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tof-sensing-stm
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Try to make it work

This commit is contained in:
jazzpi 2022-11-12 14:18:08 +01:00
parent bb237b76e0
commit 6bfe7c9fc8
3 changed files with 255 additions and 122 deletions
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1
.gitignore vendored
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@ -1,2 +1,3 @@
.cache/
.vscode/
build/

312
Core/Src/main.c
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@ -1,23 +1,25 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2022 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2022 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32l4xx_hal.h"
#include "stm32l4xx_hal_i2c.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
@ -31,6 +33,14 @@
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
#define VL6180X_ADDR (0x29 << 1)
#define VL6180X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO 0x14
#define VL6180X_REG_SYSTEM_INTERRUPT_CLEAR 0x15
#define VL6180X_REG_SYSTEM_FRESH_OUT_OF_RESET 0x16
#define VL6180X_REG_SYSRANGE_START 0x18
#define VL6180X_REG_RESULT_RANGE_STATUS 0x4D
#define VL6180X_REG_RESULT_INTERRUPT_STATUS_GPIO 0x4F
#define VL6180X_REG_RESULT_RANGE_VAL 0x62
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
@ -58,22 +68,158 @@ static void MX_USART2_UART_Init(void);
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
volatile uint16_t range = 0;
void tof_write_reg(uint16_t reg_addr, uint32_t data, int len_bytes) {
uint8_t buf[len_bytes + 2];
buf[0] = reg_addr >> 8;
buf[1] = reg_addr & 0xFF;
for (int idx = len_bytes + 1; idx >= 2; idx--) {
buf[idx] = data & 0xFF;
data >>= 8;
}
if (HAL_I2C_Master_Transmit(&hi2c1, VL6180X_ADDR, buf, len_bytes, 100) !=
HAL_OK) {
Error_Handler();
}
}
uint32_t tof_read_reg(uint16_t reg_addr, int len_bytes) {
// Write index
uint8_t addr_buf[2] = {reg_addr >> 8, reg_addr & 0xFF};
if (HAL_I2C_Master_Transmit(&hi2c1, VL6180X_ADDR, addr_buf, 2, 100) !=
HAL_OK) {
Error_Handler();
}
// Read data
uint8_t buf[len_bytes];
if (HAL_I2C_Master_Receive(&hi2c1, VL6180X_ADDR | 1, buf, len_bytes, 100) !=
HAL_OK) {
Error_Handler();
}
// Demarshal
uint32_t result = 0;
for (int i = 0; i < len_bytes; i++) {
int shift = (len_bytes - i - 1) * 8;
result |= ((uint32_t)buf[i]) << shift;
}
return result;
}
void tof_init(void) {
if (tof_read_reg(VL6180X_REG_SYSTEM_FRESH_OUT_OF_RESET, 1) & 1) {
// LOAD SETTINGS AS PER AN4545, SECTION 9
// Mandatory : private registers
tof_write_reg(0x0207, 0x01, 1);
tof_write_reg(0x0208, 0x01, 1);
tof_write_reg(0x0096, 0x00, 1);
tof_write_reg(0x0097, 0xfd, 1);
tof_write_reg(0x00e3, 0x01, 1);
tof_write_reg(0x00e4, 0x03, 1);
tof_write_reg(0x00e5, 0x02, 1);
tof_write_reg(0x00e6, 0x01, 1);
tof_write_reg(0x00e7, 0x03, 1);
tof_write_reg(0x00f5, 0x02, 1);
tof_write_reg(0x00d9, 0x05, 1);
tof_write_reg(0x00db, 0xce, 1);
tof_write_reg(0x00dc, 0x03, 1);
tof_write_reg(0x00dd, 0xf8, 1);
tof_write_reg(0x009f, 0x00, 1);
tof_write_reg(0x00a3, 0x3c, 1);
tof_write_reg(0x00b7, 0x00, 1);
tof_write_reg(0x00bb, 0x3c, 1);
tof_write_reg(0x00b2, 0x09, 1);
tof_write_reg(0x00ca, 0x09, 1);
tof_write_reg(0x0198, 0x01, 1);
tof_write_reg(0x01b0, 0x17, 1);
tof_write_reg(0x01ad, 0x00, 1);
tof_write_reg(0x00ff, 0x05, 1);
tof_write_reg(0x0100, 0x05, 1);
tof_write_reg(0x0199, 0x05, 1);
tof_write_reg(0x01a6, 0x1b, 1);
tof_write_reg(0x01ac, 0x3e, 1);
tof_write_reg(0x01a7, 0x1f, 1);
tof_write_reg(0x0030, 0x00, 1);
// Recommended : Public registers - See data sheet for more detail
tof_write_reg(0x0011, 0x10, 1); // Enables polling for ‘New Sample ready’
// when measurement completes
tof_write_reg(0x010a, 0x30, 1); // Set the averaging sample period
// (compromise between lower noise and
// increased execution time)
tof_write_reg(0x003f, 0x46, 1); // Sets the light and dark gain (upper
// nibble). Dark gain should not be
// changed.
