ST Expansion SW Team
Rename library
Dependencies: X_NUCLEO_COMMON ST_INTERFACES
Dependents: VL53L3CX_NoShield_1Sensor_poll_Mb06x VL53L3_NoShield_1Sensor_polling_Mb63 X_NUCLEO_53L3A2 53L3A2_Ranging
porting/vl53lx_platform.c@5:89031b2f5316, 2021-07-14 (annotated)
- Committer:
- Charles MacNeill
- Date:
- Wed Jul 14 12:45:49 2021 +0100
- Revision:
- 5:89031b2f5316
The class files now just are wrappers for the files in the "MODULES" directory.The porting directory includes the mbed interface
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Charles MacNeill |
5:89031b2f5316 | 1 | |
| Charles MacNeill |
5:89031b2f5316 | 2 | /* |
| Charles MacNeill |
5:89031b2f5316 | 3 | * This file is part of VL53L1 Platform |
| Charles MacNeill |
5:89031b2f5316 | 4 | * |
| Charles MacNeill |
5:89031b2f5316 | 5 | * Copyright (c) 2016, STMicroelectronics - All Rights Reserved |
| Charles MacNeill |
5:89031b2f5316 | 6 | * |
| Charles MacNeill |
5:89031b2f5316 | 7 | * License terms: BSD 3-clause "New" or "Revised" License. |
| Charles MacNeill |
5:89031b2f5316 | 8 | * |
| Charles MacNeill |
5:89031b2f5316 | 9 | * Redistribution and use in source and binary forms, with or without |
| Charles MacNeill |
5:89031b2f5316 | 10 | * modification, are permitted provided that the following conditions are met: |
| Charles MacNeill |
5:89031b2f5316 | 11 | * |
| Charles MacNeill |
5:89031b2f5316 | 12 | * 1. Redistributions of source code must retain the above copyright notice, this |
| Charles MacNeill |
5:89031b2f5316 | 13 | * list of conditions and the following disclaimer. |
| Charles MacNeill |
5:89031b2f5316 | 14 | * |
| Charles MacNeill |
5:89031b2f5316 | 15 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
| Charles MacNeill |
5:89031b2f5316 | 16 | * this list of conditions and the following disclaimer in the documentation |
| Charles MacNeill |
5:89031b2f5316 | 17 | * and/or other materials provided with the distribution. |
| Charles MacNeill |
5:89031b2f5316 | 18 | * |
| Charles MacNeill |
5:89031b2f5316 | 19 | * 3. Neither the name of the copyright holder nor the names of its contributors |
| Charles MacNeill |
5:89031b2f5316 | 20 | * may be used to endorse or promote products derived from this software |
| Charles MacNeill |
5:89031b2f5316 | 21 | * without specific prior written permission. |
| Charles MacNeill |
5:89031b2f5316 | 22 | * |
| Charles MacNeill |
5:89031b2f5316 | 23 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| Charles MacNeill |
5:89031b2f5316 | 24 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| Charles MacNeill |
5:89031b2f5316 | 25 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
| Charles MacNeill |
5:89031b2f5316 | 26 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
| Charles MacNeill |
5:89031b2f5316 | 27 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
| Charles MacNeill |
5:89031b2f5316 | 28 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
| Charles MacNeill |
5:89031b2f5316 | 29 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
| Charles MacNeill |
5:89031b2f5316 | 30 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
| Charles MacNeill |
5:89031b2f5316 | 31 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
| Charles MacNeill |
5:89031b2f5316 | 32 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
