441 lines
13 KiB
C
441 lines
13 KiB
C
/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file : main.c
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* @brief : Main program body
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2022 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "main.h"
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#include "stm32l4xx_hal.h"
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#include "stm32l4xx_hal_i2c.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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/* USER CODE BEGIN PTD */
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/* USER CODE END PTD */
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/* Private define ------------------------------------------------------------*/
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/* USER CODE BEGIN PD */
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#define VL6180X_ADDR (0x29 << 1)
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#define VL6180X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO 0x14
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#define VL6180X_REG_SYSTEM_INTERRUPT_CLEAR 0x15
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#define VL6180X_REG_SYSTEM_FRESH_OUT_OF_RESET 0x16
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#define VL6180X_REG_SYSRANGE_START 0x18
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#define VL6180X_REG_RESULT_RANGE_STATUS 0x4D
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#define VL6180X_REG_RESULT_INTERRUPT_STATUS_GPIO 0x4F
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#define VL6180X_REG_RESULT_RANGE_VAL 0x62
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/* USER CODE END PD */
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/* Private macro -------------------------------------------------------------*/
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/* USER CODE BEGIN PM */
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/* USER CODE END PM */
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/* Private variables ---------------------------------------------------------*/
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I2C_HandleTypeDef hi2c1;
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UART_HandleTypeDef huart2;
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/* USER CODE BEGIN PV */
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/* USER CODE END PV */
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/* Private function prototypes -----------------------------------------------*/
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void SystemClock_Config(void);
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static void MX_GPIO_Init(void);
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static void MX_I2C1_Init(void);
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static void MX_USART2_UART_Init(void);
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/* USER CODE BEGIN PFP */
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/* USER CODE END PFP */
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/* Private user code ---------------------------------------------------------*/
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/* USER CODE BEGIN 0 */
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volatile uint16_t range = 0;
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void tof_write_reg(uint16_t reg_addr, uint32_t data, int len_bytes) {
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uint8_t buf[len_bytes + 2];
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buf[0] = reg_addr >> 8;
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buf[1] = reg_addr & 0xFF;
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for (int idx = len_bytes + 1; idx >= 2; idx--) {
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buf[idx] = data & 0xFF;
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data >>= 8;
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}
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if (HAL_I2C_Master_Transmit(&hi2c1, VL6180X_ADDR, buf, len_bytes, 100) !=
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HAL_OK) {
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Error_Handler();
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}
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}
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uint32_t tof_read_reg(uint16_t reg_addr, int len_bytes) {
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// Write index
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uint8_t addr_buf[2] = {reg_addr >> 8, reg_addr & 0xFF};
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if (HAL_I2C_Master_Transmit(&hi2c1, VL6180X_ADDR, addr_buf, 2, 100) !=
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HAL_OK) {
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Error_Handler();
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}
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// Read data
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uint8_t buf[len_bytes];
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if (HAL_I2C_Master_Receive(&hi2c1, VL6180X_ADDR | 1, buf, len_bytes, 100) !=
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HAL_OK) {
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Error_Handler();
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}
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// Demarshal
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uint32_t result = 0;
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for (int i = 0; i < len_bytes; i++) {
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int shift = (len_bytes - i - 1) * 8;
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result |= ((uint32_t)buf[i]) << shift;
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}
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return result;
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}
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void tof_init(void) {
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if (tof_read_reg(VL6180X_REG_SYSTEM_FRESH_OUT_OF_RESET, 1) & 1) {
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// LOAD SETTINGS AS PER AN4545, SECTION 9
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// Mandatory : private registers
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tof_write_reg(0x0207, 0x01, 1);
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tof_write_reg(0x0208, 0x01, 1);
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tof_write_reg(0x0096, 0x00, 1);
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tof_write_reg(0x0097, 0xfd, 1);
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tof_write_reg(0x00e3, 0x01, 1);
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tof_write_reg(0x00e4, 0x03, 1);
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tof_write_reg(0x00e5, 0x02, 1);
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tof_write_reg(0x00e6, 0x01, 1);
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tof_write_reg(0x00e7, 0x03, 1);
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tof_write_reg(0x00f5, 0x02, 1);
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tof_write_reg(0x00d9, 0x05, 1);
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tof_write_reg(0x00db, 0xce, 1);
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tof_write_reg(0x00dc, 0x03, 1);
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tof_write_reg(0x00dd, 0xf8, 1);
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tof_write_reg(0x009f, 0x00, 1);
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tof_write_reg(0x00a3, 0x3c, 1);
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tof_write_reg(0x00b7, 0x00, 1);
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tof_write_reg(0x00bb, 0x3c, 1);
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tof_write_reg(0x00b2, 0x09, 1);
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tof_write_reg(0x00ca, 0x09, 1);
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tof_write_reg(0x0198, 0x01, 1);
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tof_write_reg(0x01b0, 0x17, 1);
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tof_write_reg(0x01ad, 0x00, 1);
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tof_write_reg(0x00ff, 0x05, 1);
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tof_write_reg(0x0100, 0x05, 1);
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tof_write_reg(0x0199, 0x05, 1);
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tof_write_reg(0x01a6, 0x1b, 1);
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tof_write_reg(0x01ac, 0x3e, 1);
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tof_write_reg(0x01a7, 0x1f, 1);
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tof_write_reg(0x0030, 0x00, 1);
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// Recommended : Public registers - See data sheet for more detail
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tof_write_reg(0x0011, 0x10, 1); // Enables polling for ‘New Sample ready’
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// when measurement completes
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tof_write_reg(0x010a, 0x30, 1); // Set the averaging sample period
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// (compromise between lower noise and
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// increased execution time)
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tof_write_reg(0x003f, 0x46, 1); // Sets the light and dark gain (upper
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// nibble). Dark gain should not be
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// changed.
