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315
App/VL53L0X_API/platform/vl53l0x_platform.c
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315
App/VL53L0X_API/platform/vl53l0x_platform.c
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#include "vl53l0x_platform.h"
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#include "vl53l0x_api.h"
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#if VL53_USE_FREERTOS_DELAY
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#include "FreeRTOS.h"
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#include "task.h"
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#endif
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#if defined(configSUPPORT_STATIC_ALLOCATION) || defined(configUSE_MUTEXES)
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#include "semphr.h"
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#define VL53_USE_FREERTOS_MUTEX 1
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#else
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#define VL53_USE_FREERTOS_MUTEX 0
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#endif
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static VL53L0X_Error vl53_hal_to_pal(HAL_StatusTypeDef hal_status)
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{
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switch (hal_status) {
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case HAL_OK:
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return VL53L0X_ERROR_NONE;
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case HAL_TIMEOUT:
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return VL53L0X_ERROR_TIME_OUT;
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default:
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return VL53L0X_ERROR_CONTROL_INTERFACE;
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}
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}
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static VL53L0X_Error vl53_validate_dev(VL53L0X_DEV Dev)
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{
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if ((Dev == NULL) || (Dev->hi2c == NULL)) {
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return VL53L0X_ERROR_CONTROL_INTERFACE;
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}
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return VL53L0X_ERROR_NONE;
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}
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static VL53L0X_Error vl53_bus_lock(VL53L0X_DEV Dev)
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{
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#if VL53_USE_FREERTOS_MUTEX
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if ((Dev != NULL) && (Dev->bus_lock != NULL)) {
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if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
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const TickType_t wait_ticks = pdMS_TO_TICKS((Dev->io_timeout_ms == 0u) ? 10u : Dev->io_timeout_ms);
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if (xSemaphoreTake((SemaphoreHandle_t)Dev->bus_lock, wait_ticks) != pdTRUE) {
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return VL53L0X_ERROR_TIME_OUT;
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}
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}
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}
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#else
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(void)Dev;
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#endif
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return VL53L0X_ERROR_NONE;
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}
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static void vl53_bus_unlock(VL53L0X_DEV Dev)
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{
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#if VL53_USE_FREERTOS_MUTEX
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if ((Dev != NULL) && (Dev->bus_lock != NULL)) {
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if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
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(void)xSemaphoreGive((SemaphoreHandle_t)Dev->bus_lock);
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}
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}
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#else
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(void)Dev;
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#endif
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}
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VL53L0X_Error VL53L0X_LockSequenceAccess(VL53L0X_DEV Dev)
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{
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(void)Dev;
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/* Shared I2C bus is already serialized per I/O transaction below. */
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return VL53L0X_ERROR_NONE;
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}
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VL53L0X_Error VL53L0X_UnlockSequenceAccess(VL53L0X_DEV Dev)
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{
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(void)Dev;
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return VL53L0X_ERROR_NONE;
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}
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void VL53L0X_PlatformAttachBus(VL53L0X_DEV Dev,
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I2C_HandleTypeDef *hi2c,
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uint8_t i2c_addr_8bit,
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uint16_t io_timeout_ms,
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void *bus_lock)
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{
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if (Dev == NULL) {
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return;
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}
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Dev->hi2c = hi2c;
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Dev->I2cDevAddr = i2c_addr_8bit;
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Dev->io_timeout_ms = (io_timeout_ms == 0u) ? 100u : io_timeout_ms;
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Dev->bus_lock = bus_lock;
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}
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void VL53L0X_PlatformAttachPins(VL53L0X_DEV Dev,
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GPIO_TypeDef *xshut_port,
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uint16_t xshut_pin,
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GPIO_TypeDef *gpio1_port,
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uint16_t gpio1_pin)
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{
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if (Dev == NULL) {
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return;
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}
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Dev->xshut_port = xshut_port;
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Dev->xshut_pin = xshut_pin;
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Dev->gpio1_port = gpio1_port;
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Dev->gpio1_pin = gpio1_pin;
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}
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VL53L0X_Error VL53L0X_PlatformSetXShut(VL53L0X_DEV Dev, GPIO_PinState state)
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{
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if ((Dev == NULL) || (Dev->xshut_port == NULL)) {
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return VL53L0X_ERROR_INVALID_PARAMS;
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}
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HAL_GPIO_WritePin(Dev->xshut_port, Dev->xshut_pin, state);
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return VL53L0X_ERROR_NONE;
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}
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VL53L0X_Error VL53L0X_PlatformBootDevice(VL53L0X_DEV Dev, uint32_t reset_low_ms, uint32_t boot_wait_ms)
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{
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VL53L0X_Error status = VL53L0X_PlatformSetXShut(Dev, GPIO_PIN_RESET);
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if (status != VL53L0X_ERROR_NONE) {
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return status;
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}
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if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
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vTaskDelay(pdMS_TO_TICKS(reset_low_ms));
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} else {
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HAL_Delay(reset_low_ms);
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}
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status = VL53L0X_PlatformSetXShut(Dev, GPIO_PIN_SET);
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if (status != VL53L0X_ERROR_NONE) {
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return status;
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}
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if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
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vTaskDelay(pdMS_TO_TICKS(boot_wait_ms));
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} else {
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HAL_Delay(boot_wait_ms);
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}
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return VL53L0X_ERROR_NONE;
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}
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uint32_t VL53L0X_PlatformGetTick(void)
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{
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return HAL_GetTick();
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}
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VL53L0X_Error VL53L0X_WriteMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count)
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{
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HAL_StatusTypeDef hal_status;
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VL53L0X_Error status;
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if ((pdata == NULL) || (count == 0u) || (count > 255u)) {
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return VL53L0X_ERROR_INVALID_PARAMS;
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}
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status = vl53_validate_dev(Dev);