| Charles MacNeill |
5:89031b2f5316 | 33 | * |
| Charles MacNeill |
5:89031b2f5316 | 34 | */ |
| Charles MacNeill |
5:89031b2f5316 | 35 | |
| Charles MacNeill |
5:89031b2f5316 | 36 | unsigned int i2creadCount = 0; |
| Charles MacNeill |
5:89031b2f5316 | 37 | unsigned int i2cwriteCount = 0; |
| Charles MacNeill |
5:89031b2f5316 | 38 | unsigned char SPI2C_Buffer[256]; |
| Charles MacNeill |
5:89031b2f5316 | 39 | |
| Charles MacNeill |
5:89031b2f5316 | 40 | #include <mbed_wait_api.h> |
| Charles MacNeill |
5:89031b2f5316 | 41 | #include "vl53lx_platform.h" |
| Charles MacNeill |
5:89031b2f5316 | 42 | #ifndef SMALL_FOOTPRINT |
| Charles MacNeill |
5:89031b2f5316 | 43 | #endif |
| Charles MacNeill |
5:89031b2f5316 | 44 | #include "vl53lx_platform_log.h" |
| Charles MacNeill |
5:89031b2f5316 | 45 | #include "vl53lx_api.h" |
| Charles MacNeill |
5:89031b2f5316 | 46 | #include "spi_interface.h" |
| Charles MacNeill |
5:89031b2f5316 | 47 | #include <string.h> |
| Charles MacNeill |
5:89031b2f5316 | 48 | #include <time.h> |
| Charles MacNeill |
5:89031b2f5316 | 49 | #include <math.h> |
| Charles MacNeill |
5:89031b2f5316 | 50 | |
| Charles MacNeill |
5:89031b2f5316 | 51 | |
| Charles MacNeill |
5:89031b2f5316 | 52 | extern void wait_ms(int ms); |
| Charles MacNeill |
5:89031b2f5316 | 53 | |
| Charles MacNeill |
5:89031b2f5316 | 54 | |
| Charles MacNeill |
5:89031b2f5316 | 55 | |
| Charles MacNeill |
5:89031b2f5316 | 56 | #define I2C_TIME_OUT_BASE 10 |
| Charles MacNeill |
5:89031b2f5316 | 57 | #define I2C_TIME_OUT_BYTE 1 |
| Charles MacNeill |
5:89031b2f5316 | 58 | |
| Charles MacNeill |
5:89031b2f5316 | 59 | #ifdef VL53L1_LOG_ENABLE |
| Charles MacNeill |
5:89031b2f5316 | 60 | #define trace_print(level, ...) VL53L1_trace_print_module_function(VL53L1_TRACE_MODULE_PLATFORM, level, VL53L1_TRACE_FUNCTION_NONE, ##__VA_ARGS__) |
| Charles MacNeill |
5:89031b2f5316 | 61 | #define trace_i2c(...) VL53L1_trace_print_module_function(VL53L1_TRACE_MODULE_NONE, VL53L1_TRACE_LEVEL_NONE, VL53L1_TRACE_FUNCTION_I2C, ##__VA_ARGS__) |
| Charles MacNeill |
5:89031b2f5316 | 62 | #endif |
| Charles MacNeill |
5:89031b2f5316 | 63 | |
| Charles MacNeill |
5:89031b2f5316 | 64 | /* when not customized by application define dummy one */ |
| Charles MacNeill |
5:89031b2f5316 | 65 | #ifndef VL53L1_GetI2cBus |
| Charles MacNeill |
5:89031b2f5316 | 66 | /** This macro can be overloaded by user to enforce i2c sharing in RTOS context |
| Charles MacNeill |
5:89031b2f5316 | 67 | */ |
| Charles MacNeill |
5:89031b2f5316 | 68 | # define VL53L1_GetI2cBus(...) (void)0 |
| Charles MacNeill |
5:89031b2f5316 | 69 | #endif |
| Charles MacNeill |
5:89031b2f5316 | 70 | |
| Charles MacNeill |
5:89031b2f5316 | 71 | #ifndef VL53L1_PutI2cBus |
| Charles MacNeill |
5:89031b2f5316 | 72 | /** This macro can be overloaded by user to enforce i2c sharing in RTOS context |
| Charles MacNeill |
5:89031b2f5316 | 73 | */ |
| Charles MacNeill |
5:89031b2f5316 | 74 | # define VL53L1_PutI2cBus(...) (void)0 |
| Charles MacNeill |
5:89031b2f5316 | 75 | #endif |
| Charles MacNeill |
5:89031b2f5316 | 76 | |
| Charles MacNeill |
5:89031b2f5316 | 77 | uint8_t _I2CBuffer[256]; |
| Charles MacNeill |
5:89031b2f5316 | 78 | |
| Charles MacNeill |
5:89031b2f5316 | 79 | |
| Charles MacNeill |
