pimoroni-pico/drivers/vl53l5cx/platform.c

236 lines
7.5 KiB
C

/*******************************************************************************
* Copyright (c) 2020, STMicroelectronics - All Rights Reserved
*
* This file is part of the VL53L5CX Ultra Lite Driver and is dual licensed,
* either 'STMicroelectronics Proprietary license'
* or 'BSD 3-clause "New" or "Revised" License' , at your option.
*
********************************************************************************
*
* 'STMicroelectronics Proprietary license'
*
********************************************************************************
*
* License terms: STMicroelectronics Proprietary in accordance with licensing
* terms at www.st.com/sla0081
*
* STMicroelectronics confidential
* Reproduction and Communication of this document is strictly prohibited unless
* specifically authorized in writing by STMicroelectronics.
*
*
********************************************************************************
*
* Alternatively, the VL53L5CX Ultra Lite Driver may be distributed under the
* terms of 'BSD 3-clause "New" or "Revised" License', in which case the
* following provisions apply instead of the ones mentioned above :
*
********************************************************************************
*
* License terms: BSD 3-clause "New" or "Revised" License.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice, this
* list of conditions and the following disclaimer.
*
* 2. 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.
*
* 3. Neither the name of the copyright holder 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 AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS 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.
*
*
*******************************************************************************/
#include "platform.h"
#include "pico/stdlib.h"
uint8_t RdByte(
VL53L5CX_Platform *p_platform,
uint16_t RegisterAdress,
uint8_t *p_value)
{
const uint8_t buf[2] = {
RegisterAdress >> 8,
RegisterAdress & 0xff
};
i2c_write_blocking(p_platform->i2c, p_platform->address, buf, sizeof(buf), true);
if(i2c_read_blocking(p_platform->i2c, p_platform->address, p_value, 1, false) != PICO_ERROR_GENERIC){
return 0;
}
return 255;
}
uint8_t WrByte(
VL53L5CX_Platform *p_platform,
uint16_t RegisterAdress,
uint8_t value)
{
const uint8_t buf[3] = {
RegisterAdress >> 8,
RegisterAdress & 0xff,
value,
};
if(i2c_write_blocking(p_platform->i2c, p_platform->address, buf, sizeof(buf), false) != PICO_ERROR_GENERIC) {
return 0;
}
return 255;
}
uint8_t WrMulti(
VL53L5CX_Platform *p_platform,
uint16_t RegisterAdress,
uint8_t *p_values,
uint32_t size)
{
uint8_t buf[2];
buf[0] = RegisterAdress >> 8;
buf[1] = RegisterAdress & 0xff;
// Send the 16-bit address with no STOP condition
int result = i2c_write_blocking(p_platform->i2c, p_platform->address, buf, sizeof(buf), true);
// Handle an error early... it gets dicey from here
if(result == PICO_ERROR_GENERIC) return 255;
// The VL53L5CX does not support "Repeated Start" and the Pico's I2C API doesn't
// let us send more bytes without sending another start condition.
// The horrow below lets us send out "p_values" followed by a STOP condition,
// without having to copy everything into a temporary buffer.
uint8_t *src = p_values;
// Send the rest of the data, followed by a STOP condition
// This re-implements the relevant portion of i2c_write_blocking_internal which is NOT sent a timeout check function by i2c_write_blocking
for (int byte_ctr = 0; byte_ctr < size; ++byte_ctr) {
bool last = byte_ctr == size - 1;
p_platform->i2c->hw->data_cmd =
bool_to_bit(last) << I2C_IC_DATA_CMD_STOP_LSB | *src++;
// Wait until the transmission of the address/data from the internal
// shift register has completed. For this to function correctly, the
// TX_EMPTY_CTRL flag in IC_CON must be set. The TX_EMPTY_CTRL flag
// was set in i2c_init.
do {
tight_loop_contents();
} while (!(p_platform->i2c->hw->raw_intr_stat & I2C_IC_RAW_INTR_STAT_TX_EMPTY_BITS));
if (p_platform->i2c->hw->tx_abrt_source) {
// Note clearing the abort flag also clears the reason, and
// this instance of flag is clear-on-read! Note also the
// IC_CLR_TX_ABRT register always reads as 0.
p_platform->i2c->hw->clr_tx_abrt;
// An abort on the LAST byte means things are probably fine
if(last) {
// TODO Could there be an abort while waiting for the STOP
// condition here? If so, additional code would be needed here
// to take care of the abort.
do {
tight_loop_contents();
} while (!(p_platform->i2c->hw->raw_intr_stat & I2C_IC_RAW_INTR_STAT_STOP_DET_BITS));
} else {
// Ooof, unhandled abort. Fail?
return 255;
}
}
}
// Not sure it matters where we clear this, but by default a "nostop" style write
// will set this flag so the next transaction starts with a "Repeated Start."
p_platform->i2c->restart_on_next = false;
return 0;
}
uint8_t RdMulti(
VL53L5CX_Platform *p_platform,
uint16_t RegisterAdress,
uint8_t *p_values,
uint32_t size)
{
const uint8_t buf[2] = {
RegisterAdress >> 8,
RegisterAdress & 0xff
};
i2c_write_blocking(p_platform->i2c, p_platform->address, buf, sizeof(buf), true);
if(i2c_read_blocking(p_platform->i2c, p_platform->address, p_values, size, false) != PICO_ERROR_GENERIC){
return 0;
}
return 255;
}
uint8_t Reset_Sensor(
VL53L5CX_Platform *p_platform)
{
uint8_t status = 0;
/* (Optional) Need to be implemented by customer. This function returns 0 if OK */
/* Set pin LPN to LOW */
/* Set pin AVDD to LOW */
/* Set pin VDDIO to LOW */
WaitMs(p_platform, 100);
/* Set pin LPN of to HIGH */
/* Set pin AVDD of to HIGH */
/* Set pin VDDIO of to HIGH */
WaitMs(p_platform, 100);
return status;
}
void SwapBuffer(
uint8_t *buffer,
uint16_t size)
{
uint32_t i, tmp;
/*for(auto i = 0u; i < size / 4u; i++) {
uint32_t *dword = &((uint32_t *)buffer)[i];
*dword = __builtin_bswap32(*dword);
}*/
/* Example of possible implementation using <string.h> */
for(i = 0; i < size; i = i + 4)
{
tmp = (
buffer[i]<<24)
|(buffer[i+1]<<16)
|(buffer[i+2]<<8)
|(buffer[i+3]);
memcpy(&(buffer[i]), &tmp, 4);
}
}
uint8_t WaitMs(
VL53L5CX_Platform *p_platform,
uint32_t TimeMs)
{
sleep_ms(TimeMs);
return 0;
}