charles macneill
Contains Ayoub's Ranging and Custom interfaces for the VL53L3CX
Diff: 53l3a2.c
- Revision:
- 0:c1910e04fc6c
- Child:
- 1:dae4cb24beec
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/53l3a2.c Wed Jul 21 14:19:31 2021 +0000
@@ -0,0 +1,605 @@
+/**
+ ******************************************************************************
+ * @file 53l3a2.c
+ * @author IMG SW Application Team
+ * @brief This file contains the X-NUCLEO-53L3A2 BSP implementation.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© Copyright (c) 2021 STMicroelectronics.
+ * All rights reserved.</center></h2>
+ *
+ * This software component is licensed by ST under BSD 3-Clause license,
+ * the "License"; You may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at:
+ * opensource.org/licenses/BSD-3-Clause
+ *
+ ******************************************************************************
+ */
+
+ /* Includes ------------------------------------------------------------------ */
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include "53l3a2.h"
+#include "spi_interface.h"
+
+
+/** @addtogroup BSP
+ * @{
+ */
+
+/** @addtogroup XNUCLEO_53L3A2
+ * @{
+ */
+
+/** @addtogroup XNUCLEO_53L3A2_COMMON
+ * @{
+ */
+
+/* This macro can be overloaded by the user to report error log messages with printf format */
+#define VL53L3A2_ErrLog(...) (void)0
+
+/* These macros can be overloaded by the user to enforce i2c sharing in RTOS context */
+#define VL53L3A2_GetI2cBus(...) (void)0
+#define VL53L3A2_PutI2cBus(...) (void)0
+
+#define I2C_EXPANDER_ADDR0 ((int)(0x43*2)) /*!< Expander 0 i2c address[7..0] format */
+#define I2C_EXPANDER_ADDR1 ((int)(0x42*2)) /*!< Expander 1 i2c address[7..0] format */
+
+/**
+ * GPIO monitor pin state register
+ * 16 bit register LSB at lowest offset (little endian)
+ */
+#define GPMR (0x10)
+/**
+ * STMPE1600 GPIO set pin state register
+ * 16 bit register LSB at lowest offset (little endian)
+ */
+#define GPSR (0x12)
+/**
+ * STMPE1600 GPIO set pin direction register
+ * 16 bit register LSB at lowest offset
+ */
+#define GPDR (0x14)
+
+/**
+ * @defgroup VL53L3A2_7Segment 7 segment display
+ *
+ * macro use for human readable segment building
+ * @code
+ * --s0--
+ * s s
+ * 5 1
+ * --s6--
+ * s s
+ * 4 2
+ * --s3-- . s7 (dp)
+ * @endcode
+ *
+ * @{
+ */
+#define DP (1U << 7) /*!< decimal point bit mapping */
+#define S0 (1U << 3) /*!< segment s0 bit mapping */
+#define S1 (1U << 5) /*!< segment s1 bit mapping */
+#define S2 (1U << 6) /*!< segment s2 bit mapping */
+#define S3 (1U << 4) /*!< segment s3 bit mapping */
+#define S4 (1U << 0) /*!< segment s4 bit mapping */
+#define S5 (1U << 1) /*!< segment s5 bit mapping */
+#define S6 (1U << 2) /*!< segment s6 bit mapping */
+
+/**
+ * build a character by defining the non lighted segment (not one and no DP)
+ *
+ * @param ... literal sum and or combine of any macro to define any segment #S0 .. #S6
+ *
+ * example '9' is all segment on but S4
