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x-cube-tof1/Drivers/BSP/53L3A2/53l3a2.c

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/**
******************************************************************************
* @file 53l3a2.c
* @author IMG SW Application Team
* @brief This file contains the X-NUCLEO-53L3A2 BSP implementation.
******************************************************************************
* @attention
*
* Copyright (c) 2022 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------ */
#include <string.h>
#include "53l3a2.h"
/** @addtogroup BSP
* @{
*/
/** @addtogroup XNUCLEO_53L3A2
* @{
*/
/** @addtogroup XNUCLEO_53L3A2_COMMON
* @{
*/
/* This macro can be overloaded by the user to report error log messages with printf format */
#define VL53L3A2_ErrLog(...) (void)0
/* These macros can be overloaded by the user to enforce i2c sharing in RTOS context */
#define VL53L3A2_GetI2cBus(...) (void)0
#define VL53L3A2_PutI2cBus(...) (void)0
#define I2C_EXPANDER_ADDR0 ((int)(0x43*2)) /*!< Expander 0 i2c address[7..0] format */
#define I2C_EXPANDER_ADDR1 ((int)(0x42*2)) /*!< Expander 1 i2c address[7..0] format */
/**
* GPIO monitor pin state register
* 16 bit register LSB at lowest offset (little endian)
*/
#define GPMR (0x10)
/**
* STMPE1600 GPIO set pin state register
* 16 bit register LSB at lowest offset (little endian)
*/
#define GPSR (0x12)
/**
* STMPE1600 GPIO set pin direction register
* 16 bit register LSB at lowest offset
*/
#define GPDR (0x14)
/**
* @}
*/
/** @defgroup XNUCLEO_53L3A2_COMMON_Private_Variables Private Variables
* @{
*/
static uint32_t InitCounter = 0;
/* cache the full set of expanded GPIO values to avoid i2c reading */
static union CurIOVal_u
{
uint8_t bytes[4]; /*!< 4 bytes array i/o view */
uint32_t u32; /*!< single dword i/o view */
} CurIOVal; /* cache the extended IO values */
/**
* @}
*/
/** @defgroup XNUCLEO_53L3A2_COMMON_Private_Functions_Prototypes Private Functions Prototypes
* @{
*/
static int32_t _I2cFailRecover(void);
static int32_t _ExpanderRd(uint32_t I2cExpAddr, uint32_t index, uint8_t *data, uint32_t n_data);
static int32_t _ExpanderWR(uint32_t I2cExpAddr, uint32_t index, uint8_t *data, uint32_t n_data);
static int32_t _ExpandersSetAllIO(void);
/**
* @}
*/
/**
* @brief Initialize X-NUCLEO-53L3A2 STM32 expansion board
* @note All devices XSDN are asserted and display is turned off
* @return 0 on success
*/
int32_t VL53L3A2_Init(void)
{
int32_t status = 0;
uint8_t ExpanderData[2];
if (InitCounter++ == 0U)
{
status |= _I2cFailRecover();
status |= VL53L3A2_I2C_INIT();
if (status != BSP_ERROR_NONE)
{
goto done_err;
}
status = _ExpanderRd(I2C_EXPANDER_ADDR0, 0, ExpanderData, 2);
if ((status != 0) || (ExpanderData[0] != 0x00U) || (ExpanderData[1] != 0x16U))
{
VL53L3A2_ErrLog("I2C Expander @0x%02X not detected", (int)I2C_EXPANDER_ADDR0);
goto done_err;
}
status = _ExpanderRd(I2C_EXPANDER_ADDR1, 0, ExpanderData, 2);
