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Add vl53l5cx driver (#3240)

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Based on St ULD
This commit is contained in:
Fabien-B
2024-02-29 10:46:01 +01:00
committed by GitHub
parent edff4bc3b9
commit ae5f47a518
13 changed files with 24608 additions and 22 deletions
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conf/abi.xml
+9
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@@ -248,6 +248,15 @@
<field name="vel_sp" type="struct FloatVect3 *" unit="m/s"/>
</message>
<message name="LIDAR_DATA" id="37">
<field name="stamp" type="uint32_t" unit="us"/>
<field name="numRows" type="uint32_t">number of rows of the matrix</field>
<field name="numCols" type="uint32_t">number of columns of the matrix</field>
<field name="size" type="uint16_t">size of a matrix element</field>
<field name="subtype" type="uint8_t">subtype of data, driver dependent (e.g. distance, reflectance, ...)</field>
<field name="data" type="uint8_t*">pointer to the data of the matrix</field>
</message>
</msg_class>
</protocol>
conf/modules/lidar_vl53l5cx.xml
+29
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@@ -0,0 +1,29 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="lidar_vl53l5cx" dir="lidar" task="sensors">
<doc>
<description>
VL53L5CX multizone range sensor.
Sends LIDAR_DATA Abi messages.
</description>
<configure name="LIDAR_VL53L5CX_I2C_DEV" value="i2c2" description="I2C device to use for the VL53L5CX sensor"/>
<define name="LIDAR_VL53L5CX_I2C_ADDR" value="0x52" description="I2C address"/>
</doc>
<dep>
<depends>i2c</depends>
</dep>
<header>
<file name="lidar_vl53l5cx.h"/>
</header>
<init fun="lidar_vl53l5cx_init()"/>
<periodic fun="lidar_vl53l5cx_periodic()" freq="5.0"/>
<makefile>
<configure name="LIDAR_VL53L5CX_I2C_DEV" default="i2c2" case="lower|upper"/>
<define name="LIDAR_VL53L5CX_I2C_DEV" value="$(LIDAR_VL53L5CX_I2C_DEV_LOWER)"/>
<define name="USE_$(LIDAR_VL53L5CX_I2C_DEV_UPPER)"/>
<file_arch name="lidar_vl53l5cx.c"/>
<file name="vl53l5cx_api.c" dir="peripherals"/>
<file_arch name="vl53l5cx_platform.c"/>
<test arch="chibios"/>
</makefile>
</module>
sw/airborne/arch/chibios/mcu_periph/i2c_arch.c
+4
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@@ -123,6 +123,8 @@ static void handle_i2c_thd(struct i2c_periph *p)
// wait for a transaction to be pushed in the queue
chSemWait(&i->sem);
i2cAcquireBus((I2CDriver *)p->reg_addr);
if (p->trans_insert_idx == p->trans_extract_idx) {
p->status = I2CIdle;
// no transaction pending
@@ -231,6 +233,8 @@ static void handle_i2c_thd(struct i2c_periph *p)
default:
break;
}
i2cReleaseBus((I2CDriver *)p->reg_addr);
}
/**
sw/airborne/arch/chibios/modules/lidar/lidar_vl53l5cx.c
+148
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@@ -0,0 +1,148 @@
/*
* Copyright (C) 2024 Fabien-B <name.surname@gmail.com>
*
* This file is part of paparazzi
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, see
* <http://www.gnu.org/licenses/>.
*/
/** @file "modules/lidar/lidar_vl53l5cx.c"
* @author Fabien-B <name.surname@gmail.com>
* VL53L5CX multizone range sensor.
