add firmware
This commit is contained in:
Dana Markova
37
drv/gpio.cpp
Normal file
37
drv/gpio.cpp
Normal file
@ -0,0 +1,37 @@
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#include "stm32g4xx.h"
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#include "gpio.h"
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void GPIO_InitPin(unsigned long I_Pin)
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{
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unsigned long port = (I_Pin & 0x000000F0UL) >> 4;
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GPIO_TypeDef* gpio = (GPIO_TypeDef*)(((unsigned char*)GPIOA) + (port * 0x0400));
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unsigned long rcc = 1UL << port;
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unsigned long pin = I_Pin & 0x0000000FUL;
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unsigned long af = (I_Pin & 0x0F000000UL) >> 24;
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unsigned long pupd = (I_Pin & 0x00F00000UL) >> 20;
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unsigned long ospeed = (I_Pin & 0x000F0000UL) >> 16;
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unsigned long mode = (I_Pin & 0x0000F000UL) >> 12;
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unsigned long otype = (I_Pin & 0x00000100UL) >> 8;
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unsigned long set = (I_Pin & 0x00000200UL) >> 9;
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//---
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if (!(RCC->AHB2ENR & rcc)) RCC->AHB2ENR |= rcc;
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//---
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gpio->AFR[pin >> 3] &= ~(0x0000000FUL << ((pin & 0x07) * 4));
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gpio->AFR[pin >> 3] |= af << ((pin & 0x07) * 4);
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//---
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gpio->OSPEEDR &= ~(0x00000003UL << (pin * 2));
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gpio->OSPEEDR |= ospeed << (pin * 2);
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//---
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gpio->OTYPER &= ~(0x00000001UL << pin);
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gpio->OTYPER |= otype << pin;
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//---
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gpio->PUPDR &= ~(0x00000003UL << (pin * 2));
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gpio->PUPDR |= pupd << (pin * 2);
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//---
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gpio->BSRR = 1 << (set ? pin : pin+16);
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//---
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gpio->MODER &= ~(0x00000003UL << (pin * 2));
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gpio->MODER |= mode << (pin * 2);
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}
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//------------------------------------------------------------------------------
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69
drv/gpio.h
Normal file
69
drv/gpio.h
Normal file
@ -0,0 +1,69 @@
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#pragma once
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#define GPIO_PIN_0 0x00000000UL
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#define GPIO_PIN_1 0x00000001UL
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#define GPIO_PIN_2 0x00000002UL
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#define GPIO_PIN_3 0x00000003UL
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#define GPIO_PIN_4 0x00000004UL
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#define GPIO_PIN_5 0x00000005UL
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#define GPIO_PIN_6 0x00000006UL
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#define GPIO_PIN_7 0x00000007UL
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#define GPIO_PIN_8 0x00000008UL
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#define GPIO_PIN_9 0x00000009UL
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#define GPIO_PIN_10 0x0000000AUL
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#define GPIO_PIN_11 0x0000000BUL
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#define GPIO_PIN_12 0x0000000CUL
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#define GPIO_PIN_13 0x0000000DUL
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#define GPIO_PIN_14 0x0000000EUL
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#define GPIO_PIN_15 0x0000000FUL
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#define GPIO_PORT_A 0x00000000UL
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#define GPIO_PORT_B 0x00000010UL
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#define GPIO_PORT_C 0x00000020UL
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#define GPIO_PORT_D 0x00000030UL
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#define GPIO_PORT_E 0x00000040UL
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#define GPIO_PORT_F 0x00000070UL
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#define GPIO_PORT_G 0x00000080UL
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#define GPIO_PORT_H 0x00000090UL
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#define GPIO_PORT_I 0x000000A0UL
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#define GPIO_PORT_J 0x000000B0UL
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#define GPIO_PORT_K 0x000000C0UL
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#define GPIO_PUSHPULL 0x00000000UL
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#define GPIO_OPENDRAIN 0x00000100UL
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#define GPIO_RESET 0x00000000UL
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#define GPIO_SET 0x00000200UL
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#define GPIO_INPUT 0x00000000UL
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#define GPIO_OUTPUT 0x00001000UL
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#define GPIO_ALTER 0x00002000UL
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#define GPIO_ANALOG 0x00003000UL
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#define GPIO_OSPEED_LOW 0x00000000UL
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#define GPIO_OSPEED_MEDIUM 0x00010000UL
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#define GPIO_OSPEED_FAST 0x00020000UL
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#define GPIO_OSPEED_HIGH 0x00030000UL
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#define GPIO_NOPUPD 0x00000000UL
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#define GPIO_PULLUP 0x00100000UL
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#define GPIO_PULLDOWN 0x00200000UL
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#define GPIO_AF0 0x00000000UL
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#define GPIO_AF1 0x01000000UL