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tof_write_reg(0x0031, 0xFF, 1); // sets the # of range measurements after
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// which auto calibration of system is
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// performed
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tof_write_reg(0x0041, 0x63, 1); // Set ALS integration time to 100ms
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tof_write_reg(0x002e, 0x01, 1); // perform a single temperature calibration
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// of the ranging sensor
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// Optional: Public registers - See data sheet for more detail
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tof_write_reg(0x001b, 0x09, 1); // Set default ranging inter-measurement
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// period to 100ms
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tof_write_reg(0x003e, 0x31, 1); // Set default ALS inter-measurement period
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// to 500ms
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tof_write_reg(0x0014, 0x24, 1); // Configures interrupt on ‘New Sample
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// Ready threshold event’
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tof_write_reg(VL6180X_REG_SYSTEM_FRESH_OUT_OF_RESET, 0, 1);
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}
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// tof_write_reg(VL6180X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO, 4, 1);
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}
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uint8_t tof_range_poll(void) {
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if (tof_read_reg(VL6180X_REG_RESULT_RANGE_STATUS, 1) & 1) {
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// Not ready
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Error_Handler();
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}
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tof_write_reg(VL6180X_REG_SYSRANGE_START, 0b01, 1);
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while (1) {
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uint8_t status = tof_read_reg(VL6180X_REG_RESULT_INTERRUPT_STATUS_GPIO, 1);
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if (status & 0b11000000) {
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// Error bits
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Error_Handler();
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}
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if ((status & 0b111) == 4) {
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// New sample ready threshold event
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break;
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}
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status = tof_read_reg(VL6180X_REG_RESULT_RANGE_STATUS, 1);
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if (status & 0xF0) {
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// Error code
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Error_Handler();
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}
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HAL_Delay(10);
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}
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uint8_t range = tof_read_reg(VL6180X_REG_RESULT_RANGE_VAL, 2);
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// Clear interrupt
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tof_write_reg(VL6180X_REG_SYSTEM_INTERRUPT_CLEAR, 0x07, 1);
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return range;
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}
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/* USER CODE END 0 */
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/**
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* @brief The application entry point.
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* @retval int
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*/
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int main(void) {
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/* USER CODE BEGIN 1 */
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/* USER CODE END 1 */
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/* MCU Configuration--------------------------------------------------------*/
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/* Reset of all peripherals, Initializes the Flash interface and the Systick.
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*/
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HAL_Init();
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/* USER CODE BEGIN Init */
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/* USER CODE END Init */
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/* Configure the system clock */
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SystemClock_Config();
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/* USER CODE BEGIN SysInit */
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/* USER CODE END SysInit */
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/* Initialize all configured peripherals */
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MX_GPIO_Init();
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MX_I2C1_Init();
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MX_USART2_UART_Init();
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HAL_Delay(100);
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tof_init();
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HAL_Delay(100);
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/* USER CODE BEGIN 2 */
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/* USER CODE END 2 */
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/* Infinite loop */
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/* USER CODE BEGIN WHILE */
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while (1) {
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/* USER CODE END WHILE */
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/* USER CODE BEGIN 3 */
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range = tof_range_poll();
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}
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/* USER CODE END 3 */
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}
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/**
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* @brief System Clock Configuration
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* @retval None
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*/
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void SystemClock_Config(void) {
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RCC_OscInitTypeDef RCC_OscInitStruct = {0};
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RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
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/** Configure the main internal regulator output voltage
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*/
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if (HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1) != HAL_OK) {
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Error_Handler();
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}
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/** Initializes the RCC Oscillators according to the specified parameters
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* in the RCC_OscInitTypeDef structure.