*/
#include "modules/lidar/lidar_vl53l5cx.h"
#include "mcu_periph/i2c.h"
#include "ch.h"
#include "lidar/vl53l5cx_platform.h"
#include "peripherals/vl53l5cx_api.h"
#include "modules/core/abi.h"
#include "modules/datalink/downlink.h"
#include "ch.h"
#include "hal.h"
#include "mcu_periph/ram_arch.h"
#ifndef LIDAR_VL53L5CX_I2C_ADDR
#define LIDAR_VL53L5CX_I2C_ADDR 0x29
#endif
#define SUBTYPE_DISTANCE 0
static IN_DMA_SECTION(VL53L5CX_Configuration vl53l5cx_dev);
static IN_DMA_SECTION(VL53L5CX_ResultsData vl53l5cx_results);
static THD_WORKING_AREA(wa_thd_lidar_vl53l5cx, 1024);
static void thd_lidar_vl53l5cx(void *arg);
char *VL53L5CX_ERROR_MSGS[] = {
"VL53L5CX_NO_ERROR",
"VL53L5CX_NOT_DETECTED",
"VL53L5CX_ULD_LOADING_FAILED",
"VL53L5CX_SET_RESOLUTION_FAILED",
"VL53L5CX_RUNTIME_ERROR",
};
void lidar_vl53l5cx_init(void)
{
vl53l5cx_dev.platform.i2cdev = &LIDAR_VL53L5CX_I2C_DEV;
vl53l5cx_dev.platform.address = LIDAR_VL53L5CX_I2C_ADDR;
vl53l5cx_dev.platform.user_data = NULL;
vl53l5cx_dev.platform.error_code = VL53L5CX_NO_ERROR;
// Create thread
vl53l5cx_dev.platform.user_data = chThdCreateStatic(wa_thd_lidar_vl53l5cx, sizeof(wa_thd_lidar_vl53l5cx),
NORMALPRIO, thd_lidar_vl53l5cx, (void *)&vl53l5cx_dev);
}
void lidar_vl53l5cx_periodic(void)
{
if (vl53l5cx_dev.platform.user_data != NULL) {
thread_t* thread_handle = (thread_t*) vl53l5cx_dev.platform.user_data;
// check thread status
if (thread_handle->state == CH_STATE_FINAL) {
vl53l5cx_dev.platform.error_code = (enum VL53L5CX_ERRORS) chThdWait(thread_handle);
vl53l5cx_dev.platform.user_data = NULL;
}
} else {
// thread exited, send error code periodically
size_t len = strlen(VL53L5CX_ERROR_MSGS[vl53l5cx_dev.platform.error_code]);
// send exitcode to telemetry
RunOnceEvery(10, DOWNLINK_SEND_INFO_MSG(DefaultChannel, DefaultDevice, len,
VL53L5CX_ERROR_MSGS[vl53l5cx_dev.platform.error_code]));
;
}
if (vl53l5cx_dev.platform.data_available) {
uint32_t now_ts = get_sys_time_usec();
AbiSendMsgLIDAR_DATA(LIDAR_DATA_VL53L5CX_ID, now_ts,
8, 8, sizeof(vl53l5cx_dev.platform.distances_mm[0]), SUBTYPE_DISTANCE,
(uint8_t *)vl53l5cx_dev.platform.distances_mm);
vl53l5cx_dev.platform.data_available = false;
}
}
static void thd_lidar_vl53l5cx(void *arg)
{
chRegSetThreadName("vl53l5cx");
VL53L5CX_Configuration *dev = (VL53L5CX_Configuration *) arg;
uint8_t status, isAlive, isReady;
chThdSleepMilliseconds(2000);
status = vl53l5cx_is_alive(dev, &isAlive);
if (!isAlive || status) {
chThdExit(VL53L5CX_NOT_DETECTED);
}
status = vl53l5cx_init(dev);
if (status) {
chThdExit(VL53L5CX_ULD_LOADING_FAILED);
}
status = vl53l5cx_set_resolution(dev, VL53L5CX_RESOLUTION_4X4);
if (status) {
chThdExit(VL53L5CX_SET_RESOLUTION_FAILED);
}
status = vl53l5cx_start_ranging(dev);
while (true) {
status = vl53l5cx_check_data_ready(dev, &isReady);
if (isReady) {
status = vl53l5cx_get_ranging_data(dev, &vl53l5cx_results);
if (status == 0) {
memcpy(dev->platform.distances_mm, vl53l5cx_results.distance_mm, 64 * sizeof(vl53l5cx_results.distance_mm[0]));
dev->platform.data_available = true;
}
}
chThdSleepMilliseconds(100);
}
}
sw/airborne/arch/chibios/modules/lidar/lidar_vl53l5cx.h
+35
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@@ -0,0 +1,35 @@
/*
* Copyright (C) 2024 Fabien-B <name.surname@gmail.com>
*
* This file is part of paparazzi
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, see
* <http://www.gnu.org/licenses/>.