+ * @code
+ * ['9']= NOT_7_NO_DP(S4),
+ * @endcode
+ */
+#define NOT_7_NO_DP( ... ) (uint8_t) ~( __VA_ARGS__ + DP )
+
+/**
+ * Ascii to 7 segment lookup table
+ *
+ * Most common character are supported and follow http://www.twyman.org.uk/Fonts/
+ * few extra special \@ ^~ ... etc are present for specific demo purpose
+ */
+static const uint8_t ascii_to_display_lut[256] =
+{
+ [' '] = 0,
+ ['-'] = S6,
+ ['_'] = S3,
+ ['='] = S3 + S6,
+ ['~'] = S0 + S3 + S6, /* 3 h bar */
+ ['^'] = S0, /* use as top bar */
+
+ ['?'] = NOT_7_NO_DP(S5 + S3 + S2),
+ ['*'] = NOT_7_NO_DP(),
+ ['['] = S0 + S3 + S4 + S5,
+ [']'] = S0 + S3 + S2 + S1,
+ ['@'] = S0 + S3,
+
+ ['0'] = NOT_7_NO_DP(S6),
+ ['1'] = S1 + S2,
+ ['2'] = S0 + S1 + S6 + S4 + S3,
+ ['3'] = NOT_7_NO_DP(S4 + S5),
+ ['4'] = S5 + S1 + S6 + S2,
+ ['5'] = NOT_7_NO_DP(S1 + S4),
+ ['6'] = NOT_7_NO_DP(S1),
+ ['7'] = S0 + S1 + S2,
+ ['8'] = NOT_7_NO_DP(0),
+ ['9'] = NOT_7_NO_DP(S4),
+
+ ['a'] = S2 + S3 + S4 + S6,
+ ['b'] = NOT_7_NO_DP(S0 + S1),
+ ['c'] = S6 + S4 + S3,
+ ['d'] = NOT_7_NO_DP(S0 + S5),
+ ['e'] = NOT_7_NO_DP(S2),
+ ['f'] = S6 + S5 + S4 + S0, /* same as F */
+ ['g'] = NOT_7_NO_DP(S4), /* same as 9 */
+ ['h'] = S6 + S5 + S4 + S2,
+ ['i'] = S4,
+ ['j'] = S1 + S2 + S3 + S4,
+ ['k'] = S6 + S5 + S4 + S2, /* a h */
+ ['l'] = S3 + S4,
+ ['m'] = S0 + S4 + S2, /* same as */
+ ['n'] = S2 + S4 + S6,
+ ['o'] = S6 + S4 + S3 + S2,
+ ['p'] = NOT_7_NO_DP(S3 + S2), /* same as P */
+ ['q'] = S0 + S1 + S2 + S5 + S6,
+ ['r'] = S4 + S6,
+ ['s'] = NOT_7_NO_DP(S1 + S4),
+ ['t'] = NOT_7_NO_DP(S0 + S1 + S2),
+ ['u'] = S4 + S3 + S2 + S5 + S1, /* U */
+ ['v'] = S4 + S3 + S2, /* is u but u use U */
+ ['w'] = S1 + S3 + S5,
+ ['x'] = NOT_7_NO_DP(S0 + S3), /* similar to H */
+ ['y'] = NOT_7_NO_DP(S0 + S4),
+ ['z'] = S0 + S1 + S6 + S4 + S3, /* same as 2 */
+
+ ['A'] = NOT_7_NO_DP(S3),
+ ['B'] = NOT_7_NO_DP(S0 + S1), /* as b */
+ ['C'] = S0 + S3 + S4 + S5, /* same as [ */
+ ['E'] = NOT_7_NO_DP(S1 + S2),
+ ['F'] = S6 + S5 + S4 + S0,
+ ['G'] = NOT_7_NO_DP(S4), /* same as 9 */
+ ['H'] = NOT_7_NO_DP(S0 + S3),
+ ['I'] = S1 + S2,
+ ['J'] = S1 + S2 + S3 + S4,
+ ['K'] = NOT_7_NO_DP(S0 + S3), /* same as H */
+ ['L'] = S3 + S4 + S5,
+ ['M'] = S0 + S4 + S2, /* same as m*/
+ ['N'] = S2 + S4 + S6, /* same as n*/
+ ['O'] = NOT_7_NO_DP(S6),
+ ['P'] = NOT_7_NO_DP(S3 + S2),
+ ['Q'] = NOT_7_NO_DP(S3 + S2),
+ ['R'] = S4 + S6,
+ ['S'] = NOT_7_NO_DP(S1 + S4), /* sasme as 5 */
+ ['T'] = NOT_7_NO_DP(S0 + S1 + S2), /* sasme as t */
+ ['U'] = NOT_7_NO_DP(S6 + S0),
+ ['V'] = S4 + S3 + S2, /* is u but u use U */
+ ['W'] = S1 + S3 + S5,
+ ['X'] = NOT_7_NO_DP(S0 + S3), /* similar to H */
+ ['Y'] = NOT_7_NO_DP(S0 + S4),
+ ['Z'] = S0 + S1 + S6 + S4 + S3, /* same as 2 */
+};
+
+#undef S0
+#undef S1
+#undef S2
+#undef S3
+#undef S4
+#undef S5
+#undef S6
+#undef DP
+/**
+ * @}
+ */
+
+/** @defgroup XNUCLEO_53L3A2_COMMON_Private_Variables Private Variables
+ * @{
+ */
+static uint32_t InitCounter = 0;
