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Experimental multiple i2c bus support #34

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Experimental multiple i2c bus support #34

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31 changes: 10 additions & 21 deletions api/platform/vl53l1_platform.c
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Original file line number Diff line number Diff line change
Expand Up @@ -114,32 +114,21 @@
// return Status;
// }

// calls the i2c write to multiplexer function
static int (*i2c_multi_func)(uint8_t address, uint16_t reg) = NULL;

// calls read_i2c_block_data(address, reg, length)
static int (*i2c_read_func)(uint8_t address, uint16_t reg,
uint8_t *list, uint8_t length) = NULL;

// calls write_i2c_block_data(address, reg, list)
static int (*i2c_write_func)(uint8_t address, uint16_t reg,
uint8_t *list, uint8_t length) = NULL;

static pthread_mutex_t i2c_mutex = PTHREAD_MUTEX_INITIALIZER;

void VL53L1_set_i2c(void *multi_func, void *read_func, void *write_func)
void VL53L1_set_i2c(VL53L1_DEV Dev, void *multi_func, void *read_func, void *write_func)
{
i2c_multi_func = multi_func;
i2c_read_func = read_func;
i2c_write_func = write_func;
Dev->i2c_multi_func = multi_func;
Dev->i2c_read_func = read_func;
Dev->i2c_write_func = write_func;
}

static int i2c_write(VL53L1_DEV Dev, uint16_t cmd,
uint8_t *data, uint8_t len)
{
int result = VL53L1_ERROR_NONE;

if (i2c_write_func != NULL)
if (Dev->i2c_write_func != NULL)
{
if (Dev->TCA9548A_Device < 8)
{
Expand All @@ -149,7 +138,7 @@ static int i2c_write(VL53L1_DEV Dev, uint16_t cmd,
pthread_mutex_lock(&i2c_mutex);

// Write to the multiplexer
if (i2c_multi_func(Dev->TCA9548A_Address, (1 << Dev->TCA9548A_Device)) < 0)
if (Dev->i2c_multi_func(Dev->TCA9548A_Address, (1 << Dev->TCA9548A_Device)) < 0)
{
printf("i2c bus on multiplexer not set.\n");
result = VL53L1_ERROR_CONTROL_INTERFACE;
Expand All @@ -158,7 +147,7 @@ static int i2c_write(VL53L1_DEV Dev, uint16_t cmd,

if (result == VL53L1_ERROR_NONE)
{
if (i2c_write_func(Dev->I2cDevAddr, cmd, data, len) < 0)
if (Dev->i2c_write_func(Dev->I2cDevAddr, cmd, data, len) < 0)
{
result = VL53L1_ERROR_CONTROL_INTERFACE;
}
Expand All @@ -183,7 +172,7 @@ static int i2c_read(VL53L1_DEV Dev, uint16_t cmd,
{
int result = VL53L1_ERROR_NONE;

if (i2c_read_func != NULL)
if (Dev->i2c_read_func != NULL)
{
if (Dev->TCA9548A_Device < 8)
{
Expand All @@ -193,7 +182,7 @@ static int i2c_read(VL53L1_DEV Dev, uint16_t cmd,
pthread_mutex_lock(&i2c_mutex);

// Write to the multiplexer
if (i2c_multi_func(Dev->TCA9548A_Address, (1 << Dev->TCA9548A_Device)) < 0)
if (Dev->i2c_multi_func(Dev->TCA9548A_Address, (1 << Dev->TCA9548A_Device)) < 0)
{
printf("i2c bus on multiplexer not set.\n");
result = VL53L1_ERROR_CONTROL_INTERFACE;
Expand All @@ -202,7 +191,7 @@ static int i2c_read(VL53L1_DEV Dev, uint16_t cmd,

if (result == VL53L1_ERROR_NONE)
{
if (i2c_read_func(Dev->I2cDevAddr, cmd, data, len) < 0)
if (Dev->i2c_read_func(Dev->I2cDevAddr, cmd, data, len) < 0)
{
result = VL53L1_ERROR_CONTROL_INTERFACE;
}
Expand Down
2 changes: 1 addition & 1 deletion api/platform/vl53l1_platform.h
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Original file line number Diff line number Diff line change
Expand Up @@ -76,7 +76,7 @@ extern "C"
#endif


void VL53L1_set_i2c(void *multi_func, void *read_func, void *write_func);
void VL53L1_set_i2c(VL53L1_DEV pdev, void *multi_func, void *read_func, void *write_func);