*/
/** @file "modules/lidar/lidar_vl53l5cx.h"
* @author Fabien-B <name.surname@gmail.com>
* VL53L5CX multizone range sensor.
*/
#ifndef LIDAR_VL53L5CX_H
#define LIDAR_VL53L5CX_H
#include "stdint.h"
#include "peripherals/vl53l5cx_api.h"
extern void lidar_vl53l5cx_init(void);
extern void lidar_vl53l5cx_periodic(void);
#endif // LIDAR_VL53L5CX_H
sw/airborne/arch/chibios/modules/lidar/vl53l5cx_platform.c
+118
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@@ -0,0 +1,118 @@
/*
* Copyright (C) 2024 Fabien-B <name.surname@gmail.com>
*
* This file is part of paparazzi
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*/
#include "lidar/vl53l5cx_platform.h"
#include "hal.h"
#define VL53L5_I2C_TIMEOUT chTimeMS2I(100)
uint8_t RdByte(
VL53L5CX_Platform *dev,
uint16_t index,
uint8_t *p_data)
{
return RdMulti(dev, index, p_data, 1);
}
uint8_t WrByte(
VL53L5CX_Platform *dev,
uint16_t index,
uint8_t data)
{
return WrMulti(dev, index, &data, 1);
}
uint8_t WrMulti(
VL53L5CX_Platform *dev,
uint16_t index,
uint8_t *pdata,
uint32_t count)
{
I2CDriver * i2cd = (I2CDriver *)dev->i2cdev->reg_addr;
i2cAcquireBus(i2cd);
msg_t ret;
for(size_t offset = 0; offset<count; offset += VL53L5CX_I2C_BUF_SIZE) {
uint16_t reg_addr = index + offset;
dev->buf[0] = (reg_addr & 0xFF00) >> 8; // MSB first
dev->buf[1] = (reg_addr & 0x00FF);
size_t size = Min(count-offset, VL53L5CX_I2C_BUF_SIZE);
memcpy((uint8_t *) dev->buf + 2, (pdata + offset), size);
cacheBufferFlush(dev->buf, size+2);
ret = i2cMasterTransmitTimeout(i2cd, dev->address, dev->buf, size+2, NULL, 0, VL53L5_I2C_TIMEOUT);
}
i2cReleaseBus(i2cd);
return ret;
}
uint8_t RdMulti(
VL53L5CX_Platform *dev,
uint16_t index,
uint8_t *pdata,
uint32_t count)
{
I2CDriver * i2cd = (I2CDriver *)dev->i2cdev->reg_addr;
i2cAcquireBus(i2cd);
msg_t ret = 0;
for(size_t offset = 0; offset<count; offset += VL53L5CX_I2C_BUF_SIZE) {
uint16_t reg_addr = index + offset;
dev->buf[0] = (reg_addr & 0xFF00) >> 8; // MSB first
dev->buf[1] = (reg_addr & 0x00FF);
size_t size = Min(count-offset, VL53L5CX_I2C_BUF_SIZE);
cacheBufferFlush(dev->buf, 2);
ret = i2cMasterTransmitTimeout(i2cd, dev->address, dev->buf, 2, dev->buf, size, VL53L5_I2C_TIMEOUT);
cacheBufferInvalidate(dev->buf, count);
memcpy(pdata+offset, dev->buf, count);
