測距センサとZynqをI2C通信できるようにWireクラスを変更

uint8_t twi_readFrom(uint8_t address, uint8_t* data, uint8_t length, uint8_t sendStop)

XIicPs_MasterRecvPolled(&Iic, xtwi_masterBuffer, length, address);

uint8_t xtwi_readFrom(uint8_t address, uint8_t* data, uint8_t length, uint8_t sendStop)

#include "xtmrctr.h"
#include "xscugic.h"
#include "Grove/Seeed_vl53l0x.h"

Seeed_vl53l0x VL53L0X;
XScuGic GICInst;
XTmrCtr TMRInst;

#define INTC_DEVICE_ID          XPAR_PS7_SCUGIC_0_DEVICE_ID
#define TMR_DEVICE_ID           XPAR_TMRCTR_0_DEVICE_ID
#define INTC_TMR_INTERRUPT_ID   XPAR_FABRIC_AXI_TIMER_0_INTERRUPT_INTR
#define TMR_LOAD                100000000 - 2 //clock frequency 100MHz, Load period 1 sec

// -------- function prototypes
static void TMR_Intr_Handler(void *baseaddr_p);

//----------------------------------------------------------------------------
void setup()
{
    int status;

    //-----------------------------------------------------
    // 0. 例外処理
    //-----------------------------------------------------
    // 0.1 ARMプロセッサの割り込み発生時に呼び出されるインスタンス(今回はGIC)の割り込みハンドラを登録
    Xil_ExceptionRegisterHandler(XIL_EXCEPTION_ID_INT,
            (Xil_ExceptionHandler) XScuGic_InterruptHandler,
            &GICInst);
    // ARMの割り込みをイネーブル
    Xil_ExceptionEnable();

    //-----------------------------------------------------
    // 1. GIC(Generic Interrupt Controller)
    //-----------------------------------------------------
    // 1.1 GICの初期化
    XScuGic_Config *IntcConfig;
    IntcConfig = XScuGic_LookupConfig(INTC_DEVICE_ID);
    status = XScuGic_CfgInitialize(&GICInst, IntcConfig,
            IntcConfig->CpuBaseAddress);
    if (status != XST_SUCCESS) {
        xil_printf("GIC initialization failed!\n");
    }
    
    // 1.2 GIC割り込み発生時に呼び出されるインスタンス（今回はタイマー）の割り込みハンドラを登録
    status = XScuGic_Connect(&GICInst, INTC_TMR_INTERRUPT_ID,
            (Xil_ExceptionHandler)XTmrCtr_InterruptHandler, (void *) &TMRInst);
    if (status != XST_SUCCESS) {
        xil_printf("GIC initialization failed!\n");
    }
    // GICの割り込みをイネーブル
    XScuGic_Enable(&GICInst, INTC_TMR_INTERRUPT_ID);

    //-----------------------------------------------------
    // 2. AXI Timer
    //-----------------------------------------------------
    // 2.1 AXI Timerの初期化
    status = XTmrCtr_Initialize(&TMRInst, TMR_DEVICE_ID);
    if (status != XST_SUCCESS) {
        xil_printf("timer initialization failed!\n");
    }

    // 2.2 AXI Timer割り込み発生時に呼び出されるインスタンス(今回はタイマー)の割り込みハンドラを登録
    XTmrCtr_SetHandler(&TMRInst, (XTmrCtr_Handler) TMR_Intr_Handler, &TMRInst);
    
    // 2.3 AXI Timerのリセット値の設定
    XTmrCtr_SetResetValue(&TMRInst, 0, TMR_LOAD);

    // 2.4 AXI Timer optionの設定 (Interrupt Mode And Auto Reload )
    XTmrCtr_SetOptions(&TMRInst, 0,
            XTC_INT_MODE_OPTION | XTC_AUTO_RELOAD_OPTION | XTC_DOWN_COUNT_OPTION);
  
    //-----------------------------------------------------
    // 3. VL53L0X 初期化
    //-----------------------------------------------------
    VL53L0X_Error Status = VL53L0X_ERROR_NONE;
    Status = VL53L0X.VL53L0X_common_init();
    if (VL53L0X_ERROR_NONE != Status) {
        xil_printf("start vl53l0x mesurement failed!\n");
        VL53L0X.print_pal_error(Status);
        while (1);
    }
    VL53L0X.VL53L0X_continuous_ranging_init();
    if (VL53L0X_ERROR_NONE != Status) {
        xil_printf("start vl53l0x mesurement failed!\n");
        VL53L0X.print_pal_error(Status);
        while (1);
    }
    
    //-----------------------------------------------------
    // 4. タイマーのカウント開始
    //-----------------------------------------------------
    XTmrCtr_Start(&TMRInst, 0);
}

void loop() {}

//-------------------------------------------------
// A. ユーザー割り込み処理関数の定義
//-------------------------------------------------
void TMR_Intr_Handler(void *data)
{
    VL53L0X_RangingMeasurementData_t RangingMeasurementData;
    VL53L0X.PerformContinuousRangingMeasurement(&RangingMeasurementData);
    if (RangingMeasurementData.RangeMilliMeter >= 2000) {
        xil_printf("out of ranger\n");
    } else {
        xil_printf("distance::");
        xil_printf("%u\n", RangingMeasurementData.RangeMilliMeter);
    }
}


//----------------------------------------------------------------------------
int main(int argc, char* argv[])
{
    setup();

    while(1){
        loop();

    }

    return 0;
}