_ms);
00269 
00270      
00271      VL53L1_WaitMs(pdev, 10);
00272 
00273     /* remember current trace functions and temporarily disable
00274      * function logging
00275      */
00276 
00277 #ifdef VL53L1_LOG_ENABLE
00278     trace_functions = VL53L1_get_trace_functions();
00279     VL53L1_set_trace_functions(VL53L1_TRACE_FUNCTION_NONE);
00280 #endif
00281 
00282     /* wait until value is found, timeout reached on error occurred */
00283     while ((status == VL53L1_ERROR_NONE) &&
00284            (polling_time_ms < timeout_ms) &&
00285            (found == 0)) {
00286 
00287         if (status == VL53L1_ERROR_NONE)
00288             status = VL53L1_RdByte(
00289                             pdev,
00290                             index,
00291                             &byte_value);
00292 
00293         if ((byte_value & mask) == value)
00294             found = 1;
00295 
00296         if (status == VL53L1_ERROR_NONE  &&
00297             found == 0 &&
00298             poll_delay_ms > 0)
00299             status = VL53L1_WaitMs(
00300                     pdev,
00301                     poll_delay_ms);
00302         /* Update polling time (Compare difference rather than absolute to
00303         negate 32bit wrap around issue) */
00304         VL53L1_GetTickCount(pdev, &current_time_ms);
00305         polling_time_ms = current_time_ms - start_time_ms;
00306 
00307     }
00308  //   printf("polling_time_ms %d \n",polling_time_ms);
00309 #ifdef VL53L1_LOG_ENABLE
00310     /* Restore function logging */
00311     VL53L1_set_trace_functions(trace_functions);
00312 #endif
00313 
00314     if (found == 0 && status == VL53L1_ERROR_NONE)
00315         status = VL53L1_ERROR_TIME_OUT;
00316         
00317     return status;
00318 }
00319 
00320 
00321 
00322