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#define GPIO_AF2 0x02000000UL
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#define GPIO_AF3 0x03000000UL
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#define GPIO_AF4 0x04000000UL
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#define GPIO_AF5 0x05000000UL
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#define GPIO_AF6 0x06000000UL
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#define GPIO_AF7 0x07000000UL
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#define GPIO_AF8 0x08000000UL
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#define GPIO_AF9 0x09000000UL
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#define GPIO_AF10 0x0A000000UL
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#define GPIO_AF11 0x0B000000UL
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#define GPIO_AF12 0x0C000000UL
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#define GPIO_AF13 0x0D000000UL
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#define GPIO_AF14 0x0E000000UL
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#define GPIO_AF15 0x0F000000UL
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void GPIO_InitPin(unsigned long I_Pin);
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201
drv/i2c.cpp
Normal file
201
drv/i2c.cpp
Normal file
@ -0,0 +1,201 @@
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#include "stm32g4xx.h"
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#include <string.h>
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#include "gpio.h"
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#include "i2c.h"
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static void Init(I2C_TypeDef* I2C)
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{
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I2C->TIMINGR = 0x00303D5BUL; // 100kHz
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//I2C->TIMINGR = 0x30108DFF;
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I2C->CR1 = I2C_CR1_PE;
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while(I2C->ISR & I2C_ISR_BUSY) { }
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}
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//------------------------------------------------------------------------------
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void I2C2_Init()
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{
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if (RCC->APB1ENR1 & RCC_APB1ENR1_I2C2EN) return;
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RCC->APB1ENR1 |= RCC_APB1ENR1_I2C2EN;
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RCC->AHB2ENR |= RCC_AHB2ENR_GPIOAEN;
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GPIO_InitPin(GPIO_PIN_8 | GPIO_PORT_A | GPIO_ALTER | GPIO_AF4 | GPIO_OSPEED_HIGH | GPIO_OPENDRAIN | GPIO_PULLUP);
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GPIO_InitPin(GPIO_PIN_9 | GPIO_PORT_A | GPIO_ALTER | GPIO_AF4 | GPIO_OSPEED_HIGH | GPIO_OPENDRAIN | GPIO_PULLUP);
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Init(I2C2);
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}
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//------------------------------------------------------------------------------
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void I2C1_Init()
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{
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if (RCC->APB1ENR1 & RCC_APB1ENR1_I2C1EN) return;
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RCC->APB1ENR1 |= RCC_APB1ENR1_I2C1EN;
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RCC->AHB2ENR |= RCC_AHB2ENR_GPIOBEN;
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GPIO_InitPin(GPIO_PIN_8 | GPIO_PORT_B | GPIO_ALTER | GPIO_AF4 | GPIO_OSPEED_HIGH | GPIO_OPENDRAIN | GPIO_PULLUP);
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GPIO_InitPin(GPIO_PIN_9 | GPIO_PORT_B | GPIO_ALTER | GPIO_AF4 | GPIO_OSPEED_HIGH | GPIO_OPENDRAIN | GPIO_PULLUP);
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Init(I2C1);
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}
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//------------------------------------------------------------------------------
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static void Stop(I2C_TypeDef* I2C)
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{
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I2C->CR2 |= I2C_CR2_STOP;
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while (!(I2C->ISR & I2C_ISR_STOPF)) { asm volatile("NOP"); }
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I2C->ICR = I2C_ICR_STOPCF;
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}
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//------------------------------------------------------------------------------
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static void Read(I2C_TypeDef* I2C, unsigned char Address, unsigned char* Data, unsigned char Size)
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{
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I2C->CR2 &= ~(I2C_CR2_SADD_Msk | I2C_CR2_NBYTES_Msk);
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I2C->CR2 |= (Address << (I2C_CR2_SADD_Pos + 1)) | I2C_CR2_RD_WRN | (((unsigned long)Size)<<I2C_CR2_NBYTES_Pos);
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I2C->CR2 |= I2C_CR2_START;
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while (Size--)
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{
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while (!(I2C->ISR & I2C_ISR_RXNE)) { }
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*Data++ = I2C->RXDR;
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}
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}
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//------------------------------------------------------------------------------
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static void Write(I2C_TypeDef* I2C, unsigned char Address, const unsigned char* Data, unsigned char Size)
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{
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I2C->CR2 &= ~(I2C_CR2_SADD_Msk | I2C_CR2_RD_WRN | I2C_CR2_NBYTES_Msk);
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I2C->CR2 |= (Address << (I2C_CR2_SADD_Pos + 1)) | (((unsigned long)Size)<<I2C_CR2_NBYTES_Pos);
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I2C->CR2 |= I2C_CR2_START;
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while(I2C->CR2 & I2C_CR2_START) { asm volatile("NOP"); }
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while (Size--)
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{
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while (!(I2C->ISR & I2C_ISR_TXE)) { asm volatile("NOP"); }
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I2C->TXDR = *Data++;
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}
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while(!(I2C->ISR & I2C_ISR_TC)) { asm volatile("NOP"); }//???