+
+/* cache the full set of expanded GPIO values to avoid i2c reading */
+static union CurIOVal_u
+{
+ uint8_t bytes[4]; /*!< 4 bytes array i/o view */
+ uint32_t u32; /*!< single dword i/o view */
+} CurIOVal; /* cache the extended IO values */
+/**
+ * @}
+ */
+
+/** @defgroup XNUCLEO_53L3A2_COMMON_Private_Functions_Prototypes Private Functions Prototypes
+ * @{
+ */
+static void _I2cFailRecover(void);
+static int32_t _ExpanderRd(uint32_t I2cExpAddr, uint32_t index, uint8_t *data, uint32_t n_data);
+static int32_t _ExpanderWR(uint32_t I2cExpAddr, uint32_t index, uint8_t *data, uint32_t n_data);
+static int32_t _ExpandersSetAllIO(void);
+/**
+ * @}
+ */
+
+/**
+ * @brief Initialize X-NUCLEO-53L3A2 STM32 expansion board
+ * @note All devices XSDN are asserted and display is turned off
+ * @return 0 on success
+ */
+int32_t VL53L3A2_Init(void)
+{
+ int32_t status = 0;
+ uint8_t ExpanderData[2];
+
+ if (InitCounter++ == 0U)
+ {
+// _I2cFailRecover();
+
+//// VL53L3A2_I2C_Init();
+
+//// status = _ExpanderRd(I2C_EXPANDER_ADDR0, 0, ExpanderData, 2);
+
+// if ((status != 0) || (ExpanderData[0] != 0x00U) || (ExpanderData[1] != 0x16U))
+// {
+ // VL53L3A2_ErrLog("I2C Expander @0x%02X not detected", (int)I2C_EXPANDER_ADDR0);
+ // goto done_err;
+// }
+
+// status = _ExpanderRd(I2C_EXPANDER_ADDR1, 0, ExpanderData, 2);
+
+// if ((status != 0) || (ExpanderData[0] != 0x00U) || (ExpanderData[1] != 0x16U))
+// {
+// printf("ExpanderData %d %d %d\n",status,ExpanderData[0],ExpanderData[1]);
+// VL53L3A2_ErrLog("I2C Expander @0x%02X not detected", (int)I2C_EXPANDER_ADDR1);
+// goto done_err;
+// }
+
+ CurIOVal.u32 = 0x0U;
+
+ // setup expander i/o direction all output but exp1 bit 14
+ ExpanderData[0] = 0xFFU;
+ ExpanderData[1] = 0xFFU;
+
+ status = _ExpanderWR(I2C_EXPANDER_ADDR0, GPDR, ExpanderData, 2);
+
+ if (status)
+ {
+ VL53L3A2_ErrLog("Set Expander @0x%02X DR", I2C_EXPANDER_ADDR0);
+ goto done_err;
+ }
+
+ ExpanderData[0] = 0xFFU;
+ ExpanderData[1] = 0xBFU; /* all but bit 14-15 that is pb1 and xhurt */
+ status = _ExpanderWR(I2C_EXPANDER_ADDR1, GPDR, ExpanderData, 2);
+
+ if (status)
+ {
+ VL53L3A2_ErrLog("Set Expander @0x%02X DR", I2C_EXPANDER_ADDR1);
+ goto done_err;
+ }
+
+ /* shut down all segment and all device */
+ CurIOVal.u32 = 0x7FU + (0x7FU << 7) + (0x7FU << 16) + (0x7FU << (16 + 7));
+
+ CurIOVal.bytes[3] = 0x0f;
+ CurIOVal.bytes[1] = 0x0f;
+ status = _ExpandersSetAllIO();
+
+ if (status)
+ {
+ VL53L3A2_ErrLog("Set initial i/o ");
+ }
+ }
+
+done_err:
+ return status;
+}
+
+/**
+ * @brief De-initialize X-NUCLEO-53L3A2 STM32 expansion board
+ * @return 0 on success
+ */
+int32_t VL53L3A2_DeInit(void)
+{
+ int32_t status = 0;
+
+ if (InitCounter > 0U)
+ {
+ if (--InitCounter == 0U)
+ {
+// status = VL53L3A2_I2C_DeInit();
+ }
+ }
+
+ return status;
+}
+
+/**
+ * @brief Set Reset (XSDN) state of a given "id" device
+ * @param DevNo The device number, use @ref VL53L3A2_dev_e.