5:89031b2f5316 | 80 | VL53LX_Error VL53LX_WriteMulti(VL53LX_DEV Dev, uint16_t index, uint8_t *pdata, uint32_t count) |
| Charles MacNeill |
5:89031b2f5316 | 81 | { |
| Charles MacNeill |
5:89031b2f5316 | 82 | int status; |
| Charles MacNeill |
5:89031b2f5316 | 83 | // printf("VL53LX_WriteMulti %d %d %d \n",Dev->IO.Address,index,count); |
| Charles MacNeill |
5:89031b2f5316 | 84 | status = v53l1x_i2c_write_if(pdata,Dev->IO.Address, index,count); |
| Charles MacNeill |
5:89031b2f5316 | 85 | // printf("VL53LX_WriteMulti %d %d %d %d\n",Dev->IO.Address,index,count,status); |
| Charles MacNeill |
5:89031b2f5316 | 86 | return status; |
| Charles MacNeill |
5:89031b2f5316 | 87 | } |
| Charles MacNeill |
5:89031b2f5316 | 88 | |
| Charles MacNeill |
5:89031b2f5316 | 89 | |
| Charles MacNeill |
5:89031b2f5316 | 90 | VL53LX_Error VL53LX_ReadMulti(VL53LX_DEV Dev, uint16_t index, uint8_t *pdata, uint32_t count) |
| Charles MacNeill |
5:89031b2f5316 | 91 | { |
| Charles MacNeill |
5:89031b2f5316 | 92 | int status; |
| Charles MacNeill |
5:89031b2f5316 | 93 | |
| Charles MacNeill |
5:89031b2f5316 | 94 | status = v53l1x_i2c_read_if(pdata,Dev->IO.Address, index,count); |
| Charles MacNeill |
5:89031b2f5316 | 95 | |
| Charles MacNeill |
5:89031b2f5316 | 96 | return status; |
| Charles MacNeill |
5:89031b2f5316 | 97 | } |
| Charles MacNeill |
5:89031b2f5316 | 98 | |
| Charles MacNeill |
5:89031b2f5316 | 99 | |
| Charles MacNeill |
5:89031b2f5316 | 100 | VL53LX_Error VL53LX_WrByte(VL53LX_DEV Dev, uint16_t index, uint8_t data) |
| Charles MacNeill |
5:89031b2f5316 | 101 | { |
| Charles MacNeill |
5:89031b2f5316 | 102 | int status=0; |
| Charles MacNeill |
5:89031b2f5316 | 103 | // printf("VL53LX_WrByte arrived %d %d %d\n",index,data,Dev->IO.Address); |
| Charles MacNeill |
5:89031b2f5316 | 104 | status = v53l1x_i2c_write_if(&data,Dev->IO.Address, index,1); |
| Charles MacNeill |
5:89031b2f5316 | 105 | // printf("VL53LX_WrByte end %d \n",status); |
| Charles MacNeill |
5:89031b2f5316 | 106 | return status; |
| Charles MacNeill |
5:89031b2f5316 | 107 | } |
| Charles MacNeill |
5:89031b2f5316 | 108 | |
| Charles MacNeill |
5:89031b2f5316 | 109 | |
| Charles MacNeill |
5:89031b2f5316 | 110 | VL53LX_Error VL53LX_WrWord(VL53LX_DEV Dev, uint16_t index, uint16_t data) |
| Charles MacNeill |
5:89031b2f5316 | 111 | { |
| Charles MacNeill |
5:89031b2f5316 | 112 | int status; |
| Charles MacNeill |
5:89031b2f5316 | 113 | uint8_t buffer[2]; |
| Charles MacNeill |
5:89031b2f5316 | 114 | |
| Charles MacNeill |
5:89031b2f5316 | 115 | buffer[0] = data >> 8; |
| Charles MacNeill |
5:89031b2f5316 | 116 | buffer[1] = data & 0x00FF; |
| Charles MacNeill |
5:89031b2f5316 | 117 | status = v53l1x_i2c_write_if((uint8_t *)buffer,Dev->IO.Address, index,2); |
| Charles MacNeill |
5:89031b2f5316 | 118 | return status; |
| Charles MacNeill |
5:89031b2f5316 | 119 | } |
| Charles MacNeill |
5:89031b2f5316 | 120 | |
| Charles MacNeill |
5:89031b2f5316 | 121 | |
| Charles MacNeill |
5:89031b2f5316 | 122 | VL53LX_Error VL53LX_WrDWord(VL53LX_DEV Dev, uint16_t index, uint32_t data) |
| Charles MacNeill |
5:89031b2f5316 | 123 | { |
| Charles MacNeill |
5:89031b2f5316 | 124 | int status; |
| Charles MacNeill |
5:89031b2f5316 | 125 | uint8_t buffer[4]; |
| Charles MacNeill |
5:89031b2f5316 | 126 | |
| Charles MacNeill |
5:89031b2f5316 | 127 | buffer[0] = (data >> 24) & 0xFF; |
