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VL6180x API

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This commit is contained in:
jazzpi
2022-11-17 18:43:41 +01:00
parent 307a3f8a53
commit c71d52a339
10 changed files with 5564 additions and 0 deletions
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2769
src/vl6180x_api.c Normal file
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src/vl6180x_glue.c Normal file
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#include "vl6180x_glue.h"
#include <fcntl.h>
#include <linux/i2c-dev.h>
#include <sys/ioctl.h>
extern "C" {
#include <i2c/smbus.h>
}
#include <ros/ros.h>
#include "vl6180x_i2c.h"
static int i2c_dev_file;
void VL6180x_glue_init(const char *i2c_dev_path) {
i2c_dev_file = open(i2c_dev_path, O_RDWR);
if (i2c_dev_file < 0) {
ROS_FATAL("Couldn't open %s: %s", i2c_dev_path, strerror(errno));
return;
}
if (ioctl(i2c_dev_file, I2C_SLAVE, VL6180X_I2C_ADDR) < 0) {
close(i2c_dev_file);
ROS_FATAL("Couldn't set slave address: %s", strerror(errno));
return;
}
}
int VL6180x_I2CWrite(VL6180xDev_t dev, uint8_t *buff, uint8_t len) {
int ret = write(i2c_dev_file, buff, len);
if (ret == len) {
return 0;
} else if (ret < 0) {
ROS_ERROR("Error while writing to I2C device: %s", strerror(errno));
return -1;
} else {
ROS_ERROR("Only wrote %d bytes (of %d requested)", ret, len);
}
return -1;
}
int VL6180x_I2CRead(VL6180xDev_t dev, uint8_t *buff, uint8_t len) {
int ret = read(i2c_dev_file, buff, len);
if (ret == len) {
return 0;
} else if (ret < 0) {
ROS_ERROR("Error while reading from I2C device: %s", strerror(errno));
} else {
ROS_ERROR("Only read %d bytes (of %d requested)", ret, len);
}
return -1;
}

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src/vl6180x_i2c.c Normal file
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/*******************************************************************************
Copyright <20> 2014, STMicroelectronics International N.V.
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* 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.
* Neither the name of STMicroelectronics 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, FITNESS FOR A PARTICULAR PURPOSE, AND
NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. 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.
********************************************************************************/
/*
* $Date: 2015-07-06 15:44:31 +0200 (Mon, 06 Jul 2015) $
* $Revision: 2430 $
*/
/**
* @file vl6180x_i2c.c
*
* Copyright (C) 2014 ST MicroElectronics
*
* provide variable word size byte/Word/dword VL6180x register access via i2c
*
*/
#include "vl6180x_i2c.h"
#ifndef I2C_BUFFER_CONFIG
#error "I2C_BUFFER_CONFIG not defined"
/* TODO you must define value for I2C_BUFFER_CONFIG in configuration or platform h */
#endif
#if I2C_BUFFER_CONFIG == 0
/* GLOBAL config buffer */
uint8_t i2c_global_buffer[VL6180x_MAX_I2C_XFER_SIZE];
#define DECL_I2C_BUFFER
#define VL6180x_GetI2cBuffer(dev, n_byte) i2c_global_buffer
#elif I2C_BUFFER_CONFIG == 1
/* ON STACK */
#define DECL_I2C_BUFFER uint8_t LocBuffer[VL6180x_MAX_I2C_XFER_SIZE];
#define VL6180x_GetI2cBuffer(dev, n_byte) LocBuffer
#elif I2C_BUFFER_CONFIG == 2
/* user define buffer type declare DECL_I2C_BUFFER as access via VL6180x_GetI2cBuffer */
#define DECL_I2C_BUFFER
#else
#error "invalid I2C_BUFFER_CONFIG "
#endif
int VL6180x_WrByte(VL6180xDev_t dev, uint16_t index, uint8_t data){
int status;
uint8_t *buffer;
DECL_I2C_BUFFER
VL6180x_I2C_USER_VAR
VL6180x_GetI2CAccess(dev);