+ * @param state State of the device reset (xsdn) pin @warning reset pin is active low
+ * i.e. xshut is raised to enable device
+ * @return 0 on success
+ */
+
+ // VL53L3A2_DEV_LEFT = 0, /* !< left satellite device P21 header */
+ // VL53L3A2_DEV_CENTER = 1, /* !< center (built-in) device */
+// VL53L3A2_DEV_RIGHT = 2 /* !< Right satellite device P22 header */
+int32_t VL53L3A2_ResetId(uint8_t DevNo, uint8_t state)
+{
+ int32_t status;
+printf("VL53L3A2_ResetId %d %d %d %d \n",DevNo,state,CurIOVal.bytes[1],CurIOVal.bytes[3]);
+ switch (DevNo)
+ {
+ case VL53L3A2_DEV_CENTER :
+ CurIOVal.bytes[3] &= ~0x80U; /* bit 15 expander 1 => byte #3 */
+
+ if (state)
+ {
+ CurIOVal.bytes[3] |= 0x80U; /* bit 15 expander 1 => byte #3 */
+ }
+
+ status = _ExpanderWR(I2C_EXPANDER_ADDR1, GPSR , &CurIOVal.bytes[3], 1);
+ break;
+
+ case VL53L3A2_DEV_LEFT :
+ printf("VL53L3A2_DEV_LEFT \n");
+ CurIOVal.bytes[1] &= ~0x40U; /* bit 14 expander 0 => byte #1*/
+
+ if (state)
+ {
+ CurIOVal.bytes[1] |= 0x40U; /* bit 14 expander 0 => byte #1*/
+ }
+
+ status = _ExpanderWR(I2C_EXPANDER_ADDR0, GPSR , &CurIOVal.bytes[1], 1);
+ break;
+
+ case VL53L3A2_DEV_RIGHT :
+ CurIOVal.bytes[1] &= ~0x80U; /* bit 15 expander 0 => byte #1 */
+
+ if (state)
+ {
+ CurIOVal.bytes[1] |= 0x80U; /* bit 15 expander 0 => byte #1*/
+ }
+
+ status = _ExpanderWR(I2C_EXPANDER_ADDR0, GPSR , &CurIOVal.bytes[1], 1);
+ break;
+
+ default:
+ VL53L3A2_ErrLog("Invalid DevNo %d", DevNo);
+ status = -1;
+ goto done;
+ }
+
+ /* error with valid id */
+ if (status)
+ {
+ VL53L3A2_ErrLog("expander i/o error for DevNo %d state %d ", DevNo, state);
+ }
+
+done:
+printf("VL53L3A2_ResetId %d %d %d %d\n",status,DevNo,CurIOVal.bytes[1],CurIOVal.bytes[3]);
+ return status;
+}
+
+/**
+ * @brief Set the 7 segments display
+ * @param str String to set on display
+ * @warning When string is less than 4 digits, display is left-justified and lower digits are blanked.
