vl53l0x_platform.c

//?????#include "hal.h"
#include "vl53l0x_platform.h"
#include "vl53l0x_api.h"

#include "stm32f4xx_hal.h"
#include <string.h>

#define I2C_TIME_OUT_BASE   10
#define I2C_TIME_OUT_BYTE   1
#define VL53L0X_OsDelay(...) HAL_Delay(2)


#ifndef HAL_I2C_MODULE_ENABLED
#warning "HAL I2C module must be enable "
#endif
//extern I2C_HandleTypeDef hi2c1;
//#define VL53L0X_pI2cHandle    (&hi2c1)

/* when not customized by application define dummy one */
#ifndef VL53L0X_GetI2cBus
/** This macro can be overloaded by user to enforce i2c sharing in RTOS context
 */
#   define VL53L0X_GetI2cBus(...) (void)0
#endif

#ifndef VL53L0X_PutI2cBus
/** This macro can be overloaded by user to enforce i2c sharing in RTOS context
 */
#   define VL53L0X_PutI2cBus(...) (void)0
#endif

#ifndef VL53L0X_OsDelay
#   define  VL53L0X_OsDelay(...) (void)0
#endif


uint8_t _I2CBuffer[64];

int _I2CWrite(VL53L0X_DEV Dev, uint8_t *pdata, uint32_t count) {
    int status;
    int i2c_time_out = I2C_TIME_OUT_BASE+ count* I2C_TIME_OUT_BYTE;

    status = HAL_I2C_Master_Transmit(Dev->I2cHandle, Dev->I2cDevAddr, pdata, count, i2c_time_out);
    if (status) {
        //VL6180x_ErrLog("I2C error 0x%x %d len", dev->I2cAddr, len);
        //XNUCLEO6180XA1_I2C1_Init(&hi2c1);
    }
    return status;
}

int _I2CRead(VL53L0X_DEV Dev, uint8_t *pdata, uint32_t count) {
    int status;
    int i2c_time_out = I2C_TIME_OUT_BASE+ count* I2C_TIME_OUT_BYTE;

    status = HAL_I2C_Master_Receive(Dev->I2cHandle, Dev->I2cDevAddr|1, pdata, count, i2c_time_out);
    if (status) {
        //VL6180x_ErrLog("I2C error 0x%x %d len", dev->I2cAddr, len);
        //XNUCLEO6180XA1_I2C1_Init(&hi2c1);
    }
    return status;
}

// the ranging_sensor_comms.dll will take care of the page selection
VL53L0X_Error VL53L0X_WriteMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count) {
    int status_int;
    VL53L0X_Error Status = VL53L0X_ERROR_NONE;
    if (count > sizeof(_I2CBuffer) - 1) {
        return VL53L0X_ERROR_INVALID_PARAMS;
    }
    _I2CBuffer[0] = index;
    memcpy(&_I2CBuffer[1], pdata, count);
    VL53L0X_GetI2cBus();
    status_int = _I2CWrite(Dev, _I2CBuffer, count + 1);
    if (status_int != 0) {
        Status = VL53L0X_ERROR_CONTROL_INTERFACE;
    }
    VL53L0X_PutI2cBus();
    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;
    VL53L0X_GetI2cBus();
    status_int = _I2CWrite(Dev, &index, 1);
    if (status_int != 0) {
        Status = VL53L0X_ERROR_CONTROL_INTERFACE;
        goto done;
    }
    status_int = _I2CRead(Dev, pdata, count);
    if (status_int != 0) {
        Status = VL53L0X_ERROR_CONTROL_INTERFACE;
    }
done:
    VL53L0X_PutI2cBus();
    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;

    _I2CBuffer[0] = index;
    _I2CBuffer[1] = data;

    VL53L0X_GetI2cBus();
    status_int = _I2CWrite(Dev, _I2CBuffer, 2);
    if (status_int != 0) {
        Status = VL53L0X_ERROR_CONTROL_INTERFACE;
    }
    VL53L0X_PutI2cBus();
    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;

    _I2CBuffer[0] = index;
    _I2CBuffer[1] = data >> 8;
    _I2CBuffer[2] = data & 0x00FF;

    VL53L0X_GetI2cBus();
    status_int = _I2CWrite(Dev, _I2CBuffer, 3);
    if (status_int != 0) {
        Status = VL53L0X_ERROR_CONTROL_INTERFACE;
    }
    VL53L0X_PutI2cBus();
    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;
    _I2CBuffer[0] = index;
    _I2CBuffer[1] = (data >> 24) & 0xFF;
    _I2CBuffer[2] = (data >> 16) & 0xFF;
    _I2CBuffer[3] = (data >> 8)  & 0xFF;
    _I2CBuffer[4] = (data >> 0 ) & 0xFF;
    VL53L0X_GetI2cBus();
    status_int = _I2CWrite(Dev, _I2CBuffer, 5);
    if (status_int != 0) {
        Status = VL53L0X_ERROR_CONTROL_INTERFACE;
    }
    VL53L0X_PutI2cBus();
    return Status;
}

VL53L0X_Error VL53L0X_UpdateByte(VL53L0X_DEV Dev, uint8_t index, uint8_t AndData, uint8_t OrData) {
    VL53L0X_Error Status = VL53L0X_ERROR_NONE;
    uint8_t data;

    Status = VL53L0X_RdByte(Dev, index, &data);
    if (Status) {
        goto done;
    }
    data = (data & AndData) | OrData;
    Status = VL53L0X_WrByte(Dev, index, data);
done:
    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;

    VL53L0X_GetI2cBus();
    status_int = _I2CWrite(Dev, &index, 1);
    if( status_int ){
        Status = VL53L0X_ERROR_CONTROL_INTERFACE;
        goto done;
    }
    status_int = _I2CRead(Dev, data, 1);
    if (status_int != 0) {
        Status = VL53L0X_ERROR_CONTROL_INTERFACE;
    }
done:
    VL53L0X_PutI2cBus();
    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;

    VL53L0X_GetI2cBus();
    status_int = _I2CWrite(Dev, &index, 1);

    if( status_int ){
        Status = VL53L0X_ERROR_CONTROL_INTERFACE;
        goto done;
    }
    status_int = _I2CRead(Dev, _I2CBuffer, 2);
    if (status_int != 0) {
        Status = VL53L0X_ERROR_CONTROL_INTERFACE;
        goto done;
    }

    *data = ((uint16_t)_I2CBuffer[0]<<8) + (uint16_t)_I2CBuffer[1];
done:
    VL53L0X_PutI2cBus();
    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;

    VL53L0X_GetI2cBus();
    status_int = _I2CWrite(Dev, &index, 1);
    if (status_int != 0) {
        Status = VL53L0X_ERROR_CONTROL_INTERFACE;
        goto done;
    }
    status_int = _I2CRead(Dev, _I2CBuffer, 4);
    if (status_int != 0) {
        Status = VL53L0X_ERROR_CONTROL_INTERFACE;
        goto done;
    }

    *data = ((uint32_t)_I2CBuffer[0]<<24) + ((uint32_t)_I2CBuffer[1]<<16) + ((uint32_t)_I2CBuffer[2]<<8) + (uint32_t)_I2CBuffer[3];

done:
    VL53L0X_PutI2cBus();
    return Status;
}

VL53L0X_Error VL53L0X_PollingDelay(VL53L0X_DEV Dev) {
    VL53L0X_Error status = VL53L0X_ERROR_NONE;

    // do nothing
    VL53L0X_OsDelay();
    return status;
}

//end of file