| Charles MacNeill |
5:89031b2f5316 | 128 | buffer[1] = (data >> 16) & 0xFF; |
| Charles MacNeill |
5:89031b2f5316 | 129 | buffer[2] = (data >> 8) & 0xFF; |
| Charles MacNeill |
5:89031b2f5316 | 130 | buffer[3] = (data >> 0) & 0xFF; |
| Charles MacNeill |
5:89031b2f5316 | 131 | status = v53l1x_i2c_write_if((uint8_t *)buffer,Dev->IO.Address, index,4); |
| Charles MacNeill |
5:89031b2f5316 | 132 | return status; |
| Charles MacNeill |
5:89031b2f5316 | 133 | } |
| Charles MacNeill |
5:89031b2f5316 | 134 | |
| Charles MacNeill |
5:89031b2f5316 | 135 | VL53LX_Error VL53LX_UpdateByte(VL53LX_DEV Dev, uint16_t index, uint8_t AndData, uint8_t OrData) |
| Charles MacNeill |
5:89031b2f5316 | 136 | { |
| Charles MacNeill |
5:89031b2f5316 | 137 | int status; |
| Charles MacNeill |
5:89031b2f5316 | 138 | uint8_t buffer = 0; |
| Charles MacNeill |
5:89031b2f5316 | 139 | |
| Charles MacNeill |
5:89031b2f5316 | 140 | /* read data direct onto buffer */ |
| Charles MacNeill |
5:89031b2f5316 | 141 | status = v53l1x_i2c_read_if(&buffer,Dev->IO.Address, index,1); |
| Charles MacNeill |
5:89031b2f5316 | 142 | if (!status) |
| Charles MacNeill |
5:89031b2f5316 | 143 | { |
| Charles MacNeill |
5:89031b2f5316 | 144 | buffer = (buffer & AndData) | OrData; |
| Charles MacNeill |
5:89031b2f5316 | 145 | status = v53l1x_i2c_write_if(&buffer,Dev->IO.Address, index,1); |
| Charles MacNeill |
5:89031b2f5316 | 146 | } |
| Charles MacNeill |
5:89031b2f5316 | 147 | return status; |
| Charles MacNeill |
5:89031b2f5316 | 148 | } |
| Charles MacNeill |
5:89031b2f5316 | 149 | |
| Charles MacNeill |
5:89031b2f5316 | 150 | VL53LX_Error VL53LX_RdByte(VL53LX_DEV Dev, uint16_t index, uint8_t *data) |
| Charles MacNeill |
5:89031b2f5316 | 151 | { |
| Charles MacNeill |
5:89031b2f5316 | 152 | int status; |
| Charles MacNeill |
5:89031b2f5316 | 153 | |
| Charles MacNeill |
5:89031b2f5316 | 154 | status = v53l1x_i2c_read_if(data,Dev->IO.Address, index,1); //is this correct |
| Charles MacNeill |
5:89031b2f5316 | 155 | // printf("VL53L1_RdByte %d %d %d\n",Dev->IO.Address, status,*data); |
| Charles MacNeill |
5:89031b2f5316 | 156 | if(status) |
| Charles MacNeill |
5:89031b2f5316 | 157 | return -1; |
| Charles MacNeill |
5:89031b2f5316 | 158 | |
| Charles MacNeill |
5:89031b2f5316 | 159 | return 0; |
| Charles MacNeill |
5:89031b2f5316 | 160 | } |
| Charles MacNeill |
5:89031b2f5316 | 161 | |
| Charles MacNeill |
5:89031b2f5316 | 162 | |
| Charles MacNeill |
5:89031b2f5316 | 163 | VL53LX_Error VL53LX_RdWord(VL53LX_DEV Dev, uint16_t index, uint16_t *data) |
| Charles MacNeill |
5:89031b2f5316 | 164 | { |
| Charles MacNeill |
5:89031b2f5316 | 165 | int status; |
| Charles MacNeill |
5:89031b2f5316 | 166 | uint8_t buffer[2] = {0,0}; |
| Charles MacNeill |
5:89031b2f5316 | 167 | |
| Charles MacNeill |
5:89031b2f5316 | 168 | // printf("VL53LX_RdWord %d %d %d %d\n",index,Dev->IO.Address, status,*data); |
| Charles MacNeill |
5:89031b2f5316 | 169 | status = v53l1x_i2c_read_if(buffer,Dev->IO.Address, index,2); //is this correct |
| Charles MacNeill |
5:89031b2f5316 | 170 | if (!status) |
| Charles MacNeill |
5:89031b2f5316 | 171 | { |
| Charles MacNeill |
5:89031b2f5316 | 172 | *data = (buffer[0] << 8) + buffer[1]; |
| Charles MacNeill |
5:89031b2f5316 | 173 | } |
| Charles MacNeill |
