vl53l0x platform impl for ESP32

vl53l0x_platform.cpp

#include "vl53l0x_platform.h"

#include <driver/i2c.h>

static const i2c_port_t i2c_port = I2C_NUM_0;
static bool i2c_initialized = false;

static void i2c_init()
{
    const i2c_config_t i2c_config =
    {
        .mode = I2C_MODE_MASTER,
        .sda_io_num = GPIO_NUM_27,
        .scl_io_num = GPIO_NUM_14,
        .sda_pullup_en = GPIO_PULLUP_ENABLE,
        .scl_pullup_en = GPIO_PULLUP_ENABLE,
        .master =
        {
            .clk_speed = 400000,
        },
        .clk_flags = 0,
    };
    ESP_ERROR_CHECK(i2c_param_config(i2c_port, &i2c_config));

    i2c_initialized = true;
}

static void i2c_write_reg(uint8_t addr, uint8_t index, const uint8_t *data, size_t n_data)
{
    if (!i2c_initialized)
        i2c_init();

    i2c_cmd_handle_t cmd = i2c_cmd_link_create();

    ESP_ERROR_CHECK(i2c_master_start(cmd));
    ESP_ERROR_CHECK(i2c_master_write_byte(cmd, (addr << 1) | I2C_MASTER_WRITE, true));
    ESP_ERROR_CHECK(i2c_master_write_byte(cmd, index, true));
    ESP_ERROR_CHECK(i2c_master_write(cmd, data, n_data, true));

    ESP_ERROR_CHECK(i2c_master_stop(cmd));

    ESP_ERROR_CHECK(i2c_master_cmd_begin(i2c_port, cmd, pdMS_TO_TICKS(100)));
    i2c_cmd_link_delete(cmd);
}

static void i2c_read_reg(uint8_t addr, uint8_t index, uint8_t *data, size_t n_data)
{
    if (!i2c_initialized)
        i2c_init();

    i2c_cmd_handle_t cmd = i2c_cmd_link_create();

    ESP_ERROR_CHECK(i2c_master_start(cmd));
    ESP_ERROR_CHECK(i2c_master_write_byte(cmd, (addr << 1) | I2C_MASTER_WRITE, true));
    ESP_ERROR_CHECK(i2c_master_write_byte(cmd, index, true));

    ESP_ERROR_CHECK(i2c_master_start(cmd));
    ESP_ERROR_CHECK(i2c_master_write_byte(cmd, (addr << 1) | I2C_MASTER_READ, true));
    ESP_ERROR_CHECK(i2c_master_read(cmd, data, n_data, I2C_MASTER_LAST_NACK));

    ESP_ERROR_CHECK(i2c_master_stop(cmd));

    ESP_ERROR_CHECK(i2c_master_cmd_begin(i2c_port, cmd, pdMS_TO_TICKS(100)));
    i2c_cmd_link_delete(cmd);
}

extern "C"
{

/**
 * Lock comms interface to serialize all commands to a shared I2C interface for a specific device
 * @param   Dev       Device Handle
 * @return  VL53L0X_ERROR_NONE        Success
 * @return  "Other error code"    See ::VL53L0X_Error
 */
VL53L0X_Error VL53L0X_LockSequenceAccess(VL53L0X_DEV Dev)
{
    return VL53L0X_ERROR_NONE;
}

/**
 * Unlock comms interface to serialize all commands to a shared I2C interface for a specific device
 * @param   Dev       Device Handle
 * @return  VL53L0X_ERROR_NONE        Success
 * @return  "Other error code"    See ::VL53L0X_Error
 */
VL53L0X_Error VL53L0X_UnlockSequenceAccess(VL53L0X_DEV Dev)
{
    return VL53L0X_ERROR_NONE;
}

/**
 * Writes the supplied byte buffer to the device
 * @param   Dev       Device Handle
 * @param   index     The register index
 * @param   pdata     Pointer to uint8_t buffer containing the data to be written
 * @param   count     Number of bytes in the supplied byte buffer
 * @return  VL53L0X_ERROR_NONE        Success
 * @return  "Other error code"    See ::VL53L0X_Error
 */
VL53L0X_Error VL53L0X_WriteMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count)
{
    i2c_write_reg(Dev->I2cDevAddr, index, pdata, count);
    return VL53L0X_ERROR_NONE;
}

/**
 * Reads the requested number of bytes from the device
 * @param   Dev       Device Handle
 * @param   index     The register index
 * @param   pdata     Pointer to the uint8_t buffer to store read data
 * @param   count     Number of uint8_t's to read
 * @return  VL53L0X_ERROR_NONE        Success
 * @return  "Other error code"    See ::VL53L0X_Error
 */
VL53L0X_Error VL53L0X_ReadMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count)
{
    i2c_read_reg(Dev->I2cDevAddr, index, pdata, count);
    return VL53L0X_ERROR_NONE;
}


