/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2023 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"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <stdio.h>
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
I2C_HandleTypeDef hi2c1;
I2C_HandleTypeDef hi2c2;
UART_HandleTypeDef huart1;
UART_HandleTypeDef huart2;
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_USART2_UART_Init(void);
static void MX_I2C2_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_I2C1_Init(void);
/* USER CODE BEGIN PFP */
static void VL6180X_Init(void);
//write one byte to VL6180X
static HAL_StatusTypeDef VL6180X_WriteByte(uint16_t regAddress, uint8_t data);
//read one byte from VL6180X
static HAL_StatusTypeDef VL6180X_ReadByte(uint16_t regAddress, uint8_t* data);
//get id of VL6180X
static uint8_t VL6180X_GetID(void);
//get the range from VL6180X
static uint8_t VL6180X_GetRange(void);
//redirect printf to UART2
int fputc(int ch, FILE* f);
void TCS34725_ENABLE(void);
uint16_t TCS34725_Get_RawData(I2C_HandleTypeDef *hi2c,uint16_t MemAddress);
void Send_RAWData_To_UART(char RGBC, uint16_t RawData);
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
uint8_t buffers;
uint8_t buffer[10]={0};
uint16_t Rawdata = 0;
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_USART2_UART_Init();
MX_I2C2_Init();
MX_USART1_UART_Init();
MX_I2C1_Init();
/* USER CODE BEGIN 2 */
TCS34725_ENABLE();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
if(VL6180X_GetID()==VL6180X_DEFAULT_ID)
VL6180X_Init();
while (1)
{
HAL_Delay(5000);
//¶ÁÈ¡RGBC valid״̬£¬¿´»ý·ÖÊÇ·ñÍê³É
HAL_I2C_Mem_Read(&hi2c1,I2C_TCS34725_ADDR<<1|I2C_READ,TCS34725_STATUS_ADDR|TCS34725_CMD_MASK,1,buffer,1,3000);
if(buffer[0]&TCS34725__STATUS_AVALID)
{
//RGBC Valid
//Get Clear RAW data
Rawdata = TCS34725_Get_RawData(&hi2c1,TCS34725_CDATA_ADDR|TCS34725_CMD_MASK);
//Send Clear RAW data to UART
Send_RAWData_To_UART('C',Rawdata);
//Get RED RAW data
Rawdata = TCS34725_Get_RawData(&hi2c1,TCS34725_RDATA_ADDR|TCS34725_CMD_MASK);
//Send RED RAW data to UART
Send_RAWData_To_UART('R',Rawdata);
//Get Green RAW data
Rawdata = TCS34725_Get_RawData(&hi2c1,TCS34725_GDATA_ADDR|TCS34725_CMD_MASK);
//Send Green RAW data to UART
Send_RAWData_To_UART('G',Rawdata);
//Get Blue RAW data
Rawdata = TCS34725_Get_RawData(&hi2c1,TCS34725_BDATA_ADDR|TCS34725_CMD_MASK);
//Send Blue RAW data to UART
Send_RAWData_To_UART('B',Rawdata);
}
while (1)
{
//get range
buffers = VL6180X_GetRange();
printf("Range: %d mm \r\n", buffers);
HAL_Delay(3000);
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/**
* @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
*/
__HAL_RCC_PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
RCC_OscInitStruct.PLL.PLLM = 16;
RCC_OscInitStruct.PLL.PLLN = 336;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV4;
RCC_OscInitStruct.PLL.PLLQ = 4;
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.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
Error_Handler();
}
}
/**
* @brief I2C1 Initialization Function
* @param None
* @retval None
*/
static void MX_I2C1_Init(void)
{
/* USER CODE BEGIN I2C1_Init 0 */
/* USER CODE END I2C1_Init 0 */
/* USER CODE BEGIN I2C1_Init 1 */
/* USER CODE END I2C1_Init 1 */
hi2c1.Instance = I2C1;
hi2c1.Init.ClockSpeed = 100000;
hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
hi2c1.Init.OwnAddress1 = 0;
hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
hi2c1.Init.OwnAddress2 = 0;
hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
if (HAL_I2C_Init(&hi2c1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN I2C1_Init 2 */
/* USER CODE END I2C1_Init 2 */
}
/**
* @brief I2C2 Initialization Function
* @param None
* @retval None
*/
static void MX_I2C2_Init(void)
{
/* USER CODE BEGIN I2C2_Init 0 */