5:89031b2f5316 | 174 | // printf("VL53LX_RdWord %d %d %d %d\n",index,Dev->IO.Address, status,*data); |
| Charles MacNeill |
5:89031b2f5316 | 175 | return status; |
| Charles MacNeill |
5:89031b2f5316 | 176 | |
| Charles MacNeill |
5:89031b2f5316 | 177 | } |
| Charles MacNeill |
5:89031b2f5316 | 178 | |
| Charles MacNeill |
5:89031b2f5316 | 179 | |
| Charles MacNeill |
5:89031b2f5316 | 180 | |
| Charles MacNeill |
5:89031b2f5316 | 181 | VL53LX_Error VL53LX_RdDWord(VL53LX_DEV Dev, uint16_t index, uint32_t *data) |
| Charles MacNeill |
5:89031b2f5316 | 182 | { |
| Charles MacNeill |
5:89031b2f5316 | 183 | int status; |
| Charles MacNeill |
5:89031b2f5316 | 184 | uint8_t buffer[4] = {0,0,0,0}; |
| Charles MacNeill |
5:89031b2f5316 | 185 | |
| Charles MacNeill |
5:89031b2f5316 | 186 | status = v53l1x_i2c_read_if(buffer,Dev->IO.Address, index,4); |
| Charles MacNeill |
5:89031b2f5316 | 187 | if(!status) |
| Charles MacNeill |
5:89031b2f5316 | 188 | { |
| Charles MacNeill |
5:89031b2f5316 | 189 | *data = (buffer[0] << 24) + (buffer[1] << 16) + (buffer[2] << 8) + buffer[3]; |
| Charles MacNeill |
5:89031b2f5316 | 190 | } |
| Charles MacNeill |
5:89031b2f5316 | 191 | return status; |
| Charles MacNeill |
5:89031b2f5316 | 192 | |
| Charles MacNeill |
5:89031b2f5316 | 193 | } |
| Charles MacNeill |
5:89031b2f5316 | 194 | |
| Charles MacNeill |
5:89031b2f5316 | 195 | |
| Charles MacNeill |
5:89031b2f5316 | 196 | VL53LX_Error VL53LX_GetTickCount(VL53LX_DEV Dev, uint32_t *ptick_count_ms) |
| Charles MacNeill |
5:89031b2f5316 | 197 | { |
| Charles MacNeill |
5:89031b2f5316 | 198 | |
| Charles MacNeill |
5:89031b2f5316 | 199 | /* Returns current tick count in [ms] */ |
| Charles MacNeill |
5:89031b2f5316 | 200 | |
| Charles MacNeill |
5:89031b2f5316 | 201 | VL53LX_Error status = VL53LX_ERROR_NONE; |
| Charles MacNeill |
5:89031b2f5316 | 202 | |
| Charles MacNeill |
5:89031b2f5316 | 203 | GetTickCount( ptick_count_ms); |
| Charles MacNeill |
5:89031b2f5316 | 204 | |
| Charles MacNeill |
5:89031b2f5316 | 205 | #ifdef VL53L1_LOG_ENABLE |
| Charles MacNeill |
5:89031b2f5316 | 206 | trace_print( |
| Charles MacNeill |
5:89031b2f5316 | 207 | VL53L1_TRACE_LEVEL_DEBUG, |
| Charles MacNeill |
5:89031b2f5316 | 208 | "VL53L1_GetTickCount() = %5u ms;\n", |
| Charles MacNeill |
5:89031b2f5316 | 209 | *ptick_count_ms); |
| Charles MacNeill |
5:89031b2f5316 | 210 | #endif |
| Charles MacNeill |
5:89031b2f5316 | 211 | |
| Charles MacNeill |
5:89031b2f5316 | 212 | return status; |
| Charles MacNeill |
5:89031b2f5316 | 213 | } |
| Charles MacNeill |
5:89031b2f5316 | 214 | |
| Charles MacNeill |
5:89031b2f5316 | 215 | |
| Charles MacNeill |
5:89031b2f5316 | 216 | #define trace_print(level, ...) \ |
| Charles MacNeill |
5:89031b2f5316 | 217 | _LOG_TRACE_PRINT(VL53L1_TRACE_MODULE_PLATFORM, \ |
| Charles MacNeill |
5:89031b2f5316 | 218 | level, VL53L1_TRACE_FUNCTION_NONE, ##__VA_ARGS__) |
| Charles MacNeill |
5:89031b2f5316 | 219 | |
| Charles MacNeill |
5:89031b2f5316 | 220 | #define trace_i2c(...) \ |
| Charles MacNeill |
5:89031b2f5316 | 221 | _LOG_TRACE_PRINT(VL53L1_TRACE_MODULE_NONE, \ |
| Charles MacNeill |
5:89031b2f5316 | 222 | VL53L1_TRACE_LEVEL_NONE, VL53L1_TRACE_FUNCTION_I2C, ##__VA_ARGS__) |
| Charles MacNeill |
5:89031b2f5316 | 223 | |
| Charles MacNeill |
5:89031b2f5316 | 224 | |
