(源码)基于C++的VMOS嵌入式机器人操作系统.zip

/* 这是一个用于VL53L1传感器的源代码，包含了多种用于配置和获取传感器数据的函数。代码分为几个部分，包括设置和获取静态配置、动态配置、系统控制、结果数据、调试数据、前向(GPH)配置和结果，以及影子(shadow)配置和结果。 每个部分包含了一系列函数，用于读取和写入特定的寄存器或数据结构到传感器。例如，`VL53L1_i2c_encode_static_config` 和 `VL53L1_i2c_decode_static_config` 是用于将静态配置数据编码和解码为I2C缓冲区，然后通过I2C接口写入和读取传感器。 这些函数通常先检查缓冲区大小是否足够，然后执行具体的编码或解码操作，并将结果返回给调用者。在写入传感器之前，通常还会禁用固件(固件控制模式)，写入数据后再重新启用固件。 这些函数通常被设计为在特定的上下文中使用，例如在设置或获取传感器配置时，或者在进行测量和获取结果时。每个函数都设计为与特定的寄存器或数据结构相关联，这样它们就可以被用在特定的上下文中，以执行特定的任务。 这些函数提供了一种方便的方式来与VL53L1传感器进行通信，使得配置和读取传感器数据变得简单而直接。 */ /** * @file vl53l1_register_funcs.c * @brief VL53L1 Register Function definitions */ #include "vl53l1_ll_def.h" #include "vl53l1_platform.h" #include "vl53l1_platform_log.h" #include "vl53l1_core.h" #include "vl53l1_register_map.h" #include "vl53l1_register_structs.h" #include "vl53l1_register_funcs.h" #define LOG_FUNCTION_START(fmt, ...) \ _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_REGISTERS, fmt, ##__VA_ARGS__) #define LOG_FUNCTION_END(status, ...) \ _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_REGISTERS, status, ##__VA_ARGS__) #define LOG_FUNCTION_END_FMT(status, fmt, ...) \ _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_REGISTERS, status, fmt, ##__VA_ARGS__) VL53L1_Error VL53L1_i2c_encode_static_nvm_managed( VL53L1_static_nvm_managed_t *pdata, uint16_t buf_size, uint8_t *pbuffer) { /** * Encodes data structure VL53L1_static_nvm_managed_t into a I2C write buffer * Buffer must be at least 11 bytes */ VL53L1_Error status = VL53L1_ERROR_NONE; LOG_FUNCTION_START(""); if (VL53L1_STATIC_NVM_MANAGED_I2C_SIZE_BYTES > buf_size) return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; *(pbuffer + 0) = pdata->i2c_slave__device_address & 0x7F; *(pbuffer + 1) = pdata->ana_config__vhv_ref_sel_vddpix & 0xF; *(pbuffer + 2) = pdata->ana_config__vhv_ref_sel_vquench & 0x7F; *(pbuffer + 3) = pdata->ana_config__reg_avdd1v2_sel & 0x3; *(pbuffer + 4) = pdata->ana_config__fast_osc__trim & 0x7F; VL53L1_i2c_encode_uint16_t( pdata->osc_measured__fast_osc__frequency, 2, pbuffer + 5); *(pbuffer + 7) = pdata->vhv_config__timeout_macrop_loop_bound; *(pbuffer + 8) = pdata->vhv_config__count_thresh; *(pbuffer + 9) = pdata->vhv_config__offset & 0x3F; *(pbuffer + 10) = pdata->vhv_config__init; LOG_FUNCTION_END(status); return status; } VL53L1_Error VL53L1_i2c_decode_static_nvm_managed( uint16_t buf_size, uint8_t *pbuffer, VL53L1_static_nvm_managed_t *pdata) { /** * Decodes data structure VL53L1_static_nvm_managed_t from the input I2C read buffer * Buffer must be at least 11 bytes */ VL53L1_Error status = VL53L1_ERROR_NONE; LOG_FUNCTION_START(""); if (VL53L1_STATIC_NVM_MANAGED_I2C_SIZE_BYTES > buf_size) return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; pdata->i2c_slave__device_address = (*(pbuffer + 0)) & 0x7F; pdata->ana_config__vhv_ref_sel_vddpix = (*(pbuffer + 1)) & 0xF; pdata->ana_config__vhv_ref_sel_vquench = (*(pbuffer + 2)) & 0x7F; pdata->ana_config__reg_avdd1v2_sel = (*(pbuffer + 3)) & 0x3; pdata->ana_config__fast_osc__trim = (*(pbuffer + 4)) & 0x7F; pdata->osc_measured__fast_osc__frequency = (VL53L1_i2c_decode_uint16_t(2, pbuffer + 5)); pdata->vhv_config__timeout_macrop_loop_bound = (*(pbuffer + 7)); pdata->vhv_config__count_thresh = (*(pbuffer + 8)); pdata->vhv_config__offset = (*(pbuffer + 9)) & 0x3F; pdata->vhv_config__init = (*(pbuffer + 10)); LOG_FUNCTION_END(status); return status; } VL53L1_Error VL53L1_set_static_nvm_managed( VL53L1_DEV Dev, VL53L1_static_nvm_managed_t *pdata) { /** * Serialises and sends the contents of VL53L1_static_nvm_managed_t * data structure to the device */ VL53L1_Error status = VL53L1_ERROR_NONE; uint8_t comms_buffer[VL53L1_STATIC_NVM_MANAGED_I2C_SIZE_BYTES]; LOG_FUNCTION_START(""); if (status == VL53L1_ERROR_NONE) /*lint !e774 always true*/ status = VL53L1_i2c_encode_static_nvm_managed( pdata, VL53L1_STATIC_NVM_MANAGED_I2C_SIZE_BYTES, comms_buffer); if (status == VL53L1_ERROR_NONE) status = VL53L1_WriteMulti( Dev, VL53L1_I2C_SLAVE__DEVICE_ADDRESS, comms_buffer, VL53L1_STATIC_NVM_MANAGED_I2C_SIZE_BYTES); LOG_FUNCTION_END(status); return status; } VL53L1_Error VL53L1_get_static_nvm_managed( VL53L1_DEV Dev, VL53L1_static_nvm_managed_t *pdata) { /** * Reads and de-serialises the contents of VL53L1_static_nvm_managed_t * data structure from the device */ VL53L1_Error status = VL53L1_ERROR_NONE; uint8_t comms_buffer[VL53L1_STATIC_NVM_MANAGED_I2C_SIZE_BYTES]; LOG_FUNCTION_START(""); if (status == VL53L1_ERROR_NONE) /*lint !e774 always true*/ status = VL53L1_ReadMulti( Dev, VL53L1_I2C_SLAVE__DEVICE_ADDRESS, comms_buffer, VL53L1_STATIC_NVM_MANAGED_I2C_SIZE_BYTES); if (status == VL53L1_ERROR_NONE) status = VL53L1_i2c_decode_static_nvm_managed( VL53L1_STATIC_NVM_MANAGED_I2C_SIZE_BYTES, comms_buffer, pdata); LOG_FUNCTION_END(status); return status; } VL53L1_Error VL53L1_i2c_encode_customer_nvm_managed( VL53L1_customer_nvm_managed_t *pdata, uint16_t buf_size, uint8_t *pbuffer) { /** * Encodes data structure VL53L1_customer_nvm_managed_t into a I2C write buffer * Buffer must be at least 23 bytes */ VL53L1_Error status = VL53L1_ERROR_NONE; LOG_FUNCTION_START(""); if (VL53L1_CUSTOMER_NVM_MANAGED_I2C_SIZE_BYTES > buf_size) return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; *(pbuffer + 0) = pdata->global_config__spad_enables_ref_0; *(pbuffer + 1) = pdata->global_config__spad_enables_ref_1; *(pbuffer + 2) = pdata->global_config__spad_enables_ref_2; *(pbuffer + 3) = pdata->global_config__spad_enables_ref_3; *(pbuffer + 4) = pdata->global_config__spad_enables_ref_4; *(pbuffer + 5) = pdata->global_config__spad_enables_ref_5 & 0xF; *(pbuffer + 6) = pdata->global_config__ref_en_start_select; *(pbuffer + 7) = pdata->ref_spad_man__num_requested_ref_spads & 0x3F; *(pbuffer + 8) = pdata->ref_spad_man__ref_location & 0x3; VL53L1_i2c_encode_uint16_t( pdata->algo__crosstalk_compensation_plane_offset_kcps, 2, pbuffer + 9); VL53L1_i2c_encode_int16_t( pdata->algo__crosstalk_compensation_x_plane_gradient_kcps, 2, pbuffer + 11); VL53L1_i2c_encode_int16_t( pdata->algo__crosstalk_compensation_y_plane_gradient_kcps, 2, pbuffer + 13); VL53L1_i2c_encode_uint16_t( pdata->ref_spad_char__total_rate_target_mcps, 2, pbuffer + 15); VL53L1_i2c_encode_int16_t( pdata->algo__part_to_part_range_offset_mm & 0x1FFF, 2, pbuffer + 17); VL53L1_i2c_encode_int16_t( pdata->mm_config__inner_offset_mm, 2, pbuffer + 19); VL53L1_i2c_encode_int16_t( pdata->mm_config__outer_offset_mm, 2, pbuffer + 21); LOG_FUNCTION_END(status); return status; } VL53L1_Error VL53L1_i2c_decode_customer_nvm_managed( uint16_t buf_size, uint8_t *pbuffer, VL53