Diff: platform/src/vl53l0x_platform.cpp

Revision:

0:11ad6aaed10a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/platform/src/vl53l0x_platform.cpp	Tue Jul 30 13:49:02 2019 +0000
@@ -0,0 +1,316 @@
+/*******************************************************************************
+Copyright � 2015, STMicroelectronics International N.V.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of STMicroelectronics nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
+NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
+IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+********************************************************************************/
+
+/**
+ * @file VL53L0X_i2c.c
+ *
+ * Copyright (C) 2014 ST MicroElectronics
+ *
+ * provide variable word size byte/Word/dword VL6180x register access via i2c
+ *
+ */
+#include "mbed.h"
+#include "vl53l0x_platform.h"
+#include "vl53l0x_api.h"
+#include "stdint.h"
+
+/**
+ * @def I2C_BUFFER_CONFIG
+ *
+ * @brief Configure Device register I2C access
+ *
+ * @li 0 : one GLOBAL buffer \n
+ *   Use one global buffer of MAX_I2C_XFER_SIZE byte in data space \n
+ *   This solution is not multi-Device compliant nor multi-thread cpu safe \n
+ *   It can be the best option for small 8/16 bit MCU without stack and limited ram  (STM8s, 80C51 ...)
+ *
+ * @li 1 : ON_STACK/local \n
+ *   Use local variable (on stack) buffer \n
+ *   This solution is multi-thread with use of i2c resource lock or mutex see VL6180x_GetI2CAccess() \n
+ *
+ * @li 2 : User defined \n
+ *    Per Device potentially dynamic allocated. Requires VL6180x_GetI2cBuffer() to be implemented.
+ * @ingroup Configuration
+ */
+#define I2C_BUFFER_CONFIG 1
+/** Maximum buffer size to be used in i2c */
+#define VL53L0X_MAX_I2C_XFER_SIZE 64 /* Maximum buffer size to be used in i2c */
+
+#if I2C_BUFFER_CONFIG == 0
+/* GLOBAL config buffer */
+  uint8_t i2c_global_buffer[VL53L0X_MAX_I2C_XFER_SIZE];
+
+  #define DECL_I2C_BUFFER
+  #define VL53L0X_GetLocalBuffer(Dev, n_byte) i2c_global_buffer
+
+#elif I2C_BUFFER_CONFIG == 1
+/* ON STACK */
+  #define DECL_I2C_BUFFER uint8_t LocBuffer[VL53L0X_MAX_I2C_XFER_SIZE];
+  #define VL53L0X_GetLocalBuffer(Dev, n_byte) LocBuffer
+#elif I2C_BUFFER_CONFIG == 2
+/* user define buffer type declare DECL_I2C_BUFFER  as access  via VL53L0X_GetLocalBuffer */
+  #define DECL_I2C_BUFFER
+#else
+  #error "invalid I2C_BUFFER_CONFIG "
+#endif
+
+VL53L0X_Error VL53L0X_LockSequenceAccess(VL53L0X_DEV Dev)
+{
+  VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+
+  return Status;
+}
+
+VL53L0X_Error VL53L0X_UnlockSequenceAccess(VL53L0X_DEV Dev)
+{
+  VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+
+  return Status;
+}
+
+VL53L0X_Error VL53L0X_WriteMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count)
+{
+  VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+  int32_t status_int = 0;
+
+  char data[count+1];
+  data[0]=index;
+  for (int i = 1; i< count+1; i++)
+  {
+      data[i]=pdata[i-1];
+  }
+  status_int = Dev->i2c_device->write((Dev->i2c_address << 1), data, static_cast<int>(count));
+
+  if (status_int != 0)
+  {
+    Status = VL53L0X_ERROR_CONTROL_INTERFACE;
+  }
+
+  return Status;
+}
+
+// the ranging_sensor_comms.dll will take care of the page selection
+VL53L0X_Error VL53L0X_ReadMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count)
+{
+  VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+  int32_t status_int;
+  char i2c_package_cmd[1];
+  char i2c_package_data[count];
+  
+
+  if (count >= VL53L0X_MAX_I2C_XFER_SIZE)
+  {
+    
+    Status = VL53L0X_ERROR_INVALID_PARAMS;
+  }
+  else  
+  {
+    i2c_package_cmd[0]=index;
+    status_int = Dev->i2c_device->write((Dev->i2c_address << 1), i2c_package_cmd, 1, true);
+    status_int = Dev->i2c_device->read( (Dev->i2c_address << 1), i2c_package_data, count);
+  }
+
+  for(int x = 0 ; x < count ; x++)
+  {
+    pdata[x] = i2c_package_data[x];
+  }
+
+  if (status_int != 0)
+  {
+    Status = VL53L0X_ERROR_CONTROL_INTERFACE;
+  }
+
+  return Status;
+}
+
+VL53L0X_Error VL53L0X_WrByte(VL53L0X_DEV Dev, uint8_t index, uint8_t data)
