VL53L5CX with Zephyr on NRF Board

[osugiw]

Hi everyone,

I have been struggling to work with VL53L5CX on my NRF board using Zephyr. I used the VL53L5CX_ULD_driver_2.0.1 API and changed the platform.cpp. The WrByte. RdByte, and MultiWrite are working, but the ReadMulti always has the wrong values. So far, what I got is as follows:

1. Failed on the vl53l5cx_init, because the following line always returns status of 1, means VL53L5CX_STATUS_TIMEOUT_ERROR

status |= _vl53l5cx_poll_for_answer(p_dev, 4, 0,VL53L5CX_UI_CMD_STATUS, 0xff, 2);

• Since _vl53l5cx_poll_for_answer calls VL53L5CX_RdMulti, I check whether my function is working correctly with this (https://community.st.com/t5/imaging-sensors/vl53l5cx-init-fails-in-vl53l5cx-poll-for-mcu-boot/m-p/614318/highlight/true#M3328 ). The results are that the data did not match the desired value, which you can see on the attached image:

My code is as follows:

uint8_t VL53L5CX_WrMulti(VL53L5CX_Platform *sensor, uint16_t reg, uint8_t *p_values, uint32_t size)
{
	uint8_t status = VL53L5CX_STATUS_OK;
	uint16_t current_address = reg; // Initialize current address
	uint32_t remaining_size = size; // Calculate remaining size to write

	// Loop until all data is written
	while (remaining_size > 0)
	{
		// Calculate the current chunk size to write
		uint32_t current_chunk_size = (remaining_size > chunk_size) ? chunk_size : remaining_size;
		struct i2c_msg msg[2];
		uint8_t reg_buff[2] = {current_address >> 8, current_address & 0xFF};

		msg[0].buf = &reg_buff;
		msg[0].len = 2;
		msg[0].flags = I2C_MSG_WRITE | I2C_MSG_STOP;
		msg[1].buf = &p_values;
		msg[1].len = current_chunk_size;
		msg[1].flags = I2C_MSG_WRITE | I2C_MSG_STOP;
		status = i2c_transfer(sensor->i2c_dev, msg, 2, sensor->address);
		if (status != VL53L5CX_STATUS_OK)
		{
			status = VL53L5CX_STATUS_ERROR;
			LOG_ERR("Failed to write status %d", status);
		}

		// Update remaining size and pointer to move to the next chunk
		remaining_size -= current_chunk_size;
		current_address += current_chunk_size; // Increment register address for next chunk
		p_values += current_chunk_size;
		VL53L5CX_WaitMs(&sensor, 10);
	}
	return status;
}

uint8_t VL53L5CX_RdMulti(VL53L5CX_Platform *sensor, uint16_t reg, uint8_t *p_values, uint32_t size)
{
	uint8_t status = VL53L5CX_STATUS_OK;

	uint8_t buf[2] = {reg >> 8, reg & 0xFF};
	status = i2c_write(sensor->i2c_dev, buf, 2, sensor->address);
	if (status != VL53L5CX_STATUS_OK)
	{
		status = VL53L5CX_STATUS_ERROR;
		LOG_ERR("Failed to write, status %d", status);
	}

	uint16_t bytesToReadRemaining = size;
	uint16_t offset = 0;
	while (bytesToReadRemaining > 0)
	{
		uint16_t bytesToRead = (bytesToReadRemaining > chunk_size) ? chunk_size : bytesToReadRemaining;
		// for (uint16_t x = 0; x < bytesToRead; x++)
		// {
		// 	status = i2c_read(sensor->i2c_dev, &p_values[offset + x], (uint8_t)bytesToRead, sensor->address);
		// 	if (status != VL53L5CX_STATUS_OK)
		// 	{
		// 		status = VL53L5CX_STATUS_ERROR;
		// 		LOG_ERR("Failed to read status %d", status);
		// 	}
		// }
		status = i2c_read(sensor->i2c_dev, &p_values[offset], bytesToRead, sensor->address);
		if (status != VL53L5CX_STATUS_OK)
		{
			status = VL53L5CX_STATUS_ERROR;
			LOG_ERR("Failed to read status %d", status);
		}

		offset += bytesToRead;
		bytesToReadRemaining -= bytesToRead;
	}
	return status;
}

Kindly help me if anyone has successfully used VL53L5CX on the Zephyr platform.

Thank you!

Best Regards,

@Anne BIGOT @John E KVAM