if ((status != 0) || (ExpanderData[0] != 0x00U) || (ExpanderData[1] != 0x16U))
{
VL53L3A2_ErrLog("I2C Expander @0x%02X not detected", (int)I2C_EXPANDER_ADDR1);
goto done_err;
}
CurIOVal.u32 = 0x0U;
/* setup expander i/o direction all output but exp1 bit 14*/
ExpanderData[0] = 0xFFU;
ExpanderData[1] = 0xFFU;
status = _ExpanderWR(I2C_EXPANDER_ADDR0, GPDR, ExpanderData, 2);
if (status)
{
VL53L3A2_ErrLog("Set Expander @0x%02X DR", I2C_EXPANDER_ADDR0);
goto done_err;
}
ExpanderData[0] = 0xFFU;
ExpanderData[1] = 0xBFU; /* all but bit 14-15 that is pb1 and xhurt */
status = _ExpanderWR(I2C_EXPANDER_ADDR1, GPDR, ExpanderData, 2);
if (status)
{
VL53L3A2_ErrLog("Set Expander @0x%02X DR", I2C_EXPANDER_ADDR1);
goto done_err;
}
/* shut down all segment and all device */
CurIOVal.u32 = 0x7FU + (0x7FU << 7) + (0x7FU << 16) + (0x7FU << (16 + 7));
status = _ExpandersSetAllIO();
if (status)
{
VL53L3A2_ErrLog("Set initial i/o ");
}
}
done_err:
return status;
}
/**
* @brief De-initialize X-NUCLEO-53L3A2 STM32 expansion board
* @return 0 on success
*/
int32_t VL53L3A2_DeInit(void)
{
int32_t status = 0;
if (InitCounter > 0U)
{
if (--InitCounter == 0U)
{
status = VL53L3A2_I2C_DEINIT();
}
}
return status;
}
/**
* @brief Set Reset (XSDN) state of a given "id" device
* @param DevNo The device number, use @ref VL53L3A2_dev_e.
* @param state State of the device reset (xsdn) pin @warning reset pin is active low
* @return 0 on success
*/
int32_t VL53L3A2_ResetId(uint8_t DevNo, uint8_t state)
{
int32_t status;
switch (DevNo)
{
case VL53L3A2_DEV_CENTER :
CurIOVal.bytes[3] &= ~0x80U; /* bit 15 expander 1 => byte #3 */
if (state)
{
CurIOVal.bytes[3] |= 0x80U; /* bit 15 expander 1 => byte #3 */
}
status = _ExpanderWR(I2C_EXPANDER_ADDR1, GPSR + 1, &CurIOVal.bytes[3], 1);
break;
case VL53L3A2_DEV_LEFT :
CurIOVal.bytes[1] &= ~0x40U; /* bit 14 expander 0 => byte #1*/
if (state)
{
CurIOVal.bytes[1] |= 0x40U; /* bit 14 expander 0 => byte #1*/
}
status = _ExpanderWR(I2C_EXPANDER_ADDR0, GPSR + 1, &CurIOVal.bytes[1], 1);
break;
case VL53L3A2_DEV_RIGHT :
CurIOVal.bytes[1] &= ~0x80U; /* bit 15 expander 0 => byte #1 */
if (state)
{
CurIOVal.bytes[1] |= 0x80U; /* bit 15 expander 0 => byte #1*/
}
status = _ExpanderWR(I2C_EXPANDER_ADDR0, GPSR + 1, &CurIOVal.bytes[1], 1);
break;
default:
VL53L3A2_ErrLog("Invalid DevNo %d", DevNo);
status = -1;
goto done;
}
/* error with valid id */
if (status)
{
VL53L3A2_ErrLog("expander i/o error for DevNo %d state %d ", DevNo, state);
}
done:
return status;
}
/** @defgroup XNUCLEO_53L3A2_COMMON_Private_Functions Private Functions
* @{
*/
/**
* @brief Expansion board i2c bus recovery
* We may get reset in middle of an i2c access (h/w reset button, debug or f/w load)
* hence some agent on bus may be in middle of a transaction and can create issue or even prevent starting (SDA is low)
* this routine does use gpio to manipulate and recover i2c bus line in all cases.
