SNS - I2C ToF

[Aux1r]

initial commit for time of flight sensor code, hope the folder structure is okay

[linear]

HYPE-27 Implement Time-Of-Flight

[Aux1r]

Datasheet available here for the VL6180V1 ToF Sensor: https://www.st.com/en/imaging-and-photonics-solutions/vl6180.html#overview

[Aux1r]

• Added functions for i2c trait to allow reading and writing to registers with 16 bit addresses.
• Created new() function, start_ss_measure() function which starts a singleshot measurement, poll_range() function that polls to see if a new range reslt is available, read_range() that reads this value.

A lot of these functions were implemented using the 'example code' provided in the VL6180 application sheet: https://www.st.com/resource/en/application_note/an4545-vl6180x-basic-ranging-application-note-stmicroelectronics.pdf

TODO:

• Implement continuous mode measurements
• Verify decoding of RESULT_RANGE_VAL is appropriate (and actually returns us the value in mm)
• Verify poll_range() function works (not sure how Rust likes the while loop)
• Add clear_interrupts() function and checks for if the system is 'fresh out of reset' (refer to Application Sheet)

[davidbeechey]

This is very nearly done now! The tests aren't working properly (not sure why). A few comments here to fix and think about the API. Apart from those functionality points, would be good to add Rust doc comments to all of your functions

[TomLonergan03]

looks good. i didn't read the datasheet so haven't commented on correctness stuff there

2 things:

• in general i think you should rename the "tof"s in file names and code to be "time_of_flight", just for sake of clarity.
• a lot of the TimeOfFlight impl methods are kinda unclear on what they do, so there's probably better names for them or if not add doc comments

[TomLonergan03]

looks very good, couple of notes