/* USER CODE END I2C2_Init 0 */
/* USER CODE BEGIN I2C2_Init 1 */
/* USER CODE END I2C2_Init 1 */
hi2c2.Instance = I2C2;
hi2c2.Init.ClockSpeed = 100000;
hi2c2.Init.DutyCycle = I2C_DUTYCYCLE_2;
hi2c2.Init.OwnAddress1 = 0;
hi2c2.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
hi2c2.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
hi2c2.Init.OwnAddress2 = 0;
hi2c2.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
hi2c2.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
if (HAL_I2C_Init(&hi2c2) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN I2C2_Init 2 */
/* USER CODE END I2C2_Init 2 */
}
/**
* @brief USART1 Initialization Function
* @param None
* @retval None
*/
static void MX_USART1_UART_Init(void)
{
/* USER CODE BEGIN USART1_Init 0 */
/* USER CODE END USART1_Init 0 */
/* USER CODE BEGIN USART1_Init 1 */
/* USER CODE END USART1_Init 1 */
huart1.Instance = USART1;
huart1.Init.BaudRate = 115200;
huart1.Init.WordLength = UART_WORDLENGTH_8B;
huart1.Init.StopBits = UART_STOPBITS_1;
huart1.Init.Parity = UART_PARITY_NONE;
huart1.Init.Mode = UART_MODE_TX_RX;
huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart1.Init.OverSampling = UART_OVERSAMPLING_16;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
/* USER CODE END USART1_Init 2 */
}
/**
* @brief USART2 Initialization Function
* @param None
* @retval None
*/
static void MX_USART2_UART_Init(void)
{
/* USER CODE BEGIN USART2_Init 0 */
/* USER CODE END USART2_Init 0 */
/* USER CODE BEGIN USART2_Init 1 */
/* USER CODE END USART2_Init 1 */
huart2.Instance = USART2;
huart2.Init.BaudRate = 115200;
huart2.Init.WordLength = UART_WORDLENGTH_8B;
huart2.Init.StopBits = UART_STOPBITS_1;
huart2.Init.Parity = UART_PARITY_NONE;
huart2.Init.Mode = UART_MODE_TX_RX;
huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart2.Init.OverSampling = UART_OVERSAMPLING_16;
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)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(LD2_GPIO_Port, LD2_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : LD2_Pin */
GPIO_InitStruct.Pin = LD2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(LD2_GPIO_Port, &GPIO_InitStruct);
}
/* USER CODE BEGIN 4 */
/**
* @brief Init Vl1680x
* @param None
* @retval None
*/
void VL6180X_Init(void)
{
uint8_t data=0;
VL6180X_ReadByte(0x016,&data);
if(data ==1)
{
VL6180X_WriteByte(0x0207, 0x01);
VL6180X_WriteByte(0x0208, 0x01);
VL6180X_WriteByte(0x0096, 0x00);
VL6180X_WriteByte(0x0097, 0xfd);
VL6180X_WriteByte(0x00e3, 0x01);
VL6180X_WriteByte(0x00e4, 0x03);
VL6180X_WriteByte(0x00e5, 0x02);
VL6180X_WriteByte(0x00e6, 0x01);
VL6180X_WriteByte(0x00e7, 0x03);
VL6180X_WriteByte(0x00f5, 0x02);
VL6180X_WriteByte(0x00d9, 0x05);
VL6180X_WriteByte(0x00db, 0xce);
VL6180X_WriteByte(0x00dc, 0x03);
VL6180X_WriteByte(0x00dd, 0xf8);
VL6180X_WriteByte(0x009f, 0x00);
VL6180X_WriteByte(0x00a3, 0x3c);
VL6180X_WriteByte(0x00b7, 0x00);
VL6180X_WriteByte(0x00bb, 0x3c);
VL6180X_WriteByte(0x00b2, 0x09);
VL6180X_WriteByte(0x00ca, 0x09);
VL6180X_WriteByte(0x0198, 0x01);
VL6180X_WriteByte(0x01b0, 0x17);
VL6180X_WriteByte(0x01ad, 0x00);
VL6180X_WriteByte(0x00ff, 0x05);
VL6180X_WriteByte(0x0100, 0x05);
VL6180X_WriteByte(0x0199, 0x05);
VL6180X_WriteByte(0x01a6, 0x1b);
VL6180X_WriteByte(0x01ac, 0x3e);
VL6180X_WriteByte(0x01a7, 0x1f);
VL6180X_WriteByte(0x0030, 0x00);
// Recommended : Public registers - See data sheet for more detail
VL6180X_WriteByte(0x0011, 0x10); // Enables polling for new Sample ready when measurement completes
VL6180X_WriteByte(0x010a, 0x30); // Set the averaging sample period (compromise between lower noise and increased execution time)
VL6180X_WriteByte(0x003f, 0x46); // Sets the light and dark gain (upper nibble). Dark gain should not be changed.