/**
 * Write single byte register
 * @param   Dev       Device Handle
 * @param   index     The register index
 * @param   data      8 bit register data
 * @return  VL53L0X_ERROR_NONE        Success
 * @return  "Other error code"    See ::VL53L0X_Error
 */
VL53L0X_Error VL53L0X_WrByte(VL53L0X_DEV Dev, uint8_t index, uint8_t data)
{
    i2c_write_reg(Dev->I2cDevAddr, index, &data, 1);
    return VL53L0X_ERROR_NONE;
}

/**
 * Write word register
 * @param   Dev       Device Handle
 * @param   index     The register index
 * @param   data      16 bit register data
 * @return  VL53L0X_ERROR_NONE        Success
 * @return  "Other error code"    See ::VL53L0X_Error
 */
VL53L0X_Error VL53L0X_WrWord(VL53L0X_DEV Dev, uint8_t index, uint16_t data)
{
    i2c_write_reg(Dev->I2cDevAddr, index, (uint8_t*)&data, 2);
    return VL53L0X_ERROR_NONE;
}

/**
 * Write double word (4 byte) register
 * @param   Dev       Device Handle
 * @param   index     The register index
 * @param   data      32 bit register data
 * @return  VL53L0X_ERROR_NONE        Success
 * @return  "Other error code"    See ::VL53L0X_Error
 */
VL53L0X_Error VL53L0X_WrDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t data)
{
    i2c_write_reg(Dev->I2cDevAddr, index, (uint8_t*)&data, 4);
    return VL53L0X_ERROR_NONE;
}

/**
 * Read single byte register
 * @param   Dev       Device Handle
 * @param   index     The register index
 * @param   data      pointer to 8 bit data
 * @return  VL53L0X_ERROR_NONE        Success
 * @return  "Other error code"    See ::VL53L0X_Error
 */
VL53L0X_Error VL53L0X_RdByte(VL53L0X_DEV Dev, uint8_t index, uint8_t *data)
{
    i2c_read_reg(Dev->I2cDevAddr, index, data, 1);
    return VL53L0X_ERROR_NONE;
}

/**
 * Read word (2byte) register
 * @param   Dev       Device Handle
 * @param   index     The register index
 * @param   data      pointer to 16 bit data
 * @return  VL53L0X_ERROR_NONE        Success
 * @return  "Other error code"    See ::VL53L0X_Error
 */
VL53L0X_Error VL53L0X_RdWord(VL53L0X_DEV Dev, uint8_t index, uint16_t *data)
{
    i2c_read_reg(Dev->I2cDevAddr, index, (uint8_t*)data, 2);
    return VL53L0X_ERROR_NONE;
}

/**
 * Read dword (4byte) register
 * @param   Dev       Device Handle
 * @param   index     The register index
 * @param   data      pointer to 32 bit data
 * @return  VL53L0X_ERROR_NONE        Success
 * @return  "Other error code"    See ::VL53L0X_Error
 */
VL53L0X_Error VL53L0X_RdDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t *data)
{
    i2c_read_reg(Dev->I2cDevAddr, index, (uint8_t*)data, 4);
    return VL53L0X_ERROR_NONE;
}

/**
 * Threat safe Update (read/modify/write) single byte register
 *
 * Final_reg = (Initial_reg & and_data) |or_data
 *
 * @param   Dev        Device Handle
 * @param   index      The register index
 * @param   AndData    8 bit and data
 * @param   OrData     8 bit or data
 * @return  VL53L0X_ERROR_NONE        Success
 * @return  "Other error code"    See ::VL53L0X_Error
 */
VL53L0X_Error VL53L0X_UpdateByte(VL53L0X_DEV Dev, uint8_t index, uint8_t AndData, uint8_t OrData)
{
    uint8_t read = 0;
    i2c_read_reg(Dev->I2cDevAddr, index, &read, 1);
    uint8_t write = (read & AndData) | OrData;
    i2c_write_reg(Dev->I2cDevAddr, index, &write, 1);
    return VL53L0X_ERROR_NONE;
}

/** @} end of VL53L0X_registerAccess_group */

/**
 * @brief execute delay in all polling API call
 *
 * A typical multi-thread or RTOs implementation is to sleep the task for some 5ms (with 100Hz max rate faster polling is not needed)
 * if nothing specific is need you can define it as an empty/void macro
 * @code
 * #define VL53L0X_PollingDelay(...) (void)0
 * @endcode
 * @param Dev       Device Handle
 * @return  VL53L0X_ERROR_NONE        Success
 * @return  "Other error code"    See ::VL53L0X_Error
 */
VL53L0X_Error VL53L0X_PollingDelay(VL53L0X_DEV Dev) /* usually best implemented as a real function */
{
    vTaskDelay(pdMS_TO_TICKS(5));
    return VL53L0X_ERROR_NONE;
}

}