Make VL6180x work
This commit is contained in:
jazzpi
parent
9cec3672cf
commit
3681e11354
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@ -16,6 +16,9 @@ endif()
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cs_add_executable(${PROJECT_NAME}
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src/rideheight_sensing_node.cpp
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src/rideheight_sensing.cpp
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src/vl6180x_glue.cpp
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src/vl6180x_api.c
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src/vl6180x_i2c.c
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)
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target_link_libraries(${PROJECT_NAME}
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@ -2,7 +2,7 @@
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* $Date: 2015-01-08 14:30:24 +0100 (Thu, 08 Jan 2015) $
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* $Revision: 2039 $
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*/
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/**
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* @file vl6180x_i2c.h
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*
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@ -12,23 +12,39 @@
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#ifndef VL6180_I2C_H_
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#define VL6180_I2C_H_
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include "vl6180x_platform.h"
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/**
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* @defgroup cci_i2c CCI to RAW I2C translation layer
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*
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* This optional tranlation layer is implemented in __platform/cci-i2c__ directory. If user uses this translation layer for his platform, only @a VL6180x_I2CRead() and
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* @a VL6180x_I2CWrite() functions need to be implemented. Also, some code adaption (via macro) is required for multi-threading and for multiple device support.
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* This optional tranlation layer is implemented in __platform/cci-i2c__
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directory. If user uses this translation layer for his platform, only @a
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VL6180x_I2CRead() and
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* @a VL6180x_I2CWrite() functions need to be implemented. Also, some code
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adaption (via macro) is required for multi-threading and for multiple device
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support.
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*
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* File vl6180x_i2c.c implements device register access via raw i2c access. If the targeted application and platform has no multi-thread, no multi-cpu and uses single
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* device, then nothing else is required than the 2 mandatory function : @a VL6180x_I2CRead() and @a VL6180x_I2CWrite().\n
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* In other cases, review and customize @a VL6180x_GetI2CAccess() and @a VL6180x_DoneI2CAccess() functions as well as @a #VL6180x_I2C_USER_VAR macro. This should be enough
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* File vl6180x_i2c.c implements device register access via raw i2c access. If
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the targeted application and platform has no multi-thread, no multi-cpu and
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uses single
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* device, then nothing else is required than the 2 mandatory function : @a
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VL6180x_I2CRead() and @a VL6180x_I2CWrite().\n
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* In other cases, review and customize @a VL6180x_GetI2CAccess() and @a
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VL6180x_DoneI2CAccess() functions as well as @a #VL6180x_I2C_USER_VAR macro.
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This should be enough
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* to conform to a wide range of platform OS and application requirements .\n
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*
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* If your configured i2c for per device buffer via @a #I2C_BUFFER_CONFIG == 2, you must implement @a VL6180x_GetI2cBuffer()
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* If your configured i2c for per device buffer via @a #I2C_BUFFER_CONFIG == 2,
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you must implement @a VL6180x_GetI2cBuffer()
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*
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* __I2C Port sample__ \n
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* A __linux kernel__ port need a "long flags" var for its spin_lock in all functions. the following code example declares a spin lock "lock" in the custom device structure. \n
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* A __linux kernel__ port need a "long flags" var for its spin_lock in all
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functions. the following code example declares a spin lock "lock" in the custom
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device structure. \n
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* @code
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struct MyVL6180Dev_t {
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struct VL6180xDevData_t StData;
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@ -65,14 +81,17 @@ typedef struct MyVL6180Dev_t *VL6180xDev_t;
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* @li 0 : one GLOBAL buffer \n
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* Use one global buffer of MAX_I2C_XFER_SIZE byte in data space \n
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* This solution is not multi-device compliant nor multi-thread cpu safe \n
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* It can be the best option for small 8/16 bit MCU without stack and limited ram (STM8s, 80C51 ...)
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* It can be the best option for small 8/16 bit MCU without stack and limited
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* ram (STM8s, 80C51 ...)
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*
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* @li 1 : ON_STACK/local \n
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* Use local variable (on stack) buffer \n
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* This solution is multi-thread with use of i2c resource lock or mutex see @a VL6180x_GetI2CAccess() \n
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* This solution is multi-thread with use of i2c resource lock or mutex see @a
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* VL6180x_GetI2CAccess() \n
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*
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* @li 2 : User defined \n
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* Per device potentially dynamic allocated. Requires @a VL6180x_GetI2cBuffer() to be implemented.
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* Per device potentially dynamic allocated. Requires @a
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* VL6180x_GetI2cBuffer() to be implemented.
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* @ingroup Configuration
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*/
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#define I2C_BUFFER_CONFIG 1
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@ -85,7 +104,7 @@ typedef struct MyVL6180Dev_t *VL6180xDev_t;
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* @return 0 on success
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* @ingroup cci_i2c
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*/
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int VL6180x_I2CWrite(VL6180xDev_t dev, uint8_t *buff, uint8_t len);
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int VL6180x_I2CWrite(VL6180xDev_t dev, uint8_t *buff, uint8_t len);
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/**
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*
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@ -98,10 +117,10 @@ int VL6180x_I2CWrite(VL6180xDev_t dev, uint8_t *buff, uint8_t len);
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*/
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int VL6180x_I2CRead(VL6180xDev_t dev, uint8_t *buff, uint8_t len);
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/**
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* @brief Declare any required variables used by i2c lock (@a VL6180x_DoneI2CAccess() and @a VL6180x_GetI2CAccess())
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* and buffer access : @a VL6180x_GetI2cBuffer()
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* @brief Declare any required variables used by i2c lock (@a
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* VL6180x_DoneI2CAccess() and @a VL6180x_GetI2CAccess()) and buffer access : @a
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* VL6180x_GetI2cBuffer()
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*
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* @ingroup cci_i2c
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*/
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@ -109,11 +128,13 @@ int VL6180x_I2CRead(VL6180xDev_t dev, uint8_t *buff, uint8_t len);
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/**
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* @brief Acquire lock or mutex for access to i2c data buffer and bus.\n
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* Delete the default VL6180x_GetI2CAccess 'do-nothing' macro below if you decide to implement this function.
