VL53L0X World smallest Time-of-Flight (ToF) ranging sensor
Dependencies: X_NUCLEO_COMMON ST_INTERFACES
Dependents: HelloWorld_ST_Sensors mbed-os-mqtt-client Multi_VL53L0X DISCO-IOT01_HomeEnv ... more
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Diff: vl53L1x_I2c.h
- Revision:
- 5:f16727052990
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/vl53L1x_I2c.h Mon Jan 28 10:14:03 2019 +0000 @@ -0,0 +1,84 @@ +/* Define to prevent from recursive inclusion --------------------------------*/ +#ifndef __DEV_53L1X_I2C_H +#define __DEV_53L1X_I2C_H + +/* Includes ------------------------------------------------------------------*/ +#include "mbed.h" +#include "pinmap.h" + +//Class replacing DevI2C class as it was not implementing a 16bit address registers +class vl53L1X_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 + */ + vl53L1X_DevI2C(PinName sda, PinName scl) : I2C(sda, scl) {} + + /** + * @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); + + 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 v53l1x_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 = 32; +}; + +#endif /* __DEV_53L1X_I2C_H */ \ No newline at end of file