1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
|
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file app_vl53l0x.c
* @author MCD Application Team
* @brief Proximity Application
******************************************************************************
* @attention
*
* <h2><center>© Copyright (c) 2019 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under Ultimate Liberty license
* SLA0044, the "License"; You may not use this file except in compliance with
* the License. You may obtain a copy of the License at:
* www.st.com/SLA0044
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "app_vl53l0x.h"
#include "stm32_seq.h"
#include "stm32wb5mm_dk.h"
#include "stm32wb5mm_dk_lcd.h"
#include "stm32_lcd.h"
#include "stm32wb5mm_dk_bus.h"
/* Private defines -----------------------------------------------------------*/
#define PROXIMITY_UPDATE_PERIOD (uint32_t)(0.5*1000*1000/CFG_TS_TICK_VAL) /*500ms*/
#define DISTANCE_MAX_PROXIMITY 2000 /* 2m */
#define PROXIMITY_I2C_ADDRESS 0x53U
#define VL53L0X_XSHUT_PIN GPIO_PIN_6
#define VL53L0X_XSHUT_GPIO_PORT GPIOB
#define VL53L0X_XSHUT_GPIO_CLK_ENABLE() __HAL_RCC_GPIOB_CLK_ENABLE()
#define VL53L0X_XSHUT_GPIO_CLK_DISABLE() __HAL_RCC_GPIOB_CLK_DISABLE()
/* Private variables ---------------------------------------------------------*/
/* Proximity */
VL53L0X_Dev_t Dev =
{
.I2cHandle = &hbus_i2c3,
.I2cDevAddr = PROXIMITY_I2C_ADDRESS
};
uint8_t VL53L0X_PROXIMITY_Update_Timer_Id;
/* Private function prototypes -----------------------------------------------*/
static void VL53L0X_PROXIMITY_Update_Timer_Callback(void);
static void VL53L0X_PROXIMITY_MspInit(void);
/**
* @brief VL53L0X proximity sensor Initialization.
*/
void VL53L0X_PROXIMITY_Init(void)
{
uint16_t vl53l0x_id = 0;
VL53L0X_DeviceInfo_t VL53L0X_DeviceInfo;
/* Initialize IO interface */
STM32WB5MM_DK_I2C_Init();
VL53L0X_PROXIMITY_MspInit();
memset(&VL53L0X_DeviceInfo, 0, sizeof(VL53L0X_DeviceInfo_t));
if (VL53L0X_ERROR_NONE == VL53L0X_GetDeviceInfo(&Dev, &VL53L0X_DeviceInfo))
{
if (VL53L0X_ERROR_NONE == VL53L0X_RdWord(&Dev, VL53L0X_REG_IDENTIFICATION_MODEL_ID, (uint16_t *) &vl53l0x_id))
{
if (vl53l0x_id == VL53L0X_ID)
{
if (VL53L0X_ERROR_NONE == VL53L0X_DataInit(&Dev))
{
Dev.Present = 1;
SetupSingleShot(Dev);
}
else
{
while(1){} // VL53L0X Time of Flight Failed to send its ID!
}
}
}
else
{
while(1){} // VL53L0X Time of Flight Failed to Initialize!
}
}
else
{
while(1){} // VL53L0X Time of Flight Failed to get infos!
}
UTIL_SEQ_RegTask( 1<<CFG_TASK_GET_MEASURE_TOF_ID, UTIL_SEQ_RFU, VL53L0X_PROXIMITY_PrintValue);
/* Create timer to get the measure of TOF */
HW_TS_Create(CFG_TIM_PROC_ID_ISR,
&VL53L0X_PROXIMITY_Update_Timer_Id,
hw_ts_Repeated,
VL53L0X_PROXIMITY_Update_Timer_Callback);
}
void VL53L0X_Start_Measure(void)
{
/* Start the timer used to update the proximity value */
HW_TS_Start(VL53L0X_PROXIMITY_Update_Timer_Id, PROXIMITY_UPDATE_PERIOD);
}
void VL53L0X_Stop_Measure(void)
{
/* Stop the timer used to update the proximity value */
HW_TS_Stop(VL53L0X_PROXIMITY_Update_Timer_Id);
}
/**
* @brief On timeout, trigger the task
* to update the proximity value
* @param None
* @retval None
*/
static void VL53L0X_PROXIMITY_Update_Timer_Callback(void)
{
UTIL_SEQ_SetTask(1<<CFG_TASK_GET_MEASURE_TOF_ID, CFG_SCH_PRIO_0);
}
/**
* @brief Get distance from VL53L0X proximity sensor.
* @param None
* @retval Distance in mm
*/
uint16_t VL53L0X_PROXIMITY_GetDistance(void)
{
VL53L0X_RangingMeasurementData_t RangingMeasurementData;
VL53L0X_PerformSingleRangingMeasurement(&Dev, &RangingMeasurementData);
return RangingMeasurementData.RangeMilliMeter;
}
/**
* @brief Print distance measure from VL53L0X proximity sensor on the OLED screen.
* @param None
* @retval None
*/
void VL53L0X_PROXIMITY_PrintValue(void){
UTIL_LCD_ClearStringLine(2);
char distanceText[18];
uint16_t prox_value = 0;
uint16_t distance = 0;
prox_value = VL53L0X_PROXIMITY_GetDistance();
if(prox_value < DISTANCE_MAX_PROXIMITY){
distance = prox_value / 10;
sprintf(distanceText,"Distance : %3d cm",distance);
UTIL_LCD_DisplayStringAtLine(2,(uint8_t*)distanceText);
}else{
UTIL_LCD_DisplayStringAtLine(2,(uint8_t*)"Distance > 200 cm");
}
BSP_LCD_Refresh(0);
}
/**
* @brief VL53L0X proximity sensor Msp Initialization.
*/
static void VL53L0X_PROXIMITY_MspInit(void)
{
GPIO_InitTypeDef gpio_config = {0};
VL53L0X_XSHUT_GPIO_CLK_ENABLE();
/* Configure GPIO pin : VL53L0X_XSHUT_PIN */
gpio_config.Pin = VL53L0X_XSHUT_PIN;
gpio_config.Mode = GPIO_MODE_OUTPUT_PP;
gpio_config.Pull = GPIO_PULLUP;
gpio_config.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(VL53L0X_XSHUT_GPIO_PORT, &gpio_config);
HAL_GPIO_WritePin(VL53L0X_XSHUT_GPIO_PORT, VL53L0X_XSHUT_PIN, GPIO_PIN_SET);
HAL_Delay(1000);
}
|