buffer=VL6180x_GetI2cBuffer(dev,3);
buffer[0]=index>>8;
buffer[1]=index&0xFF;
buffer[2]=data;
status=VL6180x_I2CWrite(dev, buffer,(uint8_t)3);
VL6180x_DoneI2CAcces(dev);
return status;
}
int VL6180x_WrWord(VL6180xDev_t dev, uint16_t index, uint16_t data){
int status;
DECL_I2C_BUFFER
uint8_t *buffer;
VL6180x_I2C_USER_VAR
VL6180x_GetI2CAccess(dev);
buffer=VL6180x_GetI2cBuffer(dev,4);
buffer[0]=index>>8;
buffer[1]=index&0xFF;
buffer[2]=data>>8;
buffer[3]=data&0xFF;
status=VL6180x_I2CWrite(dev, buffer,(uint8_t)4);
VL6180x_DoneI2CAcces(dev);
return status;
}
int VL6180x_WrDWord(VL6180xDev_t dev, uint16_t index, uint32_t data){
VL6180x_I2C_USER_VAR
DECL_I2C_BUFFER
int status;
uint8_t *buffer;
VL6180x_GetI2CAccess(dev);
buffer=VL6180x_GetI2cBuffer(dev,6);
buffer[0]=index>>8;
buffer[1]=index&0xFF;
buffer[2]=data>>24;
buffer[3]=(data>>16)&0xFF;
buffer[4]=(data>>8)&0xFF;;
buffer[5]=data&0xFF;
status=VL6180x_I2CWrite(dev, buffer,(uint8_t)6);
VL6180x_DoneI2CAcces(dev);
return status;
}
int VL6180x_UpdateByte(VL6180xDev_t dev, uint16_t index, uint8_t AndData, uint8_t OrData){
VL6180x_I2C_USER_VAR
int status;
uint8_t *buffer;
DECL_I2C_BUFFER
VL6180x_GetI2CAccess(dev);
buffer=VL6180x_GetI2cBuffer(dev,3);
buffer[0]=index>>8;
buffer[1]=index&0xFF;
status=VL6180x_I2CWrite(dev, (uint8_t *)buffer,(uint8_t)2);
if( !status ){
/* read data direct onto buffer */
status=VL6180x_I2CRead(dev, &buffer[2],1);
if( !status ){
buffer[2]=(buffer[2]&AndData)|OrData;
status=VL6180x_I2CWrite(dev, buffer, (uint8_t)3);
}
}
VL6180x_DoneI2CAcces(dev);
return status;
}
int VL6180x_RdByte(VL6180xDev_t dev, uint16_t index, uint8_t *data){
VL6180x_I2C_USER_VAR
int status;
uint8_t *buffer;
DECL_I2C_BUFFER
VL6180x_GetI2CAccess(dev);
buffer=VL6180x_GetI2cBuffer(dev,2);
buffer[0]=index>>8;
buffer[1]=index&0xFF;
status=VL6180x_I2CWrite(dev, buffer, (uint8_t)2);
if( !status ){
status=VL6180x_I2CRead(dev, buffer,1);
if( !status ){
*data=buffer[0];
}
}
VL6180x_DoneI2CAcces(dev);
return status;
}
int VL6180x_RdWord(VL6180xDev_t dev, uint16_t index, uint16_t *data){
VL6180x_I2C_USER_VAR
int status;
uint8_t *buffer;
DECL_I2C_BUFFER
VL6180x_GetI2CAccess(dev);
buffer=VL6180x_GetI2cBuffer(dev,2);
buffer[0]=index>>8;
buffer[1]=index&0xFF;
status=VL6180x_I2CWrite(dev, buffer, (uint8_t)2);
if( !status){
status=VL6180x_I2CRead(dev, buffer,2);
if( !status ){
/* VL6180x register are Big endian if cpu is be direct read direct into *data is possible */
*data=((uint16_t)buffer[0]<<8)|(uint16_t)buffer[1];
}
}
VL6180x_DoneI2CAcces(dev);
return status;
}
int VL6180x_RdDWord(VL6180xDev_t dev, uint16_t index, uint32_t *data){
VL6180x_I2C_USER_VAR
int status;
uint8_t *buffer;
DECL_I2C_BUFFER
VL6180x_GetI2CAccess(dev);
buffer=VL6180x_GetI2cBuffer(dev,4);
buffer[0]=index>>8;
buffer[1]=index&0xFF;
status=VL6180x_I2CWrite(dev, (uint8_t *) buffer, (uint8_t)2);
if( !status ){
status=VL6180x_I2CRead(dev, buffer,4);
if( !status ){
/* VL6180x register are Big endian if cpu is be direct read direct into data is possible */
*data=((uint32_t)buffer[0]<<24)|((uint32_t)buffer[1]<<16)|((uint32_t)buffer[2]<<8)|((uint32_t)buffer[3]);
}
}
VL6180x_DoneI2CAcces(dev);
return status;
}
int VL6180x_RdMulti(VL6180xDev_t dev, uint16_t index, uint8_t *data, int nData){
VL6180x_I2C_USER_VAR
int status;
uint8_t *buffer;
DECL_I2C_BUFFER
VL6180x_GetI2CAccess(dev);
buffer=VL6180x_GetI2cBuffer(dev,2);
buffer[0]=index>>8;
buffer[1]=index&0xFF;
status=VL6180x_I2CWrite(dev, (uint8_t *) buffer, (uint8_t)2);
if( !status ){
status=VL6180x_I2CRead(dev, data, nData);
}
VL6180x_DoneI2CAcces(dev);
return status;
}