Attempt other approaches of solving i2c issues

Author: alex-mous

README.md

@@ -1,8 +1,21 @@
 # VL53L1X-C-API-Pico
 VL53L1X Time-of-Flight distance sensor API for the Raspberry Pi Pico/Pico W
 
-## License
-This API uses the `core` code from STMicroelectronics, and implements the platform for Raspberry Pi Pico/Pico W. The implemntation, under `platform`, is licensed under the MIT License. Code provided by STMicroelectronics (in `core`) is provided under the BSD 3-clause "New" or "Revised" License.
+#### Notice: this library is in-progress
+- Please feel free to contribute to this library.
+- Major issues:
+    - i2c communiucation with the VL53L1X hangs up in several steps (booting, starting ranging, etc.). This can be mitigated, albeit not solved, by adding delays.
+
+## Usage
+See the examples for usage. To build the project, run the following:
+```
+mkdir build
+cd build
+cmake .. -DPICO_BOARD=pico_w
+make
+```
 
-## Assumptions
-- Using 7-bit I2C addresses
+The resulting uf2 files to upload to the Pico board reside in the build/examples directory.
+
+## License
+This API uses the `core` code from STMicroelectronics, and implements the platform for Raspberry Pi Pico/Pico W. The implemntation, under `platform`, is licensed under the MIT License. Code provided by STMicroelectronics (in `core`) is provided under the BSD 3-clause "New" or "Revised" License.

VL53L1X_pico/OLD/VL53L1X_api.c renamed to VL53L1X_pico/VL53L1X_api.c

@@ -197,7 +197,7 @@ const uint8_t VL51L1X_DEFAULT_CONFIGURATION[] = {
 0x00, /* 0x84 : not user-modifiable */
 0x01, /* 0x85 : not user-modifiable */
 0x00, /* 0x86 : clear interrupt, use ClearInterrupt() */
-0x00  /* 0x87 : start ranging, use StartRanging() or StopRanging(), If you want an automatic start after VL53L1X_init() call, put 0x40 in location 0x87 */
+0x40  /* 0x87 : start ranging, use StartRanging() or StopRanging(), If you want an automatic start after VL53L1X_init() call, put 0x40 in location 0x87 */
 };
 
 static const uint8_t status_rtn[24] = { 255, 255, 255, 5, 2, 4, 1, 7, 3, 0,
@@ -227,20 +227,25 @@ VL53L1X_ERROR VL53L1X_SetI2CAddress(uint16_t dev, uint8_t new_address)
 VL53L1X_ERROR VL53L1X_SensorInit(uint16_t dev)
 {
 	VL53L1X_ERROR status = 0;
-	uint8_t Addr = 0x00, tmp;
+	//uint8_t tmp;
 
-	for (Addr = 0x2D; Addr <= 0x87; Addr++){
-		status |= VL53L1_WrByte(dev, Addr, VL51L1X_DEFAULT_CONFIGURATION[Addr - 0x2D]);
-		sleep_ms(2);
-	}
-	status |= VL53L1X_StartRanging(dev);
-	tmp  = 0;
+	VL53L1_WrByte(dev, 0x0000, 0x00);
+	VL53L1_WaitMs(dev, 100);
+	VL53L1_WrByte(dev, 0x0000, 0x01);
+	VL53L1_WaitMs(dev, 1);
+
+	VL53L1_WrMulti(dev, 0x002d, VL51L1X_DEFAULT_CONFIGURATION, 91);
+
+	VL53L1_WaitMs(dev, 100);
+
+	//status |= VL53L1X_StartRanging(dev);
+	/*tmp  = 0;
 	while(tmp==0){
-		sleep_ms(100);
 		status |= VL53L1X_CheckForDataReady(dev, &tmp);
 	}
 	status |= VL53L1X_ClearInterrupt(dev);
-	status |= VL53L1X_StopRanging(dev);
+	status |= VL53L1X_StopRanging(dev);*/
+
 	status |= VL53L1_WrByte(dev, VL53L1_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND, 0x09); /* two bounds VHV */
 	status |= VL53L1_WrByte(dev, 0x0B, 0); /* start VHV from the previous temperature */
 	return status;
@@ -297,12 +302,11 @@ VL53L1X_ERROR VL53L1X_CheckForDataReady(uint16_t dev, uint8_t *isDataReady)
 	uint8_t Temp;
 	uint8_t IntPol;
 	VL53L1X_ERROR status = 0;
-	uint64_t a =  to_ms_since_boot(get_absolute_time());
+	//uint64_t a =  to_ms_since_boot(get_absolute_time());
 	status |= VL53L1X_GetInterruptPolarity(dev, &IntPol);
-	VL53L1_WaitMs(dev, 2000);
-	//printf("gip %d&%d. ", status, IntPol);
-	uint64_t b =  to_ms_since_boot(get_absolute_time());
-	printf("%d\n", (b-a));
+	//printf("%d&%d. ", status, IntPol);
+	//uint64_t b =  to_ms_since_boot(get_absolute_time());
+	//printf("time: %d\n", (b-a));
 	status |= VL53L1_RdByte(dev, GPIO__TIO_HV_STATUS, &Temp);
 	//printf("rb %d&%d\n", status, Temp);
 	/* Read in the register to check if a new value is available */
@@ -537,8 +541,7 @@ VL53L1X_ERROR VL53L1X_BootState(uint16_t dev, uint8_t *state)
 	VL53L1X_ERROR status = 0;
 	uint8_t tmp = 0;
 
