add firmware

dev/laser.cpp

@@ -0,0 +1,54 @@
+#include "laser.h"
+#include "i2c.h"
+#include <stdint.h>
+
+#include "vl53l0x.h"
+#include "tick.h"
+
+#define ADDR_LASER 0x29  // VL53L0X
+#define IDENTIFICATION_MODEL_ID            0xC0
+
+
+
+
+
+unsigned char Laser_ReadReg(unsigned char reg)
+{
+    unsigned char val;
+    I2C1_Write(ADDR_LASER, reg);
+    I2C1_Read(ADDR_LASER, &val, 1);
+    I2C1_Stop();
+    return val;
+}
+
+unsigned char Laser_WriteReg(unsigned char reg, unsigned char reg2)
+{
+    unsigned char val;
+    I2C1_Write(ADDR_LASER, reg);
+    
+    I2C1_Write(ADDR_LASER, reg2);
+    I2C1_Stop();
+    return val;
+}
+
+VL53L0X sensor;
+
+bool Laser_Init_v2(void){
+  I2C1_Init();
+  bool fl = sensor.init();
+  sensor.startContinuous();
+  return fl;
+}
+
+bool isRangeReady()
+{
+  return sensor.isRangeReady();
+}
+
+
+uint16_t getRange()
+{
+  
+  return sensor.readRange();
+}
+