| Charles MacNeill |
5:89031b2f5316 | 225 | VL53LX_Error VL53LX_GetTimerFrequency(int32_t *ptimer_freq_hz) |
| Charles MacNeill |
5:89031b2f5316 | 226 | { |
| Charles MacNeill |
5:89031b2f5316 | 227 | *ptimer_freq_hz = 0; |
| Charles MacNeill |
5:89031b2f5316 | 228 | |
| Charles MacNeill |
5:89031b2f5316 | 229 | trace_print(VL53L1_TRACE_LEVEL_INFO, "VL53L1_GetTimerFrequency: Freq : %dHz\n", *ptimer_freq_hz); |
| Charles MacNeill |
5:89031b2f5316 | 230 | return VL53LX_ERROR_NONE; |
| Charles MacNeill |
5:89031b2f5316 | 231 | } |
| Charles MacNeill |
5:89031b2f5316 | 232 | |
| Charles MacNeill |
5:89031b2f5316 | 233 | |
| Charles MacNeill |
5:89031b2f5316 | 234 | |
| Charles MacNeill |
5:89031b2f5316 | 235 | VL53LX_Error VL53LX_WaitMs(VL53LX_DEV dev, int32_t wait_time){ |
| Charles MacNeill |
5:89031b2f5316 | 236 | // (void)pdev; |
| Charles MacNeill |
5:89031b2f5316 | 237 | wait_ms(wait_time); |
| Charles MacNeill |
5:89031b2f5316 | 238 | return VL53LX_ERROR_NONE; |
| Charles MacNeill |
5:89031b2f5316 | 239 | } |
| Charles MacNeill |
5:89031b2f5316 | 240 | |
| Charles MacNeill |
5:89031b2f5316 | 241 | |
| Charles MacNeill |
5:89031b2f5316 | 242 | |
| Charles MacNeill |
5:89031b2f5316 | 243 | VL53LX_Error VL53LX_WaitUs(VL53LX_DEV dev, int32_t wait_time){ |
| Charles MacNeill |
5:89031b2f5316 | 244 | // (void)pdev; |
| Charles MacNeill |
5:89031b2f5316 | 245 | wait_us(wait_time); |
| Charles MacNeill |
5:89031b2f5316 | 246 | return VL53LX_ERROR_NONE; |
| Charles MacNeill |
5:89031b2f5316 | 247 | } |
| Charles MacNeill |
5:89031b2f5316 | 248 | |
| Charles MacNeill |
5:89031b2f5316 | 249 | VL53LX_Error VL53LX_WaitValueMaskEx( |
| Charles MacNeill |
5:89031b2f5316 | 250 | VL53LX_DEV Dev, |
| Charles MacNeill |
5:89031b2f5316 | 251 | uint32_t timeout_ms, |
| Charles MacNeill |
5:89031b2f5316 | 252 | uint16_t index, |
| Charles MacNeill |
5:89031b2f5316 | 253 | uint8_t value, |
| Charles MacNeill |
5:89031b2f5316 | 254 | uint8_t mask, |
| Charles MacNeill |
5:89031b2f5316 | 255 | uint32_t poll_delay_ms) |
| Charles MacNeill |
5:89031b2f5316 | 256 | { |
| Charles MacNeill |
5:89031b2f5316 | 257 | |
| Charles MacNeill |
5:89031b2f5316 | 258 | /* |
| Charles MacNeill |
5:89031b2f5316 | 259 | * Platform implementation of WaitValueMaskEx V2WReg script command |
| Charles MacNeill |
5:89031b2f5316 | 260 | * |
| Charles MacNeill |
5:89031b2f5316 | 261 | * WaitValueMaskEx( |
| Charles MacNeill |
5:89031b2f5316 | 262 | * duration_ms, |
| Charles MacNeill |
5:89031b2f5316 | 263 | * index, |
| Charles MacNeill |
5:89031b2f5316 | 264 | * value, |
| Charles MacNeill |
5:89031b2f5316 | 265 | * mask, |
| Charles MacNeill |
5:89031b2f5316 | 266 | * poll_delay_ms); |
| Charles MacNeill |
5:89031b2f5316 | 267 | */ |
| Charles MacNeill |
5:89031b2f5316 | 268 | |
| Charles MacNeill |
5:89031b2f5316 | 269 | VL53LX_Error status = VL53LX_ERROR_NONE; |
| Charles MacNeill |
5:89031b2f5316 | 270 | uint32_t start_time_ms = 0; |
| Charles MacNeill |
5:89031b2f5316 | 271 | uint32_t current_time_ms = 0; |
| Charles MacNeill |
5:89031b2f5316 | 272 | uint32_t polling_time_ms = 0; |
| Charles MacNeill |
5:89031b2f5316 | 273 | uint8_t byte_value = 0; |
| Charles MacNeill |
5:89031b2f5316 | 274 | uint8_t found = 0; |
| Charles MacNeill |
5:89031b2f5316 | 275 | #ifdef VL53L1_LOG_ENABLE |
| Charles MacNeill |