+ * To display a 2 digits value, left justified on the 4 digits, use "%4d" formating
+ * @warning When more than 4 char are present only first 4 are displayed
+ * @note Characters that do not have 7 segment font matching in ascii_to_display_lut are left blank
+ * @return 0 on success
+ */
+int32_t VL53L3A2_SetDisplayString(const char *str)
+{
+ int32_t status;
+ uint32_t BitPos;
+ uint32_t i;
+ uint32_t Segments;
+
+ /* lookup table for for digit to bit position in @a CurIOVal u32 */
+ uint8_t DisplayBitPos[4] = {0, 7, 16, 16 + 7};
+
+ for (i = 0; (i < 4U) && (str[i] != 0U); i++)
+ {
+ Segments = (uint32_t)ascii_to_display_lut[(uint8_t)str[i]];
+ Segments = (~Segments) & 0x7FU;
+ BitPos = DisplayBitPos[i];
+ CurIOVal.u32 &= ~(0x7FU << BitPos);
+ CurIOVal.u32 |= Segments << BitPos;
+ }
+
+ /* clear unused digit */
+ for (; i < 4U; i++)
+ {
+ BitPos = DisplayBitPos[i];
+ CurIOVal.u32 |= 0x7FU << BitPos;
+ }
+
+ status = _ExpandersSetAllIO();
+
+ if (status)
+ {
+ VL53L3A2_ErrLog("Set i/o");
+ }
+
+ return status;
+}
+
+/** @defgroup XNUCLEO_53L3A2_COMMON_Private_Functions Private Functions
+ * @{
+ */
+
+/**
+ * @brief Expansion board i2c bus recovery
+ * We may get reset in middle of an i2c access (h/w reset button, debug or f/w load)
+ * hence some agent on bus may be in middle of a transaction and can create issue or even prevent starting (SDA is low)
+ * this routine does use gpio to manipulate and recover i2c bus line in all cases.
+ */
+static void _I2cFailRecover()
+{
+ printf("_I2cFailRecover \n");
+#if 0
+ GPIO_InitTypeDef GPIO_InitStruct;
+ uint8_t i, nRetry = 0;
+
+ /* We can't assume bus state based on SDA and SCL state (we may be in a data or NAK bit so SCL=SDA=1)
+ * by setting SDA high and toggling SCL at least 10 time we ensure whatever agent and state
+ * all agent should end up seeing a "stop" and bus get back to an known idle i2c bus state */
+
+ /* Enable I/O */
+ __GPIOB_CLK_ENABLE();
+ HAL_GPIO_WritePin(VL53L3A2_I2C_SCL_GPIO_PORT, VL53L3A2_I2C_SCL_GPIO_PIN, GPIO_PIN_SET);
+ HAL_GPIO_WritePin(VL53L3A2_I2C_SDA_GPIO_PORT, VL53L3A2_I2C_SDA_GPIO_PIN, GPIO_PIN_SET);
+ GPIO_InitStruct.Pin = VL53L3A2_I2C_SCL_GPIO_PIN | VL53L3A2_I2C_SDA_GPIO_PIN ;
+ GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
+ GPIO_InitStruct.Pull = GPIO_PULLUP;
+ HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+ /* we could do this faster by not using HAL delay 1ms for clk timing */
+ do
+ {
+ for (i = 0; i < 10U; i++)
+ {
+ HAL_GPIO_WritePin(VL53L3A2_I2C_SCL_GPIO_PORT, VL53L3A2_I2C_SCL_GPIO_PIN, GPIO_PIN_RESET);
+ HAL_Delay(1);
+ HAL_GPIO_WritePin(VL53L3A2_I2C_SCL_GPIO_PORT, VL53L3A2_I2C_SCL_GPIO_PIN, GPIO_PIN_SET);
+ HAL_Delay(1);
+ }
+
+ } while ((HAL_GPIO_ReadPin(VL53L3A2_I2C_SDA_GPIO_PORT, VL53L3A2_I2C_SDA_GPIO_PIN) == 0) && (nRetry++ < 7U));
+
+ if (HAL_GPIO_ReadPin(VL53L3A2_I2C_SCL_GPIO_PORT, VL53L3A2_I2C_SDA_GPIO_PIN) == 0)
+ {