tof_write_reg(0x0031, 0xFF, 1); // sets the # of range measurements after
// which auto calibration of system is
// performed
tof_write_reg(0x0041, 0x63, 1); // Set ALS integration time to 100ms
tof_write_reg(0x002e, 0x01, 1); // perform a single temperature calibration
// of the ranging sensor
// Optional: Public registers - See data sheet for more detail
tof_write_reg(0x001b, 0x09, 1); // Set default ranging inter-measurement
// period to 100ms
tof_write_reg(0x003e, 0x31, 1); // Set default ALS inter-measurement period
// to 500ms
tof_write_reg(0x0014, 0x24, 1); // Configures interrupt on ‘New Sample
// Ready threshold event’
tof_write_reg(VL6180X_REG_SYSTEM_FRESH_OUT_OF_RESET, 0, 1);
}
// tof_write_reg(VL6180X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO, 4, 1);
}
uint8_t tof_range_poll(void) {
if (tof_read_reg(VL6180X_REG_RESULT_RANGE_STATUS, 1) & 1) {
// Not ready
Error_Handler();
}
tof_write_reg(VL6180X_REG_SYSRANGE_START, 0b01, 1);
while (1) {
uint8_t status = tof_read_reg(VL6180X_REG_RESULT_INTERRUPT_STATUS_GPIO, 1);
if (status & 0b11000000) {
// Error bits
Error_Handler();
}
if ((status & 0b111) == 4) {
// New sample ready threshold event
break;
}
status = tof_read_reg(VL6180X_REG_RESULT_RANGE_STATUS, 1);
if (status & 0xF0) {
// Error code
Error_Handler();
}
HAL_Delay(10);
}
uint8_t range = tof_read_reg(VL6180X_REG_RESULT_RANGE_VAL, 2);
// Clear interrupt
tof_write_reg(VL6180X_REG_SYSTEM_INTERRUPT_CLEAR, 0x07, 1);
return range;
}
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
* @brief The application entry point.
* @retval int
*/
int main(void) {
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
/* Reset of all peripherals, Initializes the Flash interface and the Systick.
*/
HAL_Init();
/* USER CODE BEGIN Init */
@ -91,40 +237,40 @@ int main(void)
MX_GPIO_Init();
MX_I2C1_Init();
MX_USART2_UART_Init();
HAL_Delay(100);
tof_init();
HAL_Delay(100);
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
while (1) {
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
range = tof_range_poll();
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void) {
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Configure the main internal regulator output voltage
*/
if (HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1) != HAL_OK)
{
*/
if (HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1) != HAL_OK) {
Error_Handler();
}
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
@ -135,33 +281,30 @@ void SystemClock_Config(void)
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV7;
RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2;
RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK |
RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK)
{
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK) {
Error_Handler();
}
}
/**
* @brief I2C1 Initialization Function
* @param None
* @retval None
*/
static void MX_I2C1_Init(void)
{
* @brief I2C1 Initialization Function
* @param None
* @retval None
*/
static void MX_I2C1_Init(void) {
/* USER CODE BEGIN I2C1_Init 0 */
@ -179,37 +322,32 @@ static void MX_I2C1_Init(void)
hi2c1.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
if (HAL_I2C_Init(&hi2c1) != HAL_OK)
{
if (HAL_I2C_Init(&hi2c1) != HAL_OK) {
Error_Handler();
}
/** Configure Analogue filter
*/
if (HAL_I2CEx_ConfigAnalogFilter(&hi2c1, I2C_ANALOGFILTER_ENABLE) != HAL_OK)
{
*/
if (HAL_I2CEx_ConfigAnalogFilter(&hi2c1, I2C_ANALOGFILTER_ENABLE) != HAL_OK) {
Error_Handler();
}
/** Configure Digital filter
*/
if (HAL_I2CEx_ConfigDigitalFilter(&hi2c1, 0) != HAL_OK)
{
*/
if (HAL_I2CEx_ConfigDigitalFilter(&hi2c1, 0) != HAL_OK) {
Error_Handler();
}
/* USER CODE BEGIN I2C1_Init 2 */
/* USER CODE END I2C1_Init 2 */
}
/**
* @brief USART2 Initialization Function
* @param None
* @retval None
*/
static void MX_USART2_UART_Init(void)
{
* @brief USART2 Initialization Function
* @param None
* @retval None
*/
static void MX_USART2_UART_Init(void) {
/* USER CODE BEGIN USART2_Init 0 */
@ -228,23 +366,20 @@ static void MX_USART2_UART_Init(void)
huart2.Init.OverSampling = UART_OVERSAMPLING_16;
huart2.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
if (HAL_UART_Init(&huart2) != HAL_OK)
{
if (HAL_UART_Init(&huart2) != HAL_OK) {
Error_Handler();
}
/* USER CODE BEGIN USART2_Init 2 */
/* USER CODE END USART2_Init 2 */
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void) {