}
i2cReleaseBus(i2cd);
return ret;
}
void SwapBuffer(
uint8_t *buffer,
uint16_t size)
{
uint32_t i, tmp;
/* 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)
{
(void)p_platform;
chThdSleepMilliseconds(TimeMs);
return 0;
}
sw/airborne/boards/tawaki/chibios/v2.0/board.h
+20 -20
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@@ -88,8 +88,8 @@
#define AUX_B2 7U
#define AUX_B3 8U
#define AUX_B4 9U
#define I2C2_SCL_EXTERNAL 10U
#define I2C2_SDA_EXTERNAL 11U
#define I2C2_SCL 10U
#define I2C2_SDA 11U
#define SPI2_EXTERNAL_CS 12U
#define PB13 13U
#define SPI2_EXTERNAL_MISO 14U
@@ -275,8 +275,8 @@
#define LINE_AUX_B2 PAL_LINE(GPIOB, 7U)
#define LINE_AUX_B3 PAL_LINE(GPIOB, 8U)
#define LINE_AUX_B4 PAL_LINE(GPIOB, 9U)
#define LINE_I2C2_SCL_EXTERNAL PAL_LINE(GPIOB, 10U)
#define LINE_I2C2_SDA_EXTERNAL PAL_LINE(GPIOB, 11U)
#define LINE_I2C2_SCL PAL_LINE(GPIOB, 10U)
#define LINE_I2C2_SDA PAL_LINE(GPIOB, 11U)
#define LINE_SPI2_EXTERNAL_CS PAL_LINE(GPIOB, 12U)
#define LINE_SPI2_EXTERNAL_MISO PAL_LINE(GPIOB, 14U)
#define LINE_SPI2_EXTERNAL_MOSI PAL_LINE(GPIOB, 15U)
@@ -450,8 +450,8 @@
PIN_MODE_ALTERNATE(AUX_B2) | \
PIN_MODE_ALTERNATE(AUX_B3) | \
PIN_MODE_ALTERNATE(AUX_B4) | \
PIN_MODE_ALTERNATE(I2C2_SCL_EXTERNAL) | \
PIN_MODE_ALTERNATE(I2C2_SDA_EXTERNAL) | \
PIN_MODE_ALTERNATE(I2C2_SCL) | \
PIN_MODE_ALTERNATE(I2C2_SDA) | \
PIN_MODE_OUTPUT(SPI2_EXTERNAL_CS) | \
PIN_MODE_INPUT(PB13) | \
PIN_MODE_ALTERNATE(SPI2_EXTERNAL_MISO) | \
@@ -467,8 +467,8 @@
PIN_OTYPE_PUSHPULL(AUX_B2) | \
PIN_OTYPE_PUSHPULL(AUX_B3) | \
PIN_OTYPE_PUSHPULL(AUX_B4) | \
PIN_OTYPE_OPENDRAIN(I2C2_SCL_EXTERNAL) | \
PIN_OTYPE_OPENDRAIN(I2C2_SDA_EXTERNAL) | \
PIN_OTYPE_OPENDRAIN(I2C2_SCL) | \
PIN_OTYPE_OPENDRAIN(I2C2_SDA) | \
PIN_OTYPE_PUSHPULL(SPI2_EXTERNAL_CS) | \
PIN_OTYPE_PUSHPULL(PB13) | \
PIN_OTYPE_PUSHPULL(SPI2_EXTERNAL_MISO) | \
@@ -484,8 +484,8 @@
PIN_OSPEED_SPEED_HIGH(AUX_B2) | \
PIN_OSPEED_SPEED_HIGH(AUX_B3) | \
PIN_OSPEED_SPEED_HIGH(AUX_B4) | \
PIN_OSPEED_SPEED_HIGH(I2C2_SCL_EXTERNAL) | \
PIN_OSPEED_SPEED_HIGH(I2C2_SDA_EXTERNAL) | \
PIN_OSPEED_SPEED_HIGH(I2C2_SCL) | \
PIN_OSPEED_SPEED_HIGH(I2C2_SDA) | \
PIN_OSPEED_SPEED_HIGH(SPI2_EXTERNAL_CS) | \
PIN_OSPEED_SPEED_VERYLOW(PB13) | \
PIN_OSPEED_SPEED_HIGH(SPI2_EXTERNAL_MISO) | \
