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/**
******************************************************************************
* @file vl53l0x_tof.c
* @author MCD Application Team
* @brief STM32L475E-IOT01 board support package
******************************************************************************
* @attention
*
* <h2><center>© Copyright (c) 2017 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under Ultimate Liberty license SLA0044,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* http://www.st.com/SLA0044
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include <string.h>
#include "stm32wbxx_hal.h"
#include "vl53l0x_def.h"
#include "vl53l0x_api.h"
#include "vl53l0x_tof.h"
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
#define I2C_TIME_OUT_BASE 10
#define I2C_TIME_OUT_BYTE 1
#define VL53L0X_OsDelay(...) HAL_Delay(2)
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
/* Private function prototypes -----------------------------------------------*/
int _I2CWrite(VL53L0X_DEV Dev, uint8_t *pdata, uint32_t count);
int _I2CRead(VL53L0X_DEV Dev, uint8_t *pdata, uint32_t count);
/* Exported functions --------------------------------------------------------*/
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);
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);
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;
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:
return Status;
}
uint8_t _I2CBuffer[64];
// 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);
status_int = _I2CWrite(Dev, _I2CBuffer, count + 1);
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;
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:
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;
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:
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;
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:
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;
status_int = _I2CWrite(Dev, _I2CBuffer, 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;
_I2CBuffer[0] = index;
_I2CBuffer[1] = data >> 8;
_I2CBuffer[2] = data & 0x00FF;
status_int = _I2CWrite(Dev, _I2CBuffer, 3);
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;
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_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;
status_int = _I2CWrite(Dev, _I2CBuffer, 5);
if (status_int != 0) {
Status = VL53L0X_ERROR_CONTROL_INTERFACE;
}
return Status;
}
VL53L0X_Error VL53L0X_PollingDelay(VL53L0X_DEV Dev) {
VL53L0X_Error status = VL53L0X_ERROR_NONE;
// do nothing
VL53L0X_OsDelay();
return status;
}
/**
* Setup all detected sensors for single shot mode and setup ranging configuration
*/
void SetupSingleShot(VL53L0X_Dev_t Dev)
{
int status;
uint8_t VhvSettings;
uint8_t PhaseCal;
uint32_t refSpadCount;
uint8_t isApertureSpads;
FixPoint1616_t signalLimit = (FixPoint1616_t)(0.25*65536);
FixPoint1616_t sigmaLimit = (FixPoint1616_t)(18*65536);
uint32_t timingBudget = 33000;
uint8_t preRangeVcselPeriod = 14;
uint8_t finalRangeVcselPeriod = 10;
if( Dev.Present){
status=VL53L0X_StaticInit(&Dev);
if( status ){
printf("VL53L0X_StaticInit failed\n");
}
status = VL53L0X_PerformRefCalibration(&Dev, &VhvSettings, &PhaseCal);
if( status ){
printf("VL53L0X_PerformRefCalibration failed\n");
}
status = VL53L0X_PerformRefSpadManagement(&Dev, &refSpadCount, &isApertureSpads);
if( status ){
printf("VL53L0X_PerformRefSpadManagement failed\n");
}
status = VL53L0X_SetDeviceMode(&Dev, VL53L0X_DEVICEMODE_SINGLE_RANGING); // Setup in single ranging mode
if( status ){
printf("VL53L0X_SetDeviceMode failed\n");
}
status = VL53L0X_SetLimitCheckEnable(&Dev, VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, 1); // Enable Sigma limit
if( status ){
printf("VL53L0X_SetLimitCheckEnable failed\n");
}
status = VL53L0X_SetLimitCheckEnable(&Dev, VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, 1); // Enable Signa limit
if( status ){
printf("VL53L0X_SetLimitCheckEnable failed\n");
}
/* Ranging configuration */
signalLimit = (FixPoint1616_t)(0.1*65536);
sigmaLimit = (FixPoint1616_t)(60*65536);
timingBudget = 33000;
preRangeVcselPeriod = 18;
finalRangeVcselPeriod = 14;
status = VL53L0X_SetLimitCheckValue(&Dev, VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, signalLimit);
if( status ){
printf("VL53L0X_SetLimitCheckValue failed\n");
}
status = VL53L0X_SetLimitCheckValue(&Dev, VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, sigmaLimit);
if( status ){
printf("VL53L0X_SetLimitCheckValue failed\n");
}
status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(&Dev, timingBudget);
if( status ){
printf("VL53L0X_SetMeasurementTimingBudgetMicroSeconds failed\n");
}
status = VL53L0X_SetVcselPulsePeriod(&Dev, VL53L0X_VCSEL_PERIOD_PRE_RANGE, preRangeVcselPeriod);
if( status ){
printf("VL53L0X_SetVcselPulsePeriod failed\n");
}
status = VL53L0X_SetVcselPulsePeriod(&Dev, VL53L0X_VCSEL_PERIOD_FINAL_RANGE, finalRangeVcselPeriod);
if( status ){
printf("VL53L0X_SetVcselPulsePeriod failed\n");
}
Dev.LeakyFirst=1;
}
}
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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