5:89031b2f5316 | 276 | uint8_t trace_functions = VL53L1_TRACE_FUNCTION_NONE; |
| Charles MacNeill |
5:89031b2f5316 | 277 | #endif |
| Charles MacNeill |
5:89031b2f5316 | 278 | |
| Charles MacNeill |
5:89031b2f5316 | 279 | char register_name[VL53LX_MAX_STRING_LENGTH]; |
| Charles MacNeill |
5:89031b2f5316 | 280 | |
| Charles MacNeill |
5:89031b2f5316 | 281 | /* look up register name */ |
| Charles MacNeill |
5:89031b2f5316 | 282 | #ifdef PAL_EXTENDED |
| Charles MacNeill |
5:89031b2f5316 | 283 | VL53LX_get_register_name( |
| Charles MacNeill |
5:89031b2f5316 | 284 | index, |
| Charles MacNeill |
5:89031b2f5316 | 285 | register_name); |
| Charles MacNeill |
5:89031b2f5316 | 286 | #else |
| Charles MacNeill |
5:89031b2f5316 | 287 | // VL53L1_COPYSTRING(register_name, ""); |
| Charles MacNeill |
5:89031b2f5316 | 288 | #endif |
| Charles MacNeill |
5:89031b2f5316 | 289 | |
| Charles MacNeill |
5:89031b2f5316 | 290 | /* Output to I2C logger for FMT/DFT */ |
| Charles MacNeill |
5:89031b2f5316 | 291 | |
| Charles MacNeill |
5:89031b2f5316 | 292 | /*trace_i2c("WaitValueMaskEx(%5d, 0x%04X, 0x%02X, 0x%02X, %5d);\n", |
| Charles MacNeill |
5:89031b2f5316 | 293 | timeout_ms, index, value, mask, poll_delay_ms); */ |
| Charles MacNeill |
5:89031b2f5316 | 294 | trace_i2c("WaitValueMaskEx(%5d, %s, 0x%02X, 0x%02X, %5d);\n", |
| Charles MacNeill |
5:89031b2f5316 | 295 | timeout_ms, register_name, value, mask, poll_delay_ms); |
| Charles MacNeill |
5:89031b2f5316 | 296 | |
| Charles MacNeill |
5:89031b2f5316 | 297 | /* calculate time limit in absolute time */ |
| Charles MacNeill |
5:89031b2f5316 | 298 | |
| Charles MacNeill |
5:89031b2f5316 | 299 | VL53LX_GetTickCount(Dev,&start_time_ms); |
| Charles MacNeill |
5:89031b2f5316 | 300 | |
| Charles MacNeill |
5:89031b2f5316 | 301 | |
| Charles MacNeill |
5:89031b2f5316 | 302 | wait_ms(10); |
| Charles MacNeill |
5:89031b2f5316 | 303 | |
| Charles MacNeill |
5:89031b2f5316 | 304 | /* remember current trace functions and temporarily disable |
| Charles MacNeill |
5:89031b2f5316 | 305 | * function logging |
| Charles MacNeill |
5:89031b2f5316 | 306 | */ |
| Charles MacNeill |
5:89031b2f5316 | 307 | |
| Charles MacNeill |
5:89031b2f5316 | 308 | #ifdef VL53L1_LOG_ENABLE |
| Charles MacNeill |
5:89031b2f5316 | 309 | trace_functions = VL53L1_get_trace_functions(); |
| Charles MacNeill |
5:89031b2f5316 | 310 | VL53L1_set_trace_functions(VL53L1_TRACE_FUNCTION_NONE); |
| Charles MacNeill |
5:89031b2f5316 | 311 | #endif |
| Charles MacNeill |
5:89031b2f5316 | 312 | |
| Charles MacNeill |
5:89031b2f5316 | 313 | /* wait until value is found, timeout reached on error occurred */ |
| Charles MacNeill |
5:89031b2f5316 | 314 | while ((status == VL53LX_ERROR_NONE) && |
| Charles MacNeill |
5:89031b2f5316 | 315 | (polling_time_ms < timeout_ms) && |
| Charles MacNeill |
5:89031b2f5316 | 316 | (found == 0)) { |
| Charles MacNeill |
5:89031b2f5316 | 317 | |
| Charles MacNeill |
5:89031b2f5316 | 318 | if (status == VL53LX_ERROR_NONE) |
| Charles MacNeill |
5:89031b2f5316 | 319 | status = VL53LX_RdByte( |
| Charles MacNeill |
5:89031b2f5316 | 320 | Dev, |
| Charles MacNeill |
5:89031b2f5316 | 321 | index, |
| Charles MacNeill |
5:89031b2f5316 | 322 | &byte_value); |
| Charles MacNeill |
5:89031b2f5316 | 323 | |
| Charles MacNeill |