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}
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//------------------------------------------------------------------------------
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static void Write2(I2C_TypeDef* I2C, unsigned char Address, const unsigned char* Data1, unsigned char Size1, const unsigned char* Data2, unsigned char Size2)
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{
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I2C->CR2 &= ~(I2C_CR2_SADD_Msk | I2C_CR2_RD_WRN | I2C_CR2_NBYTES_Msk);
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I2C->CR2 |= (Address << (I2C_CR2_SADD_Pos + 1)) | (((unsigned long)Size1+Size2)<<I2C_CR2_NBYTES_Pos);
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I2C->CR2 |= I2C_CR2_START;
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while (Size1--)
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{
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while (!(I2C->ISR & I2C_ISR_TXE)) { asm volatile("NOP"); }
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I2C->TXDR = *Data1++;
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}
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while (Size2--)
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{
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while (!(I2C->ISR & I2C_ISR_TXE)) { asm volatile("NOP"); }
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I2C->TXDR = *Data2++;
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}
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while(!(I2C->ISR & I2C_ISR_TC)) { asm volatile("NOP"); }
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}
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//------------------------------------------------------------------------------
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void I2C2_Write(unsigned char Address, unsigned char Data)
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{
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Write(I2C2, Address, &Data, 1);
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}
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//------------------------------------------------------------------------------
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void I2C2_Write(unsigned char Address, const void* Data, unsigned char Size)
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{
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Write(I2C2, Address, (unsigned char*)Data, Size);
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}
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//------------------------------------------------------------------------------
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void I2C2_Read(unsigned char Address, void* Data, unsigned char Size)
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{
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Read(I2C2, Address, (unsigned char*)Data, Size);
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}
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//------------------------------------------------------------------------------
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void I2C2_Stop()
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{
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Stop(I2C2);
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}
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//------------------------------------------------------------------------------
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void I2C1_Write(unsigned char Address, unsigned char Data)
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{
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Write(I2C1, Address, &Data, 1);
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}
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//------------------------------------------------------------------------------
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void I2C1_Write(unsigned char Address, const void* Data, unsigned char Size)
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{
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Write(I2C1, Address, (unsigned char*)Data, Size);
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}
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//------------------------------------------------------------------------------
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void I2C1_Write2(unsigned char Address, const void* Data1, unsigned char Size1, const void* Data2, unsigned char Size2)
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{
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Write2(I2C1, Address, (unsigned char*)Data1, Size1, (unsigned char*)Data2, Size2);
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}
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//------------------------------------------------------------------------------
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void I2C1_Read(unsigned char Address, void* Data, unsigned char Size)
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{
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Read(I2C1, Address, (unsigned char*)Data, Size);
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}
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//------------------------------------------------------------------------------
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void I2C1_Stop()
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{
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Stop(I2C1);
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}
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//------------------------------------------------------------------------------
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extern "C" {
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int8_t I2C1_WriteBytes(uint8_t addr, const uint8_t *data, uint8_t size)
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{
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Write(I2C1, addr, (unsigned char*)data, size);
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return 0;
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}
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int8_t I2C1_ReadBytes(uint8_t addr, uint8_t *data, uint8_t size)
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{
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Read(I2C1, addr,(unsigned char*)data, size);
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return 0;
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}
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} // extern "C"
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27
drv/i2c.h
Normal file
27
drv/i2c.h
Normal file
