/** ****************************************************************************** * File Name : main.c * Description : Main program body ****************************************************************************** * * COPYRIGHT(c) 2017 STMicroelectronics * * Redistribution and use in source and binary forms, with or without modification, * are permitted provided that the following conditions are met: * 1. Redistributions of source code must retain the above copyright notice, * this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright notice, * this list of conditions and the following disclaimer in the documentation * and/or other materials provided with the distribution. * 3. Neither the name of STMicroelectronics nor the names of its contributors * may be used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************** */ /* Includes ------------------------------------------------------------------*/ #include "stm32xxx_hal.h" /* USER CODE BEGIN Includes */ #include "main.h" #include "vl53l1_api.h" #include "X-NUCLEO-53L1A1.h" /* USER CODE END Includes */ /* Private variables ---------------------------------------------------------*/ /* USER CODE BEGIN PV */ /* Private variables ---------------------------------------------------------*/ I2C_HandleTypeDef hi2c1; UART_HandleTypeDef huart2; VL53L1_Dev_t dev; VL53L1_DEV Dev = &dev; int status; volatile int IntCount; #define isAutonomousExample 1 /* Allow to select either autonomous ranging or fast ranging example */ #define isInterrupt 1 /* If isInterrupt = 1 then device working in interrupt mode, else device working in polling mode */ /* USER CODE END PV */ /* Private function prototypes -----------------------------------------------*/ /* USER CODE BEGIN PFP */ /* Private function prototypes -----------------------------------------------*/ void SystemClock_Config(void); void Error_Handler(void); static void MX_GPIO_Init(void); static void MX_USART2_UART_Init(void); static void MX_I2C1_Init(void); void AutonomousLowPowerRangingTest(void); /* see Autonomous ranging example implementation in USER CODE BEGIN 4 section */ /* USER CODE END PFP */ /* USER CODE BEGIN 0 */ #define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f) PUTCHAR_PROTOTYPE { HAL_UART_Transmit(&huart2, (uint8_t*)&ch, 1, 0xFFFF); return ch; } void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) { if (GPIO_Pin==VL53L1X_INT_Pin) { IntCount++; } } /* USER CODE END 0 */ int main(void) { /* USER CODE BEGIN 1 */ uint8_t byteData; uint16_t wordData; uint8_t ToFSensor = 1; // 0=Left, 1=Center(default), 2=Right /* MCU Configuration----------------------------------------------------------*/ /* Reset of all peripherals, Initializes the Flash interface and the Systick. */ HAL_Init(); /* Configure the system clock */ SystemClock_Config(); /* Initialize all configured peripherals */ MX_GPIO_Init(); MX_USART2_UART_Init(); MX_I2C1_Init(); XNUCLEO53L1A1_Init(); /* USER CODE END 1 */ /* USER CODE BEGIN 2 */ printf("VL53L1X Examples...\n"); Dev->I2cHandle = &hi2c1; Dev->I2cDevAddr = 0x52; /* Allow to select the sensor to be used, multi-sensor is not managed in this example. Only when use use the Left ToF in interrupt mode, solder the U7 on the X-Nucleo-53L1A1 board Only when use the Right ToF in interrupt mode, solder the U7 on the X-Nucleo-53L1A1 board See "Solder drop configurations" in the X-Nucleo-53L1A1 User Manual for more details */ ToFSensor = 1; // Select ToFSensor: 0=Left, 1=Center, 2=Right status = XNUCLEO53L1A1_ResetId(ToFSensor, 0); // Reset ToF sensor HAL_Delay(2); status = XNUCLEO53L1A1_ResetId(ToFSensor, 1); // Reset ToF sensor HAL_Delay(2); VL53L1_RdByte(Dev, 0x010F, &byteData); printf("VL53L1X Model_ID: %02X\n\r", byteData); VL53L1_RdByte(Dev, 0x0110, &byteData); printf("VL53L1X Module_Type: %02X\n\r", byteData); VL53L1_RdWord(Dev, 0x010F, &wordData); printf("VL53L1X: %02X\n\r", wordData); AutonomousLowPowerRangingTest(); /* USER CODE END 2 */ /* Infinite loop */ /* USER CODE BEGIN WHILE */ while (1) { /* USER CODE END WHILE */ /* USER CODE BEGIN 3 */ } /* USER CODE END 3 */ } /** System Clock Configuration */ #ifdef STM32F401xE void SystemClock_Config(void) { RCC_OscInitTypeDef RCC_OscInitStruct; RCC_ClkInitTypeDef RCC_ClkInitStruct; /**Configure the main internal regulator output voltage */ __HAL_RCC_PWR_CLK_ENABLE(); __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE2); /**Initializes the CPU, AHB and APB busses clocks */ RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI; RCC_OscInitStruct.HSIState = RCC_HSI_ON; RCC_OscInitStruct.HSICalibrationValue = 16; 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 = 7; if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { Error_Handler(); } /**Initializes the CPU, AHB and APB busses 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(); } /**Configure the Systick interrupt time */ HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000); /**Configure the Systick */ HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK); /* SysTick_IRQn interrupt configuration */ HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0); } #endif #ifdef STM32L476xx void SystemClock_Config(void) { RCC_OscInitTypeDef RCC_OscInitStruct; RCC_ClkInitTypeDef RCC_ClkInitStruct; RCC_PeriphCLKInitTypeDef PeriphClkInit; /**Initializes the CPU, AHB and APB busses clocks */ RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI; RCC_OscInitStruct.HSIState = RCC_HSI_ON; RCC_OscInitStruct.HSICalibrationValue = 16; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI; RCC_OscInitStruct.PLL.PLLM = 1; RCC_OscInitStruct.PLL.PLLN = 10; 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) { Error_Handler(); } /**Initializes the CPU, AHB and APB busses 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_DIV1; RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1; if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK) { Error_Handler(); } PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART2|RCC_PERIPHCLK_I2C1; PeriphClkInit.Usart2ClockSelection = RCC_USART2CLKSOURCE_PCLK1; PeriphClkInit.I2c1ClockSelection = RCC_I2C1CLKSOURCE_PCLK1; if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) { Error_Handler(); } /**Configure the main internal regulator output voltage */ if (HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1) != HAL_OK) { Error_Handler(); } /**Configure the Systick interrupt time */ HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000); /**Configure the Systick */ HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK); /* SysTick_IRQn interrupt configuration */ HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0); } #endif #ifdef STM32F401xE /* I2C1 init function */ static void MX_I2C1_Init(void) { 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(); } } #endif #ifdef STM32L476xx /* I2C1 init function */ static void MX_I2C1_Init(void) { hi2c1.Instance = I2C1; hi2c1.Init.Timing = 0x10909CEC; hi2c1.Init.OwnAddress1 = 0; hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT; hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE; hi2c1.Init.OwnAddress2 = 0; 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) { Error_Handler(); } /**Configure Analogue filter */ if (HAL_I2CEx_ConfigAnalogFilter(&hi2c1, I2C_ANALOGFILTER_ENABLE) != HAL_OK) { Error_Handler(); } /**Configure Digital filter */ if (HAL_I2CEx_ConfigDigitalFilter(&hi2c1, 0) != HAL_OK) { Error_Handler(); } } #endif /* USART2 init function */ static void MX_USART2_UART_Init(void) { 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(); } } /** Configure pins as * Analog * Input * Output * EVENT_OUT * EXTI */ static void MX_GPIO_Init(void) { GPIO_InitTypeDef GPIO_InitStruct; /* GPIO Ports Clock Enable */ __HAL_RCC_GPIOC_CLK_ENABLE(); __HAL_RCC_GPIOH_CLK_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 : B1_Pin */ GPIO_InitStruct.Pin = B1_Pin; GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING; GPIO_InitStruct.Pull = GPIO_NOPULL; HAL_GPIO_Init(B1_GPIO_Port, &GPIO_InitStruct); /*Configure GPIO pin : VL53L1X_INT_Pin */ GPIO_InitStruct.Pin = VL53L1X_INT_Pin; GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING; GPIO_InitStruct.Pull = GPIO_PULLUP; HAL_GPIO_Init(VL53L1X_INT_GPIO_Port, &GPIO_InitStruct); /*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); /* EXTI interrupt init*/ HAL_NVIC_SetPriority(EXTI4_IRQn, 0, 0); HAL_NVIC_EnableIRQ(EXTI4_IRQn); } /* USER CODE BEGIN 4 */ /* Autonomous ranging loop*/ //void AutonomousLowPowerRangingTest(void) //{ // static VL53L1_RangingMeasurementData_t RangingData; // printf("Autonomous Ranging Test\n"); // status = VL53L1_WaitDeviceBooted(Dev); // status = VL53L1_DataInit(Dev); // status = VL53L1_StaticInit(Dev); // status = VL53L1_SetDistanceMode(Dev, VL53L1_DISTANCEMODE_LONG); // status = VL53L1_SetMeasurementTimingBudgetMicroSeconds(Dev, 50000); // status = VL53L1_SetInterMeasurementPeriodMilliSeconds(Dev, 500); // status = VL53L1_StartMeasurement(Dev); // printf("VL53L1_StartMeasurement \n"); // // // if(status){ // printf("VL53L1_StartMeasurement failed \n"); // while(1); // } // if (isInterrupt){ // do // interrupt mode // { // __WFI(); // if(IntCount !=0 ){ // IntCount=0; // status = VL53L1_GetRangingMeasurementData(Dev, &RangingData); // if(status==0){ // printf("%d,%d,%.2f,%.2f\n", RangingData.RangeStatus,RangingData.RangeMilliMeter, // RangingData.SignalRateRtnMegaCps/65536.0,RangingData.AmbientRateRtnMegaCps/65336.0); // } // status = VL53L1_ClearInterruptAndStartMeasurement(Dev); // break; // } // // // // } // while(1); // // status = VL53L1_StopMeasurement(Dev); // printf("VL53L1_StopMeasurement \n"); // // if(status){ // printf("VL53L1_StopMeasurement failed \n"); // while(1); // } // // } // else{ // do // polling mode // { // status = VL53L1_WaitMeasurementDataReady(Dev); // if(!status) // { // status = VL53L1_GetRangingMeasurementData(Dev, &RangingData); // if(status==0){ // printf("%d,%d,%.2f,%.2f\n", RangingData.RangeStatus,RangingData.RangeMilliMeter, // (RangingData.SignalRateRtnMegaCps/65536.0),RangingData.AmbientRateRtnMegaCps/65336.0); // } // status = VL53L1_ClearInterruptAndStartMeasurement(Dev); // } // } // while (1); // } //// return status; //} void AutonomousLowPowerRangingTest(void) { static VL53L1_RangingMeasurementData_t RangingData; printf("Autonomous Ranging Test\n"); status = VL53L1_WaitDeviceBooted(Dev); //Below code is for Initialization. status = VL53L1_DataInit(Dev); status = VL53L1_StaticInit(Dev); status = VL53L1_SetDistanceMode(Dev, VL53L1_DISTANCEMODE_LONG); status = VL53L1_SetMeasurementTimingBudgetMicroSeconds(Dev, 50000); status = VL53L1_SetInterMeasurementPeriodMilliSeconds(Dev, 500); //Below code is for single shot. you can call it once you get the BT command. status = VL53L1_StartMeasurement(Dev); status = VL53L1_WaitMeasurementDataReady(Dev); if(!status) { status = VL53L1_GetRangingMeasurementData(Dev, &RangingData); if(status==0){ printf("%d,%d,%.2f,%.2f\n", RangingData.RangeStatus,RangingData.RangeMilliMeter, (RangingData.SignalRateRtnMegaCps/65536.0),RangingData.AmbientRateRtnMegaCps/65336.0); } status = VL53L1_ClearInterruptAndStartMeasurement(Dev); } status = VL53L1_StopMeasurement(Dev); } /* USER CODE END 4 */ /** * @brief This function is executed in case of error occurrence. * @param None * @retval None */ void Error_Handler(void) { /* USER CODE BEGIN Error_Handler */ /* User can add his own implementation to report the HAL error return state */ while(1) { } /* USER CODE END Error_Handler */ } #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 /** * @} */ /** * @} */ /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/