spdis
95a46c130d
- 搬运 ST API C 源码到 lib/vl53l0x/, 替换 I2C 层为用户态 i2c-dev - 新增 vl53l0x_platform_user.cpp: WriteMulti/ReadMulti 等全平台接口 - 重写 vl53l0x.cpp: start时unbind内核驱动, 单次测距, 无后台轮询 - 高速模式 20000μs timing budget, 模型缓存零污染(41-43ms) - LiDAR 每5帧一读(~20ms), 隔帧模型推理, fps 25.1→29.6 (+18%) - 同事的LiDAR避障集成: 12个配置参数, 中线变形绕行, 刹车注释 - nice -10 + sched_yield 优先级优化
403 lines
8.8 KiB
C
403 lines
8.8 KiB
C
/*
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* vl53l0x_i2c_platform.h - Linux kernel modules for STM VL53L0 FlightSense TOF
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* sensor
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*
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* Copyright (C) 2016 STMicroelectronics Imaging Division.
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*/
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/**
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* @file VL53L0X_i2c_platform.h
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* @brief Function prototype definitions for EWOK Platform layer.
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*
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*/
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#ifndef _VL53L0X_I2C_PLATFORM_H_
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#define _VL53L0X_I2C_PLATFORM_H_
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#include "vl53l0x_def.h"
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/** Maximum buffer size to be used in i2c */
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#define VL53L0X_MAX_I2C_XFER_SIZE 64
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/**
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* @brief Typedef defining .\n
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* The developer should modify this to suit the platform being deployed.
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*
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*/
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/**
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* @brief Typedef defining 8 bit unsigned char type.\n
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* The developer should modify this to suit the platform being deployed.
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*
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*/
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#ifndef bool_t
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typedef unsigned char bool_t;
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#endif
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#define I2C 0x01
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#define SPI 0x00
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#define COMMS_BUFFER_SIZE 64
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/*MUST be the same size as the SV task buffer */
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#define BYTES_PER_WORD 2
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#define BYTES_PER_DWORD 4
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#define VL53L0X_MAX_STRING_LENGTH_PLT 256
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/**
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* @brief Initialise platform comms.
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*
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* @param comms_type - selects between I2C and SPI
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* @param comms_speed_khz - unsigned short containing the I2C speed in kHz
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*
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* @return status - status 0 = ok, 1 = error
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*
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*/
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int32_t VL53L0X_comms_initialise(uint8_t comms_type,
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uint16_t comms_speed_khz);
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/**
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* @brief Close platform comms.
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*
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* @return status - status 0 = ok, 1 = error
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*
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*/
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int32_t VL53L0X_comms_close(void);
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/**
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* @brief Cycle Power to Device
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*
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* @return status - status 0 = ok, 1 = error
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*
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*/
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int32_t VL53L0X_cycle_power(void);
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int32_t VL53L0X_set_page(VL53L0X_DEV dev, uint8_t page_data);
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/**
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* @brief Writes the supplied byte buffer to the device
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*
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* Wrapper for SystemVerilog Write Multi task
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*
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* @code
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*
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* Example:
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*
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* uint8_t *spad_enables;
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*
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* int status = VL53L0X_write_multi(RET_SPAD_EN_0, spad_enables, 36);
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*
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* @endcode
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*
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* @param address - uint8_t device address value
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* @param index - uint8_t register index value
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* @param pdata - pointer to uint8_t buffer containing the data to be written
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* @param count - number of bytes in the supplied byte buffer
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*
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* @return status - SystemVerilog status 0 = ok, 1 = error
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*
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*/
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int32_t VL53L0X_write_multi(VL53L0X_DEV dev, uint8_t index, uint8_t *pdata,
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int32_t count);
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/**
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* @brief Reads the requested number of bytes from the device
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*
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* Wrapper for SystemVerilog Read Multi task
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*
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* @code
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*
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* Example:
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*
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* uint8_t buffer[COMMS_BUFFER_SIZE];
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*
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* int status = status = VL53L0X_read_multi(DEVICE_ID, buffer, 2)
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*
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* @endcode
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*
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* @param address - uint8_t device address value
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* @param index - uint8_t register index value
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* @param pdata - pointer to the uint8_t buffer to store read data
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* @param count - number of uint8_t's to read
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*
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* @return status - SystemVerilog status 0 = ok, 1 = error
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*
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*/
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int32_t VL53L0X_read_multi(VL53L0X_DEV dev, uint8_t index, uint8_t *pdata,
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int32_t count);
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/**
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* @brief Writes a single byte to the device
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*
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* Wrapper for SystemVerilog Write Byte task
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*
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* @code
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*
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* Example:
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*
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* uint8_t page_number = MAIN_SELECT_PAGE;
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*
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* int status = VL53L0X_write_byte(PAGE_SELECT, page_number);
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*
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* @endcode
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*
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* @param address - uint8_t device address value
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* @param index - uint8_t register index value
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* @param data - uint8_t data value to write
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*
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* @return status - SystemVerilog status 0 = ok, 1 = error
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*
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*/
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int32_t VL53L0X_write_byte(VL53L0X_DEV dev, uint8_t index, uint8_t data);
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/**
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* @brief Writes a single word (16-bit unsigned) to the device
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*
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* Manages the big-endian nature of the device (first byte written is the
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* MS byte).
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* Uses SystemVerilog Write Multi task.