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if (status != VL53L0X_ERROR_NONE) {
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return status;
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}
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status = vl53_bus_lock(Dev);
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if (status != VL53L0X_ERROR_NONE) {
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return status;
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}
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hal_status = HAL_I2C_Mem_Write(Dev->hi2c,
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Dev->I2cDevAddr,
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index,
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I2C_MEMADD_SIZE_8BIT,
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pdata,
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(uint16_t)count,
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Dev->io_timeout_ms);
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vl53_bus_unlock(Dev);
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return vl53_hal_to_pal(hal_status);
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}
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VL53L0X_Error VL53L0X_ReadMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count)
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{
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HAL_StatusTypeDef hal_status;
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VL53L0X_Error status;
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if ((pdata == NULL) || (count == 0u) || (count > 255u)) {
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return VL53L0X_ERROR_INVALID_PARAMS;
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}
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status = vl53_validate_dev(Dev);
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if (status != VL53L0X_ERROR_NONE) {
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return status;
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}
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status = vl53_bus_lock(Dev);
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if (status != VL53L0X_ERROR_NONE) {
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return status;
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}
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hal_status = HAL_I2C_Mem_Read(Dev->hi2c,
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Dev->I2cDevAddr,
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index,
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I2C_MEMADD_SIZE_8BIT,
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pdata,
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(uint16_t)count,
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Dev->io_timeout_ms);
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vl53_bus_unlock(Dev);
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return vl53_hal_to_pal(hal_status);
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}
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VL53L0X_Error VL53L0X_WrByte(VL53L0X_DEV Dev, uint8_t index, uint8_t data)
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{
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return VL53L0X_WriteMulti(Dev, index, &data, 1u);
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}
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VL53L0X_Error VL53L0X_WrWord(VL53L0X_DEV Dev, uint8_t index, uint16_t data)
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{
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uint8_t buffer[2];
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buffer[0] = (uint8_t)(data >> 8);
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buffer[1] = (uint8_t)(data & 0xFFu);
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return VL53L0X_WriteMulti(Dev, index, buffer, 2u);
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}
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VL53L0X_Error VL53L0X_WrDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t data)
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{
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uint8_t buffer[4];
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buffer[0] = (uint8_t)(data >> 24);
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buffer[1] = (uint8_t)(data >> 16);
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buffer[2] = (uint8_t)(data >> 8);
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buffer[3] = (uint8_t)(data & 0xFFu);
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return VL53L0X_WriteMulti(Dev, index, buffer, 4u);
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}
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VL53L0X_Error VL53L0X_RdByte(VL53L0X_DEV Dev, uint8_t index, uint8_t *data)
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{
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if (data == NULL) {
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return VL53L0X_ERROR_INVALID_PARAMS;
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}
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return VL53L0X_ReadMulti(Dev, index, data, 1u);
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}
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VL53L0X_Error VL53L0X_RdWord(VL53L0X_DEV Dev, uint8_t index, uint16_t *data)
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{
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uint8_t buffer[2] = {0u, 0u};
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VL53L0X_Error status;
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if (data == NULL) {
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return VL53L0X_ERROR_INVALID_PARAMS;
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}
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status = VL53L0X_ReadMulti(Dev, index, buffer, 2u);
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if (status == VL53L0X_ERROR_NONE) {
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*data = (((uint16_t)buffer[0]) << 8) | buffer[1];
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}
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return status;
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}
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VL53L0X_Error VL53L0X_RdDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t *data)
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{
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uint8_t buffer[4] = {0u, 0u, 0u, 0u};
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VL53L0X_Error status;
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if (data == NULL) {
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return VL53L0X_ERROR_INVALID_PARAMS;
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}
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status = VL53L0X_ReadMulti(Dev, index, buffer, 4u);
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if (status == VL53L0X_ERROR_NONE) {
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*data = (((uint32_t)buffer[0]) << 24)
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| (((uint32_t)buffer[1]) << 16)
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| (((uint32_t)buffer[2]) << 8)
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| ((uint32_t)buffer[3]);
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}
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return status;
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}
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VL53L0X_Error VL53L0X_UpdateByte(VL53L0X_DEV Dev, uint8_t index, uint8_t AndData, uint8_t OrData)
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{
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VL53L0X_Error status;
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uint8_t data = 0u;
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status = VL53L0X_RdByte(Dev, index, &data);
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if (status != VL53L0X_ERROR_NONE) {
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return status;
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}
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data = (uint8_t)((data & AndData) | OrData);
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return VL53L0X_WrByte(Dev, index, data);
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}
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VL53L0X_Error VL53L0X_PollingDelay(VL53L0X_DEV Dev)
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{
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(void)Dev;
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#if VL53_USE_FREERTOS_DELAY
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if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
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vTaskDelay(pdMS_TO_TICKS(2u));
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} else {
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HAL_Delay(2u);
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}
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#else
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HAL_Delay(2u);
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#endif
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return VL53L0X_ERROR_NONE;
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}
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VL53L0X_Error VL53L0X_PlatformChangeAddress(VL53L0X_DEV Dev, uint8_t new_addr_8bit)
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{
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VL53L0X_Error status;
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if (new_addr_8bit == 0u) {
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return VL53L0X_ERROR_INVALID_PARAMS;
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}
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status = VL53L0X_SetDeviceAddress(Dev, new_addr_8bit);
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if (status == VL53L0X_ERROR_NONE) {
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Dev->I2cDevAddr = new_addr_8bit;
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if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
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vTaskDelay(pdMS_TO_TICKS(2u));
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} else {
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HAL_Delay(2u);
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}
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}
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return status;
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}
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