kopia lustrzana https://github.com/pimoroni/pimoroni-pico
236 wiersze
7.5 KiB
C
236 wiersze
7.5 KiB
C
/*******************************************************************************
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* Copyright (c) 2020, STMicroelectronics - All Rights Reserved
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*
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* This file is part of the VL53L5CX Ultra Lite Driver and is dual licensed,
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* either 'STMicroelectronics Proprietary license'
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* or 'BSD 3-clause "New" or "Revised" License' , at your option.
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*
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********************************************************************************
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*
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* 'STMicroelectronics Proprietary license'
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*
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********************************************************************************
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*
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* License terms: STMicroelectronics Proprietary in accordance with licensing
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* terms at www.st.com/sla0081
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*
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* STMicroelectronics confidential
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* Reproduction and Communication of this document is strictly prohibited unless
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* specifically authorized in writing by STMicroelectronics.
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*
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*
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********************************************************************************
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*
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* Alternatively, the VL53L5CX Ultra Lite Driver may be distributed under the
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* terms of 'BSD 3-clause "New" or "Revised" License', in which case the
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* following provisions apply instead of the ones mentioned above :
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*
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********************************************************************************
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*
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* License terms: BSD 3-clause "New" or "Revised" License.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* 1. Redistributions of source code must retain the above copyright notice, this
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* list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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*
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* 3. Neither the name of the copyright holder nor the names of its contributors
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* may be used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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*
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*******************************************************************************/
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#include "platform.h"
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#include "pico/stdlib.h"
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uint8_t RdByte(
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VL53L5CX_Platform *p_platform,
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uint16_t RegisterAdress,
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uint8_t *p_value)
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{
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const uint8_t buf[2] = {
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RegisterAdress >> 8,
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RegisterAdress & 0xff
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};
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i2c_write_blocking(p_platform->i2c, p_platform->address, buf, sizeof(buf), true);
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if(i2c_read_blocking(p_platform->i2c, p_platform->address, p_value, 1, false) != PICO_ERROR_GENERIC){
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return 0;
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}
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return 255;
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}
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uint8_t WrByte(
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VL53L5CX_Platform *p_platform,
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uint16_t RegisterAdress,
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uint8_t value)
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{
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const uint8_t buf[3] = {
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RegisterAdress >> 8,
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RegisterAdress & 0xff,
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value,
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};
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if(i2c_write_blocking(p_platform->i2c, p_platform->address, buf, sizeof(buf), false) != PICO_ERROR_GENERIC) {
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return 0;
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}
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return 255;
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}
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uint8_t WrMulti(
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VL53L5CX_Platform *p_platform,
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uint16_t RegisterAdress,
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uint8_t *p_values,
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uint32_t size)
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{
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uint8_t buf[2];
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buf[0] = RegisterAdress >> 8;
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buf[1] = RegisterAdress & 0xff;
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// Send the 16-bit address with no STOP condition
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int result = i2c_write_blocking(p_platform->i2c, p_platform->address, buf, sizeof(buf), true);
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// Handle an error early... it gets dicey from here
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if(result == PICO_ERROR_GENERIC) return 255;
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// The VL53L5CX does not support "Repeated Start" and the Pico's I2C API doesn't
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// let us send more bytes without sending another start condition.
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// The horrow below lets us send out "p_values" followed by a STOP condition,
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// without having to copy everything into a temporary buffer.
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uint8_t *src = p_values;
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// Send the rest of the data, followed by a STOP condition
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// This re-implements the relevant portion of i2c_write_blocking_internal which is NOT sent a timeout check function by i2c_write_blocking
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for (int byte_ctr = 0; byte_ctr < size; ++byte_ctr) {
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bool last = byte_ctr == size - 1;
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p_platform->i2c->hw->data_cmd =
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bool_to_bit(last) << I2C_IC_DATA_CMD_STOP_LSB | *src++;
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// Wait until the transmission of the address/data from the internal
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// shift register has completed. For this to function correctly, the
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// TX_EMPTY_CTRL flag in IC_CON must be set. The TX_EMPTY_CTRL flag
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// was set in i2c_init.
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do {
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tight_loop_contents();
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} while (!(p_platform->i2c->hw->raw_intr_stat & I2C_IC_RAW_INTR_STAT_TX_EMPTY_BITS));
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if (p_platform->i2c->hw->tx_abrt_source) {
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// Note clearing the abort flag also clears the reason, and
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// this instance of flag is clear-on-read! Note also the
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// IC_CLR_TX_ABRT register always reads as 0.
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p_platform->i2c->hw->clr_tx_abrt;
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// An abort on the LAST byte means things are probably fine
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if(last) {
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// TODO Could there be an abort while waiting for the STOP
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// condition here? If so, additional code would be needed here
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// to take care of the abort.
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do {
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tight_loop_contents();
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} while (!(p_platform->i2c->hw->raw_intr_stat & I2C_IC_RAW_INTR_STAT_STOP_DET_BITS));
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} else {
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// Ooof, unhandled abort. Fail?
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return 255;
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}
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}
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}
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// Not sure it matters where we clear this, but by default a "nostop" style write
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// will set this flag so the next transaction starts with a "Repeated Start."
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p_platform->i2c->restart_on_next = false;
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return 0;
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}
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uint8_t RdMulti(
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VL53L5CX_Platform *p_platform,
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uint16_t RegisterAdress,
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uint8_t *p_values,
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uint32_t size)
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{
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const uint8_t buf[2] = {
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RegisterAdress >> 8,
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RegisterAdress & 0xff
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};
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i2c_write_blocking(p_platform->i2c, p_platform->address, buf, sizeof(buf), true);
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if(i2c_read_blocking(p_platform->i2c, p_platform->address, p_values, size, false) != PICO_ERROR_GENERIC){
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return 0;
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}
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return 255;
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}
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uint8_t Reset_Sensor(
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VL53L5CX_Platform *p_platform)
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{
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uint8_t status = 0;
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/* (Optional) Need to be implemented by customer. This function returns 0 if OK */
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/* Set pin LPN to LOW */
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/* Set pin AVDD to LOW */
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/* Set pin VDDIO to LOW */
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WaitMs(p_platform, 100);
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/* Set pin LPN of to HIGH */
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/* Set pin AVDD of to HIGH */
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/* Set pin VDDIO of to HIGH */
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WaitMs(p_platform, 100);
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return status;
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}
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void SwapBuffer(
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uint8_t *buffer,
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uint16_t size)
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{
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uint32_t i, tmp;
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/*for(auto i = 0u; i < size / 4u; i++) {
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uint32_t *dword = &((uint32_t *)buffer)[i];
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*dword = __builtin_bswap32(*dword);
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}*/
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/* Example of possible implementation using <string.h> */
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for(i = 0; i < size; i = i + 4)
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{
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tmp = (
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buffer[i]<<24)
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|(buffer[i+1]<<16)
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|(buffer[i+2]<<8)
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|(buffer[i+3]);
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memcpy(&(buffer[i]), &tmp, 4);
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}
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}
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uint8_t WaitMs(
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VL53L5CX_Platform *p_platform,
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uint32_t TimeMs)
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{
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sleep_ms(TimeMs);
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return 0;
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}
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