*/
static int32_t _I2cFailRecover(void)
{
/* We can't assume bus state based on SDA and SCL state (we may be in a data or NAK bit so SCL=SDA=1)
* by setting SDA high and toggling SCL at least 10 time we ensure whatever agent and state
* all agent should end up seeing a "stop" and bus get back to an known idle i2c bus state */
uint8_t i;
uint8_t retry_cnt = 0;
static uint8_t is_already_init = 0U;
GPIO_InitTypeDef GPIO_InitStruct;
if (is_already_init == 1U)
{
return BSP_ERROR_NONE;
}
/* Enable I/O */
__HAL_RCC_GPIOB_CLK_ENABLE();
GPIO_InitStruct.Pin = VL53L3A2_I2C_SCL_GPIO_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(VL53L3A2_I2C_SCL_GPIO_PORT, &GPIO_InitStruct);
GPIO_InitStruct.Pin = VL53L3A2_I2C_SDA_GPIO_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(VL53L3A2_I2C_SDA_GPIO_PORT, &GPIO_InitStruct);
HAL_GPIO_WritePin(VL53L3A2_I2C_SCL_GPIO_PORT, VL53L3A2_I2C_SCL_GPIO_PIN, GPIO_PIN_SET);
HAL_GPIO_WritePin(VL53L3A2_I2C_SDA_GPIO_PORT, VL53L3A2_I2C_SDA_GPIO_PIN, GPIO_PIN_SET);
do
{
for (i = 0; i < 10U; i++)
{
HAL_GPIO_WritePin(VL53L3A2_I2C_SCL_GPIO_PORT, VL53L3A2_I2C_SCL_GPIO_PIN, GPIO_PIN_RESET);
HAL_Delay(1);
HAL_GPIO_WritePin(VL53L3A2_I2C_SCL_GPIO_PORT, VL53L3A2_I2C_SCL_GPIO_PIN, GPIO_PIN_SET);
HAL_Delay(1);
}
retry_cnt++;
} while ((HAL_GPIO_ReadPin(VL53L3A2_I2C_SDA_GPIO_PORT, VL53L3A2_I2C_SDA_GPIO_PIN) == GPIO_PIN_RESET) && (retry_cnt < 7U));
if (HAL_GPIO_ReadPin(VL53L3A2_I2C_SCL_GPIO_PORT, VL53L3A2_I2C_SDA_GPIO_PIN) == GPIO_PIN_RESET)
{
/* We are still in a bad i2c state, return error */
return BSP_ERROR_COMPONENT_FAILURE;
}
is_already_init = 1U;
return BSP_ERROR_NONE;
}
/**
* @brief Set all i2c expended gpio in one go
* @return i/o operation status
*/
static int32_t _ExpandersSetAllIO(void)
{
int32_t status;
status = _ExpanderWR(I2C_EXPANDER_ADDR0, GPSR, &CurIOVal.bytes[0], 2);
if (status)
{
goto done_err;
}
status = _ExpanderWR(I2C_EXPANDER_ADDR1, GPSR, &CurIOVal.bytes[2], 2);
done_err:
return status;
}
/**
* @brief STMPE1600 i2c Expander register read
* @param I2cExpAddr Expander address
* @param index register index
* @param data read data buffer
* @param n_data number of byte to read
* @return of if ok else i2c I/O operation status
*/
static int32_t _ExpanderRd(uint32_t I2cExpAddr, uint32_t index, uint8_t *data, uint32_t n_data)
{
int32_t status;
uint8_t RegAddr;
RegAddr = index;
VL53L3A2_GetI2cBus();
do
{
status = HAL_I2C_Master_Transmit(&VL53L3A2_HI2C, I2cExpAddr, &RegAddr, 1, 100);
if (status)
{
break;
}
status = HAL_I2C_Master_Receive(&VL53L3A2_HI2C, I2cExpAddr, data, n_data, n_data * 100);
} while (0);
VL53L3A2_PutI2cBus();
return status;
}
/**
* @brief STMPE1600 i2c Expander register write
* @param I2cExpAddr Expander address
* @param index register index
* @param data data buffer
* @param n_data number of byte to write
* @return of if ok else i2c I/O operation status
*/
static int32_t _ExpanderWR(uint32_t I2cExpAddr, uint32_t index, uint8_t *data, uint32_t n_data)
{
int32_t status;
uint8_t RegAddr[0x10];
RegAddr[0] = index;
memcpy(RegAddr + 1, data, n_data);
VL53L3A2_GetI2cBus();
status = HAL_I2C_Master_Transmit(&VL53L3A2_HI2C, I2cExpAddr, RegAddr, n_data + 1, 100);
VL53L3A2_PutI2cBus();
return status;
}
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
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