-	status |= VL53L1_RdByte(dev,VL53L1_FIRMWARE__SYSTEM_STATUS, &tmp);
-	printf("%h\n", tmp);
+	status |= VL53L1_RdByte(dev, VL53L1_FIRMWARE__SYSTEM_STATUS, &tmp);
 	*state = tmp;
 	return status;
 }

VL53L1X_pico/OLD/VL53L1X_api.h renamed to VL53L1X_pico/VL53L1X_api.h

@@ -89,6 +89,13 @@ int8_t VL53L1_WrDWord(uint16_t dev, uint16_t index, uint32_t data) {
 	return i2c_write_blocking(i2c_default, (uint8_t)dev, d, 6, false) == PICO_ERROR_GENERIC;
 }
 
+int8_t VL53L1_WrMulti(uint16_t dev, uint16_t index, uint8_t* data, uint8_t len) {
+	uint8_t d[] = {index >> 8, index};
+	if (i2c_write_blocking(i2c_default, (uint8_t)dev, d, 2, true) == PICO_ERROR_GENERIC)
+		return 1;
+	return i2c_write_blocking(i2c_default, (uint8_t)dev, data, len, false) == PICO_ERROR_GENERIC;
+}
+
 int8_t VL53L1_RdByte(uint16_t dev, uint16_t index, uint8_t *data) {
     uint8_t buf[] = {index>>8, index};
 	return i2c_write_blocking(i2c_default, dev, buf, 2, true) == PICO_ERROR_GENERIC 

VL53L1X_pico/OLD/VL53L1X_calibration.c renamed to VL53L1X_pico/VL53L1X_calibration.c

@@ -90,6 +90,12 @@ int8_t VL53L1_WrDWord(
 		uint16_t      index,
 		uint32_t      data);
 
+int8_t VL53L1_WrMulti(
+		uint16_t dev,
+		uint16_t      index,
+		uint8_t*      data,
+		uint8_t		  len);
+
 int8_t VL53L1_RdByte(
 		uint16_t dev,
 		uint16_t      index,

VL53L1X_pico/OLD/VL53L1X_calibration.h renamed to VL53L1X_pico/VL53L1X_calibration.h

@@ -1,9 +1,9 @@
-add_executable(VL53L1X_example_pico_w
-        VL53L1X_example_pico_w.c
+add_executable(example
+        example.c
         )
 
-target_link_libraries(VL53L1X_example_pico_w PUBLIC pico_stdlib VL53L1X_api pico_cyw43_arch_none)
+target_link_libraries(example PUBLIC pico_stdlib VL53L1X_api pico_cyw43_arch_none)
 
 # Generate Pico executable
-pico_add_extra_outputs(VL53L1X_example_pico_w)
-pico_enable_stdio_usb(VL53L1X_example_pico_w 1)
+pico_add_extra_outputs(example)
+pico_enable_stdio_usb(example 1)

VL53L1X_pico/OLD/VL53L1_platform.c renamed to VL53L1X_pico/VL53L1_platform.c

@@ -0,0 +1,63 @@
+#include "pico/stdlib.h"
+#include "pico/cyw43_arch.h"
+#include "pico/binary_info.h"
+#include "hardware/i2c.h"
+
+#include <stdio.h>
+#include <stdint.h>
+
+#include "VL53L1X_api.h"
+
+
+int main() {
+    stdio_init_all();
+
+    if (cyw43_arch_init()) {
+        printf("failed to initialise\n");
+        return 1;
+    }
+
+    for (int i=0; i<25; i++) {
+        cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, 1);
+        sleep_ms(250);
+        printf("Loading...\n");
+        cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, 0);
+        sleep_ms(250);
+    }
+    // This example will use I2C0 on the default SDA and SCL pins (GP4, GP5 on a Pico)
+    i2c_init(i2c_default, 100 * 1000);
+    gpio_set_function(PICO_DEFAULT_I2C_SDA_PIN, GPIO_FUNC_I2C);
+    gpio_set_function(PICO_DEFAULT_I2C_SCL_PIN, GPIO_FUNC_I2C);
+    gpio_pull_up(PICO_DEFAULT_I2C_SDA_PIN);
+    gpio_pull_up(PICO_DEFAULT_I2C_SCL_PIN);
+    // Make the I2C pins available to picotool
+    bi_decl(bi_2pins_with_func(PICO_DEFAULT_I2C_SDA_PIN, PICO_DEFAULT_I2C_SCL_PIN, GPIO_FUNC_I2C));
+ 
+    uint16_t dev = 0x29;
+    uint8_t state = 0;
+    uint8_t status;
+
+    /*while (state == 0) {
+    *    status |= VL53L1X_BootState(dev, &state);
+    }*/
+
+    status |= VL53L1X_SensorInit(dev);
+    status |= VL53L1X_SetInterMeasurementInMs(dev, 100);
+    status |= VL53L1X_StartRanging(dev);
+    printf("status %d\n", status);
+    uint8_t dr, rs;
+    uint16_t dist;
+    while (1) {
+        dr = 0;
+        while (!dr) {
+            status = VL53L1X_CheckForDataReady(dev, &dr);
+        }
+        status = VL53L1X_GetRangeStatus(dev, &rs);
+        status = VL53L1X_GetDistance(dev, &dist);
+        status = VL53L1X_ClearInterrupt(dev);
+        printf("Distance %d\n", dist);
+
+        sleep_ms(500);
+    }
+
+}