VL53L1_Error VL53L1_CommsInitialise(
VL53L1_DEV pdev,
Expand Down
11 changes: 11 additions & 0 deletions api/platform/vl53l1_platform_user_data.h
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Original file line number Diff line number Diff line change
Expand Up @@ -87,6 +87,17 @@ typedef struct {
uint8_t TCA9548A_Device; /*!< Device number on TCA9548A I2C Multiplexer or 255 if TCA9548A not being used */
uint8_t TCA9548A_Address; /*!< Address of TCA9548A I2C Multiplexer or 255 if TCA9548A not being used */

// calls the i2c write to multiplexer function
int (*i2c_multi_func)(uint8_t address, uint16_t reg);

// calls read_i2c_block_data(address, reg, length)
int (*i2c_read_func)(uint8_t address, uint16_t reg,
uint8_t *list, uint8_t length);

// calls write_i2c_block_data(address, reg, list)
int (*i2c_write_func)(uint8_t address, uint16_t reg,
uint8_t *list, uint8_t length);

} VL53L1_Dev_t;

typedef VL53L1_Dev_t *VL53L1_DEV;
Expand Down
11 changes: 9 additions & 2 deletions python/VL53L1X.py
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Original file line number Diff line number Diff line change
Expand Up @@ -110,7 +110,14 @@ def __init__(self, i2c_bus=1, i2c_address=0x29, tca9548a_num=255, tca9548a_addr=
def open(self, reset=False):
self._i2c.open(bus=self._i2c_bus)
self._configure_i2c_library_functions()
self._dev = _TOF_LIBRARY.initialise(self.i2c_address, self._tca9548a_num, self._tca9548a_addr, reset)
self._dev = _TOF_LIBRARY.initialise(
self.i2c_address,
self._tca9548a_num,
self._tca9548a_addr,
reset,
self._i2c_multi_func,
self._i2c_read_func,
self._i2c_write_func)

def close(self):
self._i2c.close()
Expand Down Expand Up @@ -159,7 +166,7 @@ def _i2c_multi(address, reg):
self._i2c_multi_func = _I2C_MULTI_FUNC(_i2c_multi)
self._i2c_read_func = _I2C_READ_FUNC(_i2c_read)
self._i2c_write_func = _I2C_WRITE_FUNC(_i2c_write)
_TOF_LIBRARY.VL53L1_set_i2c(self._i2c_multi_func, self._i2c_read_func, self._i2c_write_func)
# _TOF_LIBRARY.VL53L1_set_i2c(self._i2c_multi_func, self._i2c_read_func, self._i2c_write_func)

# The ROI is a square or rectangle defined by two corners: top left and bottom right.
# Default ROI is 16x16 (indices 0-15). The minimum ROI size is 4x4.
Expand Down
8 changes: 6 additions & 2 deletions python_lib/vl53l1x_python.c
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Original file line number Diff line number Diff line change
Expand Up @@ -45,7 +45,7 @@ static VL53L1_RangingMeasurementData_t *pRangingMeasurementData = &RangingMeasur
* being used. If not being used, set to 0.
* @retval The Dev Object to pass to other library functions.
*****************************************************************************/
VL53L1_DEV *initialise(uint8_t i2c_address, uint8_t TCA9548A_Device, uint8_t TCA9548A_Address, uint8_t perform_reset)
VL53L1_DEV *initialise(uint8_t i2c_address, uint8_t TCA9548A_Device, uint8_t TCA9548A_Address, uint8_t perform_reset, void *multi_func, void *read_func, void *write_func)
{
VL53L1_Error Status = VL53L1_ERROR_NONE;
uint32_t refSpadCount;
Expand Down Expand Up @@ -78,6 +78,10 @@ VL53L1_DEV *initialise(uint8_t i2c_address, uint8_t TCA9548A_Device, uint8_t TCA
dev->TCA9548A_Device = TCA9548A_Device;
dev->TCA9548A_Address = TCA9548A_Address;

dev->i2c_multi_func = multi_func;
dev->i2c_read_func = read_func;
dev->i2c_write_func = write_func;

if(perform_reset){
Status = VL53L1_software_reset(dev);
dev->I2cDevAddr = 0x29; // Resetting will reset i2c address back to default
Expand Down Expand Up @@ -120,7 +124,7 @@ VL53L1_DEV *initialise(uint8_t i2c_address, uint8_t TCA9548A_Device, uint8_t TCA
VL53L1_PerformRefSpadManagement(dev);
VL53L1_SetXTalkCompensationEnable(dev, 0); // Disable crosstalk compensation (bare sensor)

return dev;
return (VL53L1_DEV *)dev;
}

VL53L1_Error setDeviceAddress(VL53L1_Dev_t *dev, int i2c_address)
Expand Down