VL6180X_WriteByte(0x0031, 0xFF); // sets the # of range measurements after which auto calibration of system is performed
VL6180X_WriteByte(0x0040, 0x63); // Set ALS integration time to 100ms
VL6180X_WriteByte(0x002e, 0x01); // perform a single temperature calibration of the ranging sensor
//Optional: Public registers - See data sheet for more detail
VL6180X_WriteByte(0x001b, 0x09); // Set default ranging inter-measurement period to 100ms
VL6180X_WriteByte(0x003e, 0x31); // Set default ALS inter-measurement period to 500ms
VL6180X_WriteByte(0x0014, 0x24); // Configures interrupt on new Sample Ready threshold event?
VL6180X_WriteByte(0x0016, 0x00);
}
}
/**
* @brief Read one byte to Vl1680x
* @param regAddress: Address to Read
* @param data: Point to the memory for data
* @retval HAL_StatusTypeDef
*/
HAL_StatusTypeDef VL6180X_ReadByte(uint16_t regAddress, uint8_t* data)
{
uint16_t DevAddress=0;
DevAddress = (VL6180X_DEFAULT_I2C_ADDR<<1)|1;
return HAL_I2C_Mem_Read(&hi2c2, DevAddress, regAddress, VL6180X_REG_ADDRESS_SIZE, data,1,30);
}
/**
* @brief Write one byte to Vl1680x
* @param regAddress: Address to write
* @param data: Data to be writed
* @retval HAL_StatusTypeDef
*/
HAL_StatusTypeDef VL6180X_WriteByte(uint16_t regAddress, uint8_t data)
{
uint16_t DevAddress=0;
DevAddress = (VL6180X_DEFAULT_I2C_ADDR<<1)&0xFE;
return HAL_I2C_Mem_Write(&hi2c2, DevAddress, regAddress, VL6180X_REG_ADDRESS_SIZE, &data,1,30);
}
/**
* @brief Get ID of Vl1680x
* @param None
* @retval Vl1680x's ID
*/
uint8_t VL6180X_GetID(void)
{
uint8_t ID;
if(VL6180X_ReadByte( VL6180X_REG_ID, &ID))
ID =0;//get fail, return 0
return ID;
}
/**
* @brief Get result of range
* @param None
* @retval Result of range
*/
uint8_t VL6180X_GetRange(void)
{
uint8_t status,range;
//get status
VL6180X_ReadByte( VL6180X_REG_RESULT_RANGE_STATUS, &status);
while(!(status&0x01))
{
//Not ready
VL6180X_ReadByte( VL6180X_REG_RESULT_RANGE_STATUS, &status);
HAL_Delay(10);
}
//start range by write 0x01 to SYSRANGE_START Register(0x18)
range=1;
VL6180X_WriteByte(VL6180X_REG_SYSRANGE_START,range);
//Wait for ranging completion
VL6180X_ReadByte( VL6180X_REG_RESULT_INTERRUPT_STATUS, &status);
while(!(status&0x04))
{
VL6180X_ReadByte( VL6180X_REG_RESULT_INTERRUPT_STATUS, &status);
HAL_Delay(100);
}
//get range
VL6180X_ReadByte(VL6180X_REG_RESULT_RANGE_VAL,&range);
//clear interrupt status
VL6180X_WriteByte(VL6180X_REG_SYSTERM_INTERRUPT_CLEAR,0x07);
return range;
}
/**
* @brief Redirect fpuc Function to UART2
* @param ch: Data to be send
* @param f: Not used
* @retval None
*/
int fputc(int ch, FILE* f)
{
//HAL¿âÐÎʽ
//HAL_UART_Transmit(&huart1,(uint8_t*)&ch,1,0xffff);
//UART register begin
while( (huart1.Instance->SR & 0x40) == 0 );
huart1.Instance->DR = ch;
//UART register end
return ch;
}
/* USER CODE END 4 */
/**
* @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)
{
}
/* USER CODE END Error_Handler_Debug */
}
#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)
{
/* 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 CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
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