初始提交：龙芯2K0300智能车卖家Demo完整代码

vl53l0x_test/vl53l0x_reg.c

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+
+
+#include <errno.h>
+#include <string.h>
+#include <stdio.h>
+#include <fcntl.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <sys/ioctl.h>
+
+#include "vl53l0x_types.h"
+
+/*
+ *  IOCTL register data structs
+ */
+struct stmvl53l0x_register {
+	uint32_t is_read; //1: read 0: write
+	uint32_t reg_index;
+	uint32_t reg_bytes;
+	uint32_t reg_data;
+	int32_t status;
+};
+//******************************** IOCTL definitions
+#define VL53L0X_IOCTL_REGISTER		_IOWR('p', 0x0c, struct stmvl53l0x_register)
+
+static void help(void)
+{
+	fprintf(stderr,
+		"Usage: vl53l0x_reg REG_ADDR REG_BYTES [REG_DATA]\n"
+		" REG_ADDR is VL6180's register address using 0xxx format: \n"
+		" REG_BYTES is the register bytes(1, 2 or 4) \n"
+		" REG_DATA is optional for writting data to requested REG_ADDR\n"
+		);
+	exit(1);
+}
+
+int main(int argc, char *argv[])
+{
+	int fd;
+	struct stmvl53l0x_register reg;
+	char *end;
+
+	if (argc < 3) {
+		help();
+		exit(1);
+	}
+
+	fd = open("/dev/stmvl53l0x_ranging",O_RDWR );
+	if (fd <= 0) {
+		fprintf(stderr,"Error open stmvl53l0x_ranging device: %s\n", strerror(errno));
+		return -1;
+	}
+
+	reg.reg_index = strtoul(argv[1], &end, 16);
+	if (*end) {
+		help();
+		exit(1);
+	}
+ 	reg.reg_bytes = strtoul(argv[2],&end,10);
+	if (*end) {
+	   	help();
+		exit(1);
+	}
+	if (argc == 3) {
+		reg.is_read = 1;
+		fprintf(stderr, "To read VL53L0 register index:0x%x, bytes:%d\n",
+						reg.reg_index, reg.reg_bytes);
+
+	} else {
+		reg.is_read = 0;
+		reg.reg_data = strtoul(argv[3],&end,16);
+		if (*end) {
+	   		help();
+			exit(1);
+		}
+		fprintf(stderr, "To write VL53L0 register index:0x%x, bytes:%d as value:0x%x\n",
+						reg.reg_index, reg.reg_bytes, reg.reg_data);				
+	}
+	// to access requested register
+	ioctl(fd, VL53L0X_IOCTL_REGISTER,&reg);
+	fprintf(stderr," VL53L0 register data:0x%x, error status:%d\n",
+				reg.reg_data, reg.status);
+	
+	//close(fd);
+	return 0;
+}
+
+