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*/
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RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
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RCC_OscInitStruct.HSIState = RCC_HSI_ON;
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RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
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RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
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RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
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RCC_OscInitStruct.PLL.PLLM = 1;
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RCC_OscInitStruct.PLL.PLLN = 10;
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RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV7;
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RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2;
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RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
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if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
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Error_Handler();
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}
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/** Initializes the CPU, AHB and APB buses clocks
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*/
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RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK |
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RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
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RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
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RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
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RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
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RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
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if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK) {
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Error_Handler();
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}
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}
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/**
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* @brief I2C1 Initialization Function
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* @param None
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* @retval None
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*/
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static void MX_I2C1_Init(void) {
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/* USER CODE BEGIN I2C1_Init 0 */
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/* USER CODE END I2C1_Init 0 */
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/* USER CODE BEGIN I2C1_Init 1 */
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/* USER CODE END I2C1_Init 1 */
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hi2c1.Instance = I2C1;
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hi2c1.Init.Timing = 0x10909CEC;
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hi2c1.Init.OwnAddress1 = 0;
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hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
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hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
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hi2c1.Init.OwnAddress2 = 0;
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hi2c1.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
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hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
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hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
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if (HAL_I2C_Init(&hi2c1) != HAL_OK) {
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Error_Handler();
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}
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/** Configure Analogue filter
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*/
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if (HAL_I2CEx_ConfigAnalogFilter(&hi2c1, I2C_ANALOGFILTER_ENABLE) != HAL_OK) {
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Error_Handler();
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}
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/** Configure Digital filter
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*/
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if (HAL_I2CEx_ConfigDigitalFilter(&hi2c1, 0) != HAL_OK) {
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Error_Handler();
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}
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/* USER CODE BEGIN I2C1_Init 2 */
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/* USER CODE END I2C1_Init 2 */
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}
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/**
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* @brief USART2 Initialization Function
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* @param None
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* @retval None
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*/
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static void MX_USART2_UART_Init(void) {
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/* USER CODE BEGIN USART2_Init 0 */
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/* USER CODE END USART2_Init 0 */
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/* USER CODE BEGIN USART2_Init 1 */
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/* USER CODE END USART2_Init 1 */
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huart2.Instance = USART2;
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huart2.Init.BaudRate = 115200;
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huart2.Init.WordLength = UART_WORDLENGTH_8B;
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huart2.Init.StopBits = UART_STOPBITS_1;
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huart2.Init.Parity = UART_PARITY_NONE;
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huart2.Init.Mode = UART_MODE_TX_RX;
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huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
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huart2.Init.OverSampling = UART_OVERSAMPLING_16;
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huart2.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
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huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
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if (HAL_UART_Init(&huart2) != HAL_OK) {
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Error_Handler();
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}
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/* USER CODE BEGIN USART2_Init 2 */
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/* USER CODE END USART2_Init 2 */
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}
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/**
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* @brief GPIO Initialization Function
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* @param None
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* @retval None
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*/
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static void MX_GPIO_Init(void) {
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GPIO_InitTypeDef GPIO_InitStruct = {0};
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/* GPIO Ports Clock Enable */
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__HAL_RCC_GPIOC_CLK_ENABLE();
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__HAL_RCC_GPIOH_CLK_ENABLE();
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__HAL_RCC_GPIOA_CLK_ENABLE();
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__HAL_RCC_GPIOB_CLK_ENABLE();
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/*Configure GPIO pin Output Level */
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HAL_GPIO_WritePin(LD2_GPIO_Port, LD2_Pin, GPIO_PIN_RESET);
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/*Configure GPIO pin : B1_Pin */
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GPIO_InitStruct.Pin = B1_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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HAL_GPIO_Init(B1_GPIO_Port, &GPIO_InitStruct);
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/*Configure GPIO pin : LD2_Pin */
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GPIO_InitStruct.Pin = LD2_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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HAL_GPIO_Init(LD2_GPIO_Port, &GPIO_InitStruct);
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}
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/* USER CODE BEGIN 4 */
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/* USER CODE END 4 */
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/**
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* @brief This function is executed in case of error occurrence.
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* @retval None
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*/
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void Error_Handler(void) {
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/* USER CODE BEGIN Error_Handler_Debug */
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/* User can add his own implementation to report the HAL error return state */
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__disable_irq();
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while (1) {
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}
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/* USER CODE END Error_Handler_Debug */
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}
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#ifdef USE_FULL_ASSERT
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/**
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* @brief Reports the name of the source file and the source line number
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* where the assert_param error has occurred.
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* @param file: pointer to the source file name
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* @param line: assert_param error line source number
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* @retval None
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*/
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void assert_failed(uint8_t *file, uint32_t line) {
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/* USER CODE BEGIN 6 */
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/* User can add his own implementation to report the file name and line
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number, ex: printf("Wrong parameters value: file %s on line %d\r\n", file,
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line) */
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/* USER CODE END 6 */
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}
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#endif /* USE_FULL_ASSERT */
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