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*
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* @code
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*
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* Example:
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*
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* uint16_t nvm_ctrl_pulse_width = 0x0004;
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*
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* int status = VL53L0X_write_word(NVM_CTRL__PULSE_WIDTH_MSB,
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* nvm_ctrl_pulse_width);
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*
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* @endcode
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*
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* @param address - uint8_t device address value
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* @param index - uint8_t register index value
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* @param data - uin16_t data value write
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*
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* @return status - SystemVerilog status 0 = ok, 1 = error
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*
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*/
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int32_t VL53L0X_write_word(VL53L0X_DEV dev, uint8_t index, uint16_t data);
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/**
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* @brief Writes a single dword (32-bit unsigned) to the device
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*
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* Manages the big-endian nature of the device (first byte written is the
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* MS byte).
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* Uses SystemVerilog Write Multi task.
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*
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* @code
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*
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* Example:
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*
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* uint32_t nvm_data = 0x0004;
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*
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* int status = VL53L0X_write_dword(NVM_CTRL__DATAIN_MMM, nvm_data);
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*
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* @endcode
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*
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* @param address - uint8_t device address value
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* @param index - uint8_t register index value
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* @param data - uint32_t data value to write
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*
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* @return status - SystemVerilog status 0 = ok, 1 = error
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*
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*/
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int32_t VL53L0X_write_dword(VL53L0X_DEV dev, uint8_t index, uint32_t data);
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/**
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* @brief Reads a single byte from the device
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*
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* Uses SystemVerilog Read Byte task.
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*
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* @code
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*
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* Example:
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*
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* uint8_t device_status = 0;
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*
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* int status = VL53L0X_read_byte(STATUS, &device_status);
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*
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* @endcode
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*
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* @param address - uint8_t device address value
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* @param index - uint8_t register index value
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* @param pdata - pointer to uint8_t data value
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*
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* @return status - SystemVerilog status 0 = ok, 1 = error
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*
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*/
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int32_t VL53L0X_read_byte(VL53L0X_DEV dev, uint8_t index, uint8_t *pdata);
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/**
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* @brief Reads a single word (16-bit unsigned) from the device
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*
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* Manages the big-endian nature of the device (first byte read is the MS byte).
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* Uses SystemVerilog Read Multi task.
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*
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* @code
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*
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* Example:
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*
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* uint16_t timeout = 0;
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*
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* int status = VL53L0X_read_word(TIMEOUT_OVERALL_PERIODS_MSB, &timeout);
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*
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* @endcode
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*
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* @param address - uint8_t device address value
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* @param index - uint8_t register index value
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* @param pdata - pointer to uint16_t data value
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*
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* @return status - SystemVerilog status 0 = ok, 1 = error
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*
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*/
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int32_t VL53L0X_read_word(VL53L0X_DEV dev, uint8_t index, uint16_t *pdata);
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/**
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* @brief Reads a single dword (32-bit unsigned) from the device
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*
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* Manages the big-endian nature of the device (first byte read is the MS byte).
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* Uses SystemVerilog Read Multi task.
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*
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* @code
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*
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* Example:
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*
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* uint32_t range_1 = 0;
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*
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* int status = VL53L0X_read_dword(RANGE_1_MMM, &range_1);
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*
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* @endcode
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*
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* @param address - uint8_t device address value
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* @param index - uint8_t register index value
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* @param pdata - pointer to uint32_t data value
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*
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* @return status - SystemVerilog status 0 = ok, 1 = error
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*
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*/
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int32_t VL53L0X_read_dword(VL53L0X_DEV dev, uint8_t index, uint32_t *pdata);
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/**
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* @brief Implements a programmable wait in us
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*
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* Wrapper for SystemVerilog Wait in micro seconds task
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*
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* @param wait_us - integer wait in micro seconds
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*
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* @return status - SystemVerilog status 0 = ok, 1 = error
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*
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*/
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int32_t VL53L0X_platform_wait_us(int32_t wait_us);
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/**
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* @brief Implements a programmable wait in ms
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*
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* Wrapper for SystemVerilog Wait in milli seconds task
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*
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* @param wait_ms - integer wait in milli seconds
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*
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* @return status - SystemVerilog status 0 = ok, 1 = error
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*
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*/
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int32_t VL53L0X_wait_ms(int32_t wait_ms);
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/**
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* @brief Set GPIO value
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*
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* @param level - input level - either 0 or 1
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*
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* @return status - SystemVerilog status 0 = ok, 1 = error
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*
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*/
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int32_t VL53L0X_set_gpio(uint8_t level);
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/**
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* @brief Get GPIO value
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*
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* @param plevel - uint8_t pointer to store GPIO level (0 or 1)
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*
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* @return status - SystemVerilog status 0 = ok, 1 = error
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*
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*/
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int32_t VL53L0X_get_gpio(uint8_t *plevel);
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/**
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* @brief Release force on GPIO
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*
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* @return status - SystemVerilog status 0 = ok, 1 = error
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*
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*/
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int32_t VL53L0X_release_gpio(void);
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/**
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* @brief Get the frequency of the timer used for ranging results time stamps
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*
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* @param[out] ptimer_freq_hz : pointer for timer frequency
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*
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* @return status : 0 = ok, 1 = error
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*
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*/
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int32_t VL53L0X_get_timer_frequency(int32_t *ptimer_freq_hz);
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/**
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* @brief Get the timer value in units of timer_freq_hz
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* (see VL53L0X_get_timestamp_frequency())
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*
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* @param[out] ptimer_count : pointer for timer count value
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*
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* @return status : 0 = ok, 1 = error
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*
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*/
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int32_t VL53L0X_get_timer_value(int32_t *ptimer_count);
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int VL53L0X_I2CWrite(VL53L0X_DEV dev, uint8_t *buff, uint8_t len);
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int VL53L0X_I2CRead(VL53L0X_DEV dev, uint8_t *buff, uint8_t len);
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#endif /* _VL53L0X_I2C_PLATFORM_H_ */
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