+{
+  VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+  int32_t status_int;
+  char i2c_package[2];
+  i2c_package[0] = index;
+  i2c_package[1] = data;  
+
+  status_int = Dev->i2c_device->write((Dev->i2c_address << 1), i2c_package, 2);
+
+  if (status_int != 0)
+  {
+    Status = VL53L0X_ERROR_CONTROL_INTERFACE;
+  }
+
+  return Status;
+}
+
+VL53L0X_Error VL53L0X_WrWord(VL53L0X_DEV Dev, uint8_t index, uint16_t data)
+{
+  VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+  int32_t status_int;
+  char i2c_package[3];
+  i2c_package[0] = index;
+  i2c_package[1] = (data >> 8) & 0xFF;  
+  i2c_package[2] = (data >> 0) & 0xFF;  
+
+  status_int = Dev->i2c_device->write((Dev->i2c_address << 1), i2c_package, 3);
+
+  if (status_int != 0)
+  {
+    Status = VL53L0X_ERROR_CONTROL_INTERFACE;
+  }
+
+  return Status;
+}
+
+VL53L0X_Error VL53L0X_WrDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t data)
+{
+  VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+  int32_t status_int;
+
+  char i2c_package[5];
+  i2c_package[0] = index;
+  i2c_package[1] = (data >> 24) & 0xFF;  
+  i2c_package[2] = (data >> 16) & 0xFF;  
+  i2c_package[3] = (data >>  8) & 0xFF;  
+  i2c_package[4] = (data >>  0) & 0xFF;  
+
+  status_int = Dev->i2c_device->write((Dev->i2c_address << 1), i2c_package, 5);
+
+  if (status_int != 0)
+  {
+    Status = VL53L0X_ERROR_CONTROL_INTERFACE;
+  }
+  return Status;
+}
+
+VL53L0X_Error VL53L0X_UpdateByte(VL53L0X_DEV Dev, uint8_t index, uint8_t AndData, uint8_t OrData)
+{
+  VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+  int32_t status_int;
+  char data;
+  char ind = index;
+  status_int = Dev->i2c_device->write((Dev->i2c_address << 1), &ind, 1, true);
+  status_int = Dev->i2c_device->read((Dev->i2c_address << 1), &data, 1);
+
+  if (status_int != 0)
+  {
+    Status = VL53L0X_ERROR_CONTROL_INTERFACE;
+  }
+
+  if (Status == VL53L0X_ERROR_NONE)
+  {
+    data = (data & AndData) | OrData;
+
+    status_int = Dev->i2c_device->write((Dev->i2c_address << 1), &data, 1);
+
+    if (status_int != 0)
+    {
+      Status = VL53L0X_ERROR_CONTROL_INTERFACE;
+    }
+  }
+
+  return Status;
+}
+
+VL53L0X_Error VL53L0X_RdByte(VL53L0X_DEV Dev, uint8_t index, uint8_t *data)
+{
+  VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+  int32_t status_int;
+  char  pdata;
+  char  ind = index;
+
+  status_int = Dev->i2c_device->write((Dev->i2c_address << 1), &ind, 1, true);
+  status_int = Dev->i2c_device->read((Dev->i2c_address << 1), &pdata, 1);
+
+  *data = pdata;
+
+  if (status_int != 0)
+  {
+    Status = VL53L0X_ERROR_CONTROL_INTERFACE;
+  }
+
+  return Status;
+}
+
+VL53L0X_Error VL53L0X_RdWord(VL53L0X_DEV Dev, uint8_t index, uint16_t *data)
+{
+  VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+  int32_t   status_int;
+  char      pdata[2];
+  char      ind = index;
+  uint16_t  tmp = 0;
+
+  status_int = Dev->i2c_device->write((Dev->i2c_address << 1), &ind, 1, true);
+  status_int = Dev->i2c_device->read((Dev->i2c_address << 1), pdata, 2);
+  tmp |= pdata[1]<<0;
+  tmp |= pdata[0]<<8;
+  *data = tmp;
+
+  if (status_int != 0)
+  {
+    Status = VL53L0X_ERROR_CONTROL_INTERFACE;
+  }
+
+
+  return Status;
+}
+
+VL53L0X_Error VL53L0X_RdDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t *data)
+{
+  VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+  int32_t   status_int;
+  char      pdata[4];
+  char      ind = index;
+  uint32_t  tmp = 0;
+
+  status_int = Dev->i2c_device->write((Dev->i2c_address << 1), &ind, 1, true);
+  status_int = Dev->i2c_device->read((Dev->i2c_address << 1), pdata, 4);
+  tmp |= pdata[3]<<0;
+  tmp |= pdata[2]<<8;
+  tmp |= pdata[1]<<16;
+  tmp |= pdata[0]<<24;
+  *data = tmp;
+
+  if (status_int != 0)
+  {
+    Status = VL53L0X_ERROR_CONTROL_INTERFACE;
+  }
+
+  return Status;
+}
+
+#define VL53L0X_POLLINGDELAY_LOOPNB 250
+
+VL53L0X_Error VL53L0X_PollingDelay(VL53L0X_DEV Dev)
+{
+  VL53L0X_Error status = VL53L0X_ERROR_NONE;
+  volatile uint32_t i;
+  for(i=0;i<VL53L0X_POLLINGDELAY_LOOPNB;i++){
+    //Do nothing
+    asm("nop");
+  }
+  return status;
+}