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* GPIO Ports Clock Enable */
@ -268,7 +403,6 @@ static void MX_GPIO_Init(void)
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(LD2_GPIO_Port, &GPIO_InitStruct);
}
/* USER CODE BEGIN 4 */
@ -276,33 +410,31 @@ static void MX_GPIO_Init(void)
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void) {
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
__disable_irq();
while (1)
{
while (1) {
}
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line) {
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* User can add his own implementation to report the file name and line
number, ex: printf("Wrong parameters value: file %s on line %d\r\n", file,
line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

64
Makefile
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@ -22,7 +22,7 @@ TARGET = tof-sensing-stm
# debug build?
DEBUG = 1
# optimization
OPT = -Og
OPT = -O0
#######################################
@ -35,33 +35,33 @@ BUILD_DIR = build
# source
######################################
# C sources
C_SOURCES = \
Core/Src/main.c \
Core/Src/stm32l4xx_it.c \
Core/Src/stm32l4xx_hal_msp.c \
Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_i2c.c \
Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_i2c_ex.c \
Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal.c \
Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_rcc.c \
Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_rcc_ex.c \
Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_flash.c \
Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_flash_ex.c \
Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_flash_ramfunc.c \
Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_gpio.c \
Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_dma.c \
Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_dma_ex.c \
Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_pwr.c \
Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_pwr_ex.c \
Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_cortex.c \
Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_exti.c \
Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_tim.c \
Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_tim_ex.c \
Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_uart.c \
Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_uart_ex.c \
C_SOURCES = \
Core/Src/main.c \
Core/Src/stm32l4xx_it.c \
Core/Src/stm32l4xx_hal_msp.c \
Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_i2c.c \
Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_i2c_ex.c \
Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal.c \
Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_rcc.c \
Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_rcc_ex.c \
Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_flash.c \
Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_flash_ex.c \
Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_flash_ramfunc.c \
Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_gpio.c \
Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_dma.c \
Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_dma_ex.c \
Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_pwr.c \
Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_pwr_ex.c \
Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_cortex.c \
Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_exti.c \
Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_tim.c \
Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_tim_ex.c \
Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_uart.c \
Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_uart_ex.c \
Core/Src/system_stm32l4xx.c
# ASM sources
ASM_SOURCES = \
ASM_SOURCES = \
startup_stm32l476xx.s
@ -105,8 +105,8 @@ MCU = $(CPU) -mthumb $(FPU) $(FLOAT-ABI)
AS_DEFS =
# C defines
C_DEFS = \
-DUSE_HAL_DRIVER \
C_DEFS = \
-DUSE_HAL_DRIVER \
-DSTM32L476xx
@ -114,11 +114,11 @@ C_DEFS = \
AS_INCLUDES =
# C includes
C_INCLUDES = \
-ICore/Inc \
-IDrivers/STM32L4xx_HAL_Driver/Inc \
-IDrivers/STM32L4xx_HAL_Driver/Inc/Legacy \
-IDrivers/CMSIS/Device/ST/STM32L4xx/Include \
C_INCLUDES = \
-ICore/Inc \
-IDrivers/STM32L4xx_HAL_Driver/Inc \
-IDrivers/STM32L4xx_HAL_Driver/Inc/Legacy \
-IDrivers/CMSIS/Device/ST/STM32L4xx/Include \
-IDrivers/CMSIS/Include