@@ -501,8 +501,8 @@
PIN_PUPDR_FLOATING(AUX_B2) | \
PIN_PUPDR_FLOATING(AUX_B3) | \
PIN_PUPDR_FLOATING(AUX_B4) | \
PIN_PUPDR_PULLUP(I2C2_SCL_EXTERNAL) | \
PIN_PUPDR_PULLUP(I2C2_SDA_EXTERNAL) | \
PIN_PUPDR_PULLUP(I2C2_SCL) | \
PIN_PUPDR_PULLUP(I2C2_SDA) | \
PIN_PUPDR_FLOATING(SPI2_EXTERNAL_CS) | \
PIN_PUPDR_PULLDOWN(PB13) | \
PIN_PUPDR_FLOATING(SPI2_EXTERNAL_MISO) | \
@@ -518,8 +518,8 @@
PIN_ODR_LEVEL_LOW(AUX_B2) | \
PIN_ODR_LEVEL_LOW(AUX_B3) | \
PIN_ODR_LEVEL_LOW(AUX_B4) | \
PIN_ODR_LEVEL_HIGH(I2C2_SCL_EXTERNAL) | \
PIN_ODR_LEVEL_HIGH(I2C2_SDA_EXTERNAL) | \
PIN_ODR_LEVEL_HIGH(I2C2_SCL) | \
PIN_ODR_LEVEL_HIGH(I2C2_SDA) | \
PIN_ODR_LEVEL_HIGH(SPI2_EXTERNAL_CS) | \
PIN_ODR_LEVEL_LOW(PB13) | \
PIN_ODR_LEVEL_HIGH(SPI2_EXTERNAL_MISO) | \
@@ -536,8 +536,8 @@
#define VAL_GPIOB_AFRH (PIN_AFIO_AF(AUX_B3, 2) | \
PIN_AFIO_AF(AUX_B4, 2) | \
PIN_AFIO_AF(I2C2_SCL_EXTERNAL, 4) | \
PIN_AFIO_AF(I2C2_SDA_EXTERNAL, 4) | \
PIN_AFIO_AF(I2C2_SCL, 4) | \
PIN_AFIO_AF(I2C2_SDA, 4) | \
PIN_AFIO_AF(SPI2_EXTERNAL_CS, 0) | \
PIN_AFIO_AF(PB13, 0) | \
PIN_AFIO_AF(SPI2_EXTERNAL_MISO, 5) | \
@@ -1506,10 +1506,10 @@
#define AF_LINE_AUX_B3 2U
#define AF_AUX_B4 2U
#define AF_LINE_AUX_B4 2U
#define AF_I2C2_SCL_EXTERNAL 4U
#define AF_LINE_I2C2_SCL_EXTERNAL 4U
#define AF_I2C2_SDA_EXTERNAL 4U
#define AF_LINE_I2C2_SDA_EXTERNAL 4U
#define AF_I2C2_SCL 4U
#define AF_LINE_I2C2_SCL 4U
#define AF_I2C2_SDA 4U
#define AF_LINE_I2C2_SDA 4U
#define AF_SPI2_EXTERNAL_MISO 5U
#define AF_LINE_SPI2_EXTERNAL_MISO 5U
#define AF_SPI2_EXTERNAL_MOSI 5U
sw/airborne/boards/tawaki/chibios/v2.0/tawaki_2.0.cfg
+2 -2
View File
@@ -109,8 +109,8 @@ PB06 AUX_B1 PWM AF:TIM4_CH1
PB07 AUX_B2 PWM AF:TIM4_CH2
PB08 AUX_B3 PWM AF:TIM4_CH3
PB09 AUX_B4 PWM AF:TIM4_CH4
PB10 I2C2_SCL_EXTERNAL I2C AF:I2C2_SCL
PB11 I2C2_SDA_EXTERNAL I2C AF:I2C2_SDA
PB10 I2C2_SCL I2C AF:I2C2_SCL # External
PB11 I2C2_SDA I2C AF:I2C2_SDA # External
PB12 SPI2_EXTERNAL_CS OUTPUT PUSHPULL SPEED_HIGH FLOATING LEVEL_HIGH
PB14 SPI2_EXTERNAL_MISO SPI AF:SPI2_MISO
PB15 SPI2_EXTERNAL_MOSI SPI AF:SPI2_MOSI
sw/airborne/modules/core/abi_sender_ids.h
+9
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@@ -636,4 +636,13 @@
#define VEL_SP_FCR_ID 1 // Approach Moving Target
#endif
/*
* IDs of LIDAR_DATA senders