+ /* We are still in a bad i2c state, block the program here
+ * A hardware reset is necessary */
+ while (1);
+ }
+ #endif
+}
+
+/**
+ * @brief Set all i2c expended gpio in one go
+ * @return i/o operation status
+ */
+static int32_t _ExpandersSetAllIO(void)
+{
+ int32_t status;
+
+ status = _ExpanderWR(I2C_EXPANDER_ADDR0, GPSR, &CurIOVal.bytes[0], 2);
+
+ if (status)
+ {
+ goto done_err;
+ }
+
+ status = _ExpanderWR(I2C_EXPANDER_ADDR1, GPSR, &CurIOVal.bytes[2], 2);
+
+done_err:
+printf("_ExpandersSetAllIO end \n");
+ return status;
+}
+
+/**
+ * @brief STMPE1600 i2c Expander register read
+ * @param I2cExpAddr Expander address
+ * @param index register index
+ * @param data read data buffer
+ * @param n_data number of byte to read
+ * @return of if ok else i2c I/O operation status
+ */
+static int32_t _ExpanderRd(uint32_t I2cExpAddr, uint32_t index, uint8_t *data, uint32_t n_data)
+{
+ int32_t status;
+ uint8_t RegAddr;
+
+ RegAddr = index;
+ // VL53L3A2_GetI2cBus();
+ // printf("_ExpanderRd %d %d %d %d\n",I2cExpAddr,index,RegAddr,status);
+ // status = v53l1x_i2c_write_if(data,I2cExpAddr, index,n_data);
+
+
+ status = v53l1x_i2c_read_if(RegAddr,I2cExpAddr, index,2);
+
+
+ //// do
+ //// {
+ //// status = HAL_I2C_Master_Transmit(&VL53L3A2_hi2c, I2cExpAddr, &RegAddr, 1, 100);
+
+ //// if (status)
+ //// {
+ //// break;
+ //// }
+
+ //// status = HAL_I2C_Master_Receive(&VL53L3A2_hi2c, I2cExpAddr, data, n_data, n_data * 100);
+ //// } while (0);
+
+ // VL53L3A2_PutI2cBus();
+
+ return status;
+}
+
+/**
+ * @brief STMPE1600 i2c Expander register write
+ * @param I2cExpAddr Expander address
+ * @param index register index
+ * @param data data buffer
+ * @param n_data number of byte to write
+ * @return of if ok else i2c I/O operation status
+ */
+static int32_t _ExpanderWR(uint32_t I2cExpAddr, uint32_t index, uint8_t *data, uint32_t n_data)
+{
+ int32_t status = 0;
+ uint8_t RegAddr[0x10];
+ uint8_t i;
+ for (i = 0 ; i < 0x10 ; i++)
+ {
+ RegAddr[i] =0;
+ }
+// build packet to send
+if (n_data == 1)
+{
+ RegAddr[0] = (uint8_t)index; // the register in the chip we are sending to
+ RegAddr[1]= 255; // the lower byte of the control word. We just set to FF
+ RegAddr[2]= data[0]; //the byte that controls the xshut pins
+}
+else{
+ RegAddr[0] = (uint8_t)index; // the register in the chip we are sending to
+ RegAddr[1]=data[0]; // the lower byte of the control word. We just set to FF
+ RegAddr[2]=data[1]; //the byte that controls the xshut pins
+}
+
+// printf("_ExpanderWR %d %d %d \n",data[0],data[1],n_data);
+// printf("_ExpanderWR %d %d %d %d %d %d %d\n",I2cExpAddr,index,RegAddr[0],RegAddr[1],RegAddr[2],status,n_data+2);
+ status = v53l1x_i2c_write_direct(RegAddr,I2cExpAddr,n_data + 2);
+
+
+
+
+
+ return (status);
+}
+
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+ /**
+ * @}
+ */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+