5:89031b2f5316 | 324 | if ((byte_value & mask) == value) |
| Charles MacNeill |
5:89031b2f5316 | 325 | found = 1; |
| Charles MacNeill |
5:89031b2f5316 | 326 | if (status) |
| Charles MacNeill |
5:89031b2f5316 | 327 | { |
| Charles MacNeill |
5:89031b2f5316 | 328 | printf("VL53L1_WaitValueMaskEx 1 %d %d\n",Dev->IO.Address,status); |
| Charles MacNeill |
5:89031b2f5316 | 329 | } |
| Charles MacNeill |
5:89031b2f5316 | 330 | |
| Charles MacNeill |
5:89031b2f5316 | 331 | if (status == VL53LX_ERROR_NONE && |
| Charles MacNeill |
5:89031b2f5316 | 332 | found == 0 && |
| Charles MacNeill |
5:89031b2f5316 | 333 | poll_delay_ms > 0) |
| Charles MacNeill |
5:89031b2f5316 | 334 | status = VL53LX_WaitMs( |
| Charles MacNeill |
5:89031b2f5316 | 335 | Dev, |
| Charles MacNeill |
5:89031b2f5316 | 336 | poll_delay_ms); |
| Charles MacNeill |
5:89031b2f5316 | 337 | /* Update polling time (Compare difference rather than absolute to |
| Charles MacNeill |
5:89031b2f5316 | 338 | negate 32bit wrap around issue) */ |
| Charles MacNeill |
5:89031b2f5316 | 339 | if (status) |
| Charles MacNeill |
5:89031b2f5316 | 340 | { |
| Charles MacNeill |
5:89031b2f5316 | 341 | printf("VL53L1_WaitValueMaskEx 2 %d\n",status); |
| Charles MacNeill |
5:89031b2f5316 | 342 | } |
| Charles MacNeill |
5:89031b2f5316 | 343 | VL53LX_GetTickCount(Dev,¤t_time_ms); |
| Charles MacNeill |
5:89031b2f5316 | 344 | polling_time_ms = current_time_ms - start_time_ms; |
| Charles MacNeill |
5:89031b2f5316 | 345 | |
| Charles MacNeill |
5:89031b2f5316 | 346 | } |
| Charles MacNeill |
5:89031b2f5316 | 347 | // printf("polling_time_ms %d \n",polling_time_ms); |
| Charles MacNeill |
5:89031b2f5316 | 348 | #ifdef VL53L1_LOG_ENABLE |
| Charles MacNeill |
5:89031b2f5316 | 349 | /* Restore function logging */ |
| Charles MacNeill |
5:89031b2f5316 | 350 | VL53L1_set_trace_functions(trace_functions); |
| Charles MacNeill |
5:89031b2f5316 | 351 | #endif |
| Charles MacNeill |
5:89031b2f5316 | 352 | |
| Charles MacNeill |
5:89031b2f5316 | 353 | if (found == 0 && status == VL53LX_ERROR_NONE) |
| Charles MacNeill |
5:89031b2f5316 | 354 | status = VL53LX_ERROR_TIME_OUT; |
| Charles MacNeill |
5:89031b2f5316 | 355 | |
| Charles MacNeill |
5:89031b2f5316 | 356 | return status; |
| Charles MacNeill |
5:89031b2f5316 | 357 | } |
| Charles MacNeill |
5:89031b2f5316 | 358 | |
| Charles MacNeill |
5:89031b2f5316 | 359 | |
| Charles MacNeill |
5:89031b2f5316 | 360 | |
| Charles MacNeill |
5:89031b2f5316 | 361 | int32_t GetTickCountMs() |
| Charles MacNeill |
5:89031b2f5316 | 362 | { |
| Charles MacNeill |
5:89031b2f5316 | 363 | |
| Charles MacNeill |
5:89031b2f5316 | 364 | /* Returns current tick count in [ms] */ |
| Charles MacNeill |
5:89031b2f5316 | 365 | uint32_t ptick_count_ms; |
| Charles MacNeill |
5:89031b2f5316 | 366 | // int32_t status = us_ticker_read(); |
| Charles MacNeill |
5:89031b2f5316 | 367 | int32_t status = GetTickCount(&ptick_count_ms); |
| Charles MacNeill |
5:89031b2f5316 | 368 | return ptick_count_ms; |
| Charles MacNeill |
5:89031b2f5316 | 369 | } |
| Charles MacNeill |
5:89031b2f5316 | 370 | |
| Charles MacNeill |
5:89031b2f5316 | 371 | |
| Charles MacNeill |
5:89031b2f5316 | 372 | |
| Charles MacNeill |
5:89031b2f5316 | 373 | |
| Charles MacNeill |
5:89031b2f5316 | 374 | |
| Charles MacNeill |
5:89031b2f5316 | 375 |