*/
#ifndef LIDAR_DATA_VL53L5CX_ID
#define LIDAR_DATA_VL53L5CX_ID 1
#endif
#endif /* ABI_SENDER_IDS_H */
sw/airborne/modules/lidar/vl53l5cx_platform.h
+186
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@@ -0,0 +1,186 @@
/*
* Copyright (C) 2024 Fabien-B <name.surname@gmail.com>
*
* This file is part of paparazzi
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*/
#ifndef _PLATFORM_H_
#define _PLATFORM_H_
#pragma once
#include <stdint.h>
#include <string.h>
#include "mcu_periph/i2c.h"
#define VL53L5CX_I2C_BUF_SIZE 512
enum VL53L5CX_ERRORS {
VL53L5CX_NO_ERROR = 0,
VL53L5CX_NOT_DETECTED = 1,
VL53L5CX_ULD_LOADING_FAILED = 2,
VL53L5CX_SET_RESOLUTION_FAILED = 3,
VL53L5CX_RUNTIME_FAILURE = 4,
};
/**
* @brief Structure VL53L5CX_Platform needs to be filled by the customer,
* depending on his platform. At least, it contains the VL53L5CX I2C address.
* Some additional fields can be added, as descriptors, or platform
* dependencies. Anything added into this structure is visible into the platform
* layer.
*/
typedef struct
{
/* To be filled with customer's platform. At least an I2C address/descriptor
* needs to be added */
/* Example for most standard platform : I2C address of sensor */
uint16_t address;
//I2CDriver* i2cp;
struct i2c_periph *i2cdev;
bool data_available;
int16_t distances_mm[64];
enum VL53L5CX_ERRORS error_code;
uint8_t buf[VL53L5CX_I2C_BUF_SIZE+2];
void* user_data;
} VL53L5CX_Platform;
/*
* @brief The macro below is used to define the number of target per zone sent
* through I2C. This value can be changed by user, in order to tune I2C
* transaction, and also the total memory size (a lower number of target per
* zone means a lower RAM). The value must be between 1 and 4.
*/
#define VL53L5CX_NB_TARGET_PER_ZONE 1U
/*
* @brief The macro below can be used to avoid data conversion into the driver.
* By default there is a conversion between firmware and user data. Using this macro
* allows to use the firmware format instead of user format. The firmware format allows
* an increased precision.
*/
// #define VL53L5CX_USE_RAW_FORMAT
/*
* @brief All macro below are used to configure the sensor output. User can
* define some macros if he wants to disable selected output, in order to reduce
* I2C access.
*/
// #define VL53L5CX_DISABLE_AMBIENT_PER_SPAD
// #define VL53L5CX_DISABLE_NB_SPADS_ENABLED
// #define VL53L5CX_DISABLE_NB_TARGET_DETECTED
// #define VL53L5CX_DISABLE_SIGNAL_PER_SPAD
// #define VL53L5CX_DISABLE_RANGE_SIGMA_MM
// #define VL53L5CX_DISABLE_DISTANCE_MM
// #define VL53L5CX_DISABLE_REFLECTANCE_PERCENT
// #define VL53L5CX_DISABLE_TARGET_STATUS
// #define VL53L5CX_DISABLE_MOTION_INDICATOR
/**
* @param (VL53L5CX_Platform*) p_platform : Pointer of VL53L5CX platform
* structure.
* @param (uint16_t) Address : I2C location of value to read.
* @param (uint8_t) *p_values : Pointer of value to read.
* @return (uint8_t) status : 0 if OK
*/
uint8_t RdByte(
VL53L5CX_Platform *p_platform,
uint16_t RegisterAdress,
uint8_t *p_value);
/**
* @brief Mandatory function used to write one single byte.
* @param (VL53L5CX_Platform*) p_platform : Pointer of VL53L5CX platform
* structure.
* @param (uint16_t) Address : I2C location of value to read.
* @param (uint8_t) value : Pointer of value to write.
* @return (uint8_t) status : 0 if OK
*/
uint8_t WrByte(
VL53L5CX_Platform *p_platform,
uint16_t RegisterAdress,
uint8_t value);
/**
* @brief Mandatory function used to read multiples bytes.
* @param (VL53L5CX_Platform*) p_platform : Pointer of VL53L5CX platform
* structure.
* @param (uint16_t) Address : I2C location of values to read.
* @param (uint8_t) *p_values : Buffer of bytes to read.
* @param (uint32_t) size : Size of *p_values buffer.
* @return (uint8_t) status : 0 if OK
*/
uint8_t RdMulti(
VL53L5CX_Platform *p_platform,
uint16_t RegisterAdress,
uint8_t *p_values,
uint32_t size);
/**
* @brief Mandatory function used to write multiples bytes.
* @param (VL53L5CX_Platform*) p_platform : Pointer of VL53L5CX platform
* structure.
* @param (uint16_t) Address : I2C location of values to write.
* @param (uint8_t) *p_values : Buffer of bytes to write.
* @param (uint32_t) size : Size of *p_values buffer.
* @return (uint8_t) status : 0 if OK
*/
uint8_t WrMulti(
VL53L5CX_Platform *p_platform,
uint16_t RegisterAdress,
uint8_t *p_values,
uint32_t size);
/**
* @brief Optional function, only used to perform an hardware reset of the
* sensor. This function is not used in the API, but it can be used by the host.
* This function is not mandatory to fill if user don't want to reset the
* sensor.
* @param (VL53L5CX_Platform*) p_platform : Pointer of VL53L5CX platform
* structure.
* @return (uint8_t) status : 0 if OK
*/
// uint8_t Reset_Sensor(
// VL53L5CX_Platform *p_platform);
/**
* @brief Mandatory function, used to swap a buffer. The buffer size is always a
* multiple of 4 (4, 8, 12, 16, ...).
* @param (uint8_t*) buffer : Buffer to swap, generally uint32_t
* @param (uint16_t) size : Buffer size to swap
*/
void SwapBuffer(
uint8_t *buffer,
uint16_t size);
/**
* @brief Mandatory function, used to wait during an amount of time. It must be
* filled as it's used into the API.
* @param (VL53L5CX_Platform*) p_platform : Pointer of VL53L5CX platform
* structure.
* @param (uint32_t) TimeMs : Time to wait in ms.
* @return (uint8_t) status : 0 if wait is finished.
*/
uint8_t WaitMs(
VL53L5CX_Platform *p_platform,
uint32_t TimeMs);
#endif // _PLATFORM_H_
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