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* Delete the default VL6180x_GetI2CAccess 'do-nothing' macro below if you
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* decide to implement this function.
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*
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* This function is used to perform i2c bus level and multiple access locking required for multi thread/proccess system.\n
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* Multiple access (read and update) will lock once and do multiple basic i2c rd/wr to complete the overall transfer.\n
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* When no locking is needed this can be a void macro.\n
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* This function is used to perform i2c bus level and multiple access locking
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* required for multi thread/proccess system.\n Multiple access (read and
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* update) will lock once and do multiple basic i2c rd/wr to complete the
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* overall transfer.\n When no locking is needed this can be a void macro.\n
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*
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* @param dev the device
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* @ingroup cci_i2c
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@ -122,14 +143,16 @@ void VL6180x_GetI2CAccess(VL6180xDev_t dev);
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/**
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* @def VL6180x_GetI2CAccess
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* @brief Default 'do-nothing' macro for @a VL6180x_GetI2CAccess(). Delete if used.
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* @brief Default 'do-nothing' macro for @a VL6180x_GetI2CAccess(). Delete if
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* used.
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* @ingroup cci_i2c
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*/
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#define VL6180x_GetI2CAccess(dev) (void)0 /* TODO delete if function used */
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/**
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* @brief Release acquired lock or mutex for i2c access.\n
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* Delete default VL6180x_DoneI2CAccess 'do-nothing' macro below if implementing that function.
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* Delete default VL6180x_DoneI2CAccess 'do-nothing' macro below if implementing
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* that function.
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*
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* This function is used to release the acquired lock.
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* @param dev The device
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@ -138,16 +161,17 @@ void VL6180x_GetI2CAccess(VL6180xDev_t dev);
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void VL6180x_DoneI2CAccess(VL6180xDev_t dev);
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/** @def VL6180x_DoneI2CAcces
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* @brief Default 'do-nothing' macro for @a VL6180x_DoneI2CAcces(). Delete if used.
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* @brief Default 'do-nothing' macro for @a VL6180x_DoneI2CAcces(). Delete if
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* used.
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* @ingroup cci_i2c
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*/
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#define VL6180x_DoneI2CAcces(dev) (void)0 /*TODO delete if function used */
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#define VL6180x_DoneI2CAcces(dev) (void)0 /*TODO delete if function used */
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/**
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* @brief Provided data buffer for i2c access for at least n_byte.
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*
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* You must implement it when i2c @a #I2C_BUFFER_CONFIG is set to 2 (User defined).\n
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* This is used used in the context of #VL6180x_I2C_USER_VAR
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* You must implement it when i2c @a #I2C_BUFFER_CONFIG is set to 2 (User
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* defined).\n This is used used in the context of #VL6180x_I2C_USER_VAR
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*
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* @param dev The device
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* @param n_byte Minimal number of byte
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@ -159,8 +183,8 @@ uint8_t *VL6180x_GetI2cBuffer(VL6180xDev_t dev, int n_byte);
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#error /* TODO add your macro of code here for VL6180x_GetI2cBuffer */
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#endif
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#ifdef __cplusplus
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}
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#endif
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#endif /* VL6180_I2C_H_ */
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@ -11,7 +11,7 @@ RideheightSensing::RideheightSensing(ros::NodeHandle nh,
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: nh{nh}, nh_private{nh_private},
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vl6180x_pub{nh.advertise<sensor_msgs::Range>("vl6180x", 10)},
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vl53l0x_pub{nh.advertise<sensor_msgs::Range>("vl53l0x", 10)} {
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VL6180x_glue_init("/dev/i2c-3");
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VL6180x_glue_init("/dev/i2c-8");
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VL6180x_InitData(vl6180x_dev);
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VL6180x_Prepare(vl6180x_dev);
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}
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@ -26,11 +26,16 @@ void VL6180x_glue_init(const char *i2c_dev_path) {
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ROS_FATAL("Couldn't set slave address: %s", strerror(errno));
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return;
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}
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ROS_INFO("Successfully opened I2C device & set address");
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}
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extern "C" {
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int VL6180x_I2CWrite(VL6180xDev_t dev, uint8_t *buff, uint8_t len) {
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int ret = write(i2c_dev_file, buff, len);
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if (ret == len) {
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ROS_INFO("Successfully wrote to I2C device");
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return 0;
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} else if (ret < 0) {
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ROS_ERROR("Error while writing to I2C device: %s", strerror(errno));
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@ -52,3 +57,4 @@ int VL6180x_I2CRead(VL6180xDev_t dev, uint8_t *buff, uint8_t len) {
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}
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return -1;
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}
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}
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