/**
 * @brief        移植用的适配 STM32 的 HAL 库的驱动文件 非官方 自己适配的
 * @author      WMD
 * @date     2018 年 4 月 22 日 21:20:32
 * @version
 * @par Copyright (c):
 *       WMD
 * @par 日志
 */
#include "ST_I2C.h"
#include "vl53l0x_api.h"

#include "by_debug.h"
// #include "cmsis_os.h"

/**
 * @name 自定义移植接口函数
 * @{
 */
VL53L0X_Error VL53L0X_WriteMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count)
{
  return ST_IICwriteBytes(Dev->I2cDevAddr, index, count, pdata);
}
VL53L0X_Error VL53L0X_ReadMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count)
{
  return ST_IICreadBytes(Dev->I2cDevAddr, index, count, pdata);
}
VL53L0X_Error VL53L0X_WrByte(VL53L0X_DEV Dev, uint8_t index, uint8_t data)
{
  return ST_IICwriteByte(Dev->I2cDevAddr, index, data);
}
VL53L0X_Error VL53L0X_RdByte(VL53L0X_DEV Dev, uint8_t index, uint8_t *data)
{
  return VL53L0X_ReadMulti(Dev, index, data, 1);
}
/// 注意以下这些函数有可能会导致大小端不对
VL53L0X_Error VL53L0X_WrWord(VL53L0X_DEV Dev, uint8_t index, uint16_t data)
{
  uint8_t tmp[2] = {((uint16_t)(data & 0xff00) >> 8), ((uint16_t)data & 0x00ff)};
  return ST_IICwriteBytes(Dev->I2cDevAddr, index, 2, tmp);
}
VL53L0X_Error VL53L0X_WrDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t data)
{
  uint8_t tmp[4] = {((data & 0xff000000) >> 24), ((data & 0x00ff0000) >> 16), ((data & 0x0000ff00) >> 8), ((data & 0x000000ff))};
  return ST_IICwriteBytes(Dev->I2cDevAddr, index, 4, tmp);
}
VL53L0X_Error VL53L0X_RdWord(VL53L0X_DEV Dev, uint8_t index, uint16_t *data)
{
  uint8_t tmp[2];
  uint8_t *p = (uint8_t *)data;
  ST_IICreadBytes(Dev->I2cDevAddr, index, 2, tmp);
  p[0] = tmp[1];
  p[1] = tmp[0];
  return 0;
}
VL53L0X_Error VL53L0X_RdDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t *data)
{
  uint8_t tmp[4];
  uint8_t *p = (uint8_t *)data;
  ST_IICreadBytes(Dev->I2cDevAddr, index, 4, tmp);
  p[0] = tmp[3];
  p[1] = tmp[2];
  p[2] = tmp[1];
  p[3] = tmp[0];
  return 0;
}

VL53L0X_Error VL53L0X_UpdateByte(VL53L0X_DEV Dev, uint8_t index, uint8_t AndData, uint8_t OrData)
{
  uint8_t tmp;
  ST_IICreadBytes(Dev->I2cDevAddr, index, 1, &tmp);
  tmp = (tmp & AndData) | OrData;
  return ST_IICwriteByte(Dev->I2cDevAddr, index, tmp);
}
//! 该函数是等待用函数 要改成对应环境的 Delay
VL53L0X_Error VL53L0X_PollingDelay(VL53L0X_DEV Dev)
{
  // osDelay(5);
  delay_ms(5);

  return 0;
}
/** @} */
// 接下来是要引出的简化 API 函数
//! 激光传感器的结构体
static VL53L0X_Dev_t TestDev_s;
static VL53L0X_DEV TestDev = &TestDev_s;
static VL53L0X_RangingMeasurementData_t TestData_s;
static VL53L0X_RangingMeasurementData_t *TestData = &TestData_s;

/**
 * @brief  激光传感器初始化
 * @param void
 * @retval  void
 * @par 日志
 *
 */
void VL53L0X_Init(void)
{
  TestDev->I2cDevAddr = 0x52;
  VL53L0X_SetDeviceAddress(TestDev, 0x52);                               // 设置地址
  VL53L0X_SetPowerMode(TestDev, VL53L0X_POWERMODE_STANDBY_LEVEL2);       // 设定最不省电模式
  VL53L0X_SetDeviceMode(TestDev, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING); // 设定连续读取模式
  VL53L0X_SetInterMeasurementPeriodMilliSeconds(TestDev, 10);            // 设定采样时间
  VL53L0X_DataInit(TestDev);
}
/**
 * @brief  获得激光传感器的距离
 * @param void
 * @retval  uint16_t 距离 (单位 mm)
 * @note 如果不在任务中使用的话记得修改延时函数
 * @par 日志
 *
 */
uint16_t VL53L0X_GetValue(void)
{
  VL53L0X_PerformSingleMeasurement(TestDev); // 简单测量
  VL53L0X_GetRangingMeasurementData(TestDev, TestData);
  return TestData->RangeMilliMeter;
}