[driver] vl53 fixup

Author: hshose

examples/nucleo_h723zg/vl53/vl53l8_spi/main.cpp

@@ -26,8 +26,7 @@ extern "C" {
 
 using namespace Board;
 
-// using SpiMaster = SpiMaster2_Dma<Dma1::Channel0, Dma1::Channel1>;
-using SpiMaster = SpiMaster2;
+using SpiMaster = SpiMaster2_Dma<Dma1::Channel0, Dma1::Channel1>;
 using Cs = GpioC0;
 using Mosi = GpioB15;
 using Miso = GpioC2;

ext/vl53/vl53_transport.hpp

@@ -82,6 +82,7 @@ class Vl53SpiTransport : public modm::SpiDevice<SpiMaster>, public Vl53Transport
 	resetSensor() override;
 
 private:
+	uint8_t addr_buffer[2];
 	uint8_t rx_buffer[VL53LMZ_COMMS_CHUNK_SIZE + 2];
 
 	static uint16_t
@@ -98,23 +99,16 @@ class Vl53SpiTransport : public modm::SpiDevice<SpiMaster>, public Vl53Transport
 };
 
 template<typename I2cMaster, typename Lpn>
-class Vl53I2cTransport : public modm::I2cDevice<I2cMaster>, public Vl53TransportBase, private I2cEeprom<I2cMaster, 2>
+class Vl53I2cTransport : public I2cEeprom<I2cMaster, 2>, public Vl53TransportBase
 {
 public:
-	Vl53I2cTransport(const uint8_t address) : I2cDevice<I2cMaster>{address}, I2cEeprom<I2cMaster,2>{address} {};
+	Vl53I2cTransport(const uint8_t address) : I2cEeprom<I2cMaster,2>{address} {};
 
 	Vl53I2cTransport(const Vl53I2cTransport &) = delete;
 
 	Vl53I2cTransport &
 	operator=(const Vl53I2cTransport &) = delete;
 
-	void
-	setAddress(const uint8_t address)
-	{
-		I2cEeprom<I2cMaster,2>::transaction.setAddress(address);
-		I2cDevice<I2cMaster>::transaction.setAddress(address);
-	};
-
 	uint8_t
 	writeMulti(uint16_t register_address, const uint8_t *p_values, uint32_t size) override;
 

ext/vl53/vl53_transport_impl.hpp

@@ -41,7 +41,6 @@ Vl53SpiTransport<SpiMaster, Cs, Lpn, VL53LMZ_COMMS_CHUNK_SIZE>::writeMulti(uint1
 
 		const uint16_t temp = RegisterAddress + position;
 
-		uint8_t addr_buffer[2];
 		addr_buffer[0] = SPI_WRITE_MASK(temp) >> 8;
 		addr_buffer[1] = SPI_WRITE_MASK(temp) & 0xFF;
 
@@ -82,13 +81,12 @@ Vl53SpiTransport<SpiMaster, Cs, Lpn, VL53LMZ_COMMS_CHUNK_SIZE>::readMulti(uint16
 		const uint16_t temp = RegisterAddress + position;
 
 		uint8_t addr_buffer[2];
-		addr_buffer[0] = SPI_WRITE_MASK(temp) >> 8;
-		addr_buffer[1] = SPI_WRITE_MASK(temp) & 0xFF;
+		addr_buffer[0] = SPI_READ_MASK(temp) >> 8;
+		addr_buffer[1] = SPI_READ_MASK(temp) & 0xFF;
 
 		modm::this_fiber::poll([&] { return this->acquireMaster(); });
 		Cs::reset();
 		SpiMaster::transfer(&addr_buffer[0], &rx_buffer[0], data_size + 2);
-		// SpiMaster::transfer(nullptr, p_values + position, data_size);
 		if (this->releaseMaster()) { Cs::set(); }
 
 		std::memcpy(p_values + position, &rx_buffer[2], data_size);
@@ -126,7 +124,7 @@ Vl53I2cTransport<I2cMaster, Lpn>::readMulti(uint16_t RegisterAddress, uint8_t *p
 	data_write[0] = (RegisterAddress >> 8) & 0xFF;
 	data_write[1] = RegisterAddress & 0xFF;
 
-	const auto status = I2cDevice<I2cMaster>::writeRead(&data_write[0], 2, p_values, size);
+	const auto status = this->writeRead(&data_write[0], 2, p_values, size);
 	return static_cast<uint8_t>(not status);
 };
 
@@ -135,13 +133,11 @@ uint8_t
 Vl53I2cTransport<I2cMaster, Lpn>::readByte(uint16_t RegisterAddress, uint8_t *p_value)
 {
 	uint8_t data_write[2];
-	uint8_t data_read[1];
 
 	data_write[0] = (RegisterAddress >> 8) & 0xFF;
 	data_write[1] = RegisterAddress & 0xFF;
 
-	const auto status = I2cDevice<I2cMaster>::writeRead(&data_write[0], 2, &data_read[0], 1);
-	*p_value = data_read[0];
+	const auto status = this->writeRead(&data_write[0], 2, p_value, 1);
 
 	return static_cast<uint8_t>(not status);
 }
@@ -150,13 +146,7 @@ template<typename I2cMaster, typename Lpn>
 uint8_t
 Vl53I2cTransport<I2cMaster, Lpn>::writeByte(uint16_t RegisterAddress, uint8_t value)
 {
-	uint8_t data_write[3];
-
-	data_write[0] = (RegisterAddress >> 8) & 0xFF;
-	data_write[1] = RegisterAddress & 0xFF;
-	data_write[2] = value & 0xFF;
-
-	const auto status = I2cDevice<I2cMaster>::write(&data_write[0], 3);
+	const auto status = I2cEeprom<I2cMaster,2>::write(RegisterAddress, &value, 1);
 	return static_cast<uint8_t>(not status);
 }