@ -0,0 +1,27 @@
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#pragma once
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struct I2C_Device
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{
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unsigned char* Buffer;
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unsigned char Size;
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void (*CallbackProc)(unsigned char Address, const unsigned char* Data, unsigned char Size);
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unsigned char Address;
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unsigned char Write;
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unsigned char Read;
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I2C_Device* Next;
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};
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void I2C2_Init();
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void I2C2_Write(unsigned char Address, unsigned char Data);
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void I2C2_Write(unsigned char Address, const void* Data, unsigned char Size);
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void I2C2_Read(unsigned char Address, void* Data, unsigned char Size);
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void I2C2_Stop();
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void I2C1_Init();
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void I2C1_Write(unsigned char Address, unsigned char Data);
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void I2C1_Write(unsigned char Address, const void* Data, unsigned char Size);
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void I2C1_Write2(unsigned char Address, const void* Data1, unsigned char Size1, const void* Data2, unsigned char Size2);
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void I2C1_Read(unsigned char Address, void* Data, unsigned char Size);
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void I2C1_Stop();
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18
drv/iwdg.cpp
Normal file
18
drv/iwdg.cpp
Normal file
@ -0,0 +1,18 @@
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#include "stm32g4xx.h"
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#include "iwdg.h"
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void InitIWDG(unsigned short Reload)
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{
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IWDG->KR=0x0000CCCC;
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IWDG->KR=0x00005555;
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IWDG->PR=0;
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IWDG->RLR=Reload;
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while(IWDG->SR) { asm volatile("NOP"); }
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IWDG->KR=0x0000AAAA;
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}
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void PingIWDG()
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{
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IWDG->KR=0x0000AAAA;
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}
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4
drv/iwdg.h
Normal file
4
drv/iwdg.h
Normal file
@ -0,0 +1,4 @@
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#pragma once
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void InitIWDG(unsigned short Reload);
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void PingIWDG();
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85
drv/pwm.cpp
Normal file
85
drv/pwm.cpp
Normal file
@ -0,0 +1,85 @@
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#include "stm32g4xx.h"
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#include "gpio.h"
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#include "pwm.h"
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bool PWM_Enable=false;
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short PWM_work_min = 1050;//???
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inline static unsigned short Mid(unsigned short Val, unsigned short Min, unsigned short Max)
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{
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if(Val<Min) return Min;
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if(Val>Max) return Max;
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return Val;
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}
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||||
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||||
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void PWM_Init(unsigned long Freq)
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{
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||||
GPIO_InitPin(GPIO_PIN_0 | GPIO_PORT_A | GPIO_ALTER | GPIO_AF1);
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GPIO_InitPin(GPIO_PIN_1 | GPIO_PORT_A | GPIO_ALTER | GPIO_AF1);
|
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GPIO_InitPin(GPIO_PIN_2 | GPIO_PORT_A | GPIO_ALTER | GPIO_AF1);
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GPIO_InitPin(GPIO_PIN_3 | GPIO_PORT_A | GPIO_ALTER | GPIO_AF1);
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||||
|
||||
RCC->APB1ENR1 |= RCC_APB1ENR1_TIM2EN;
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TIM2->CR2 = 0;
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||||
|
||||
|
||||
|
||||
TIM2->ARR = 1000 - 1; //The comparison range is 100
|
||||
TIM2->PSC = (16'000'000/1000/16000)-1; // The divider is set to 16000Hz
|
||||
|
||||
TIM2->CCMR1 = TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1PE; //PWM mode 1 for CH1
|
||||
TIM2->CCMR1|= TIM_CCMR1_OC2M_1 | TIM_CCMR1_OC2M_2 | TIM_CCMR1_OC2PE; // PWM mode 1 for CH2
|
||||
TIM2->CCMR2 = TIM_CCMR2_OC3M_1 | TIM_CCMR2_OC3M_2 | TIM_CCMR2_OC3PE; // PWM mode 1 for CH3
|
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TIM2->CCMR2|= TIM_CCMR2_OC4M_1 | TIM_CCMR2_OC4M_2 | TIM_CCMR2_OC4PE; // PWM mode 1 for CH4
|
||||
|
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TIM2->CCER = TIM_CCER_CC1E | TIM_CCER_CC2E | TIM_CCER_CC3E |TIM_CCER_CC4E; // CH1 and CH2 outputs are active
|
||||
TIM2->BDTR = TIM_BDTR_MOE; // Allow active outputs to work
|
||||
TIM2->CR1 = TIM_CR1_CEN; // Timer is running
|
||||
for(int a=0; a<100000; a++) { asm volatile("NOP");}
|
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|
||||
}
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
static void Stop()
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||||
{
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PWM_Enable=false;
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||||
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TIM2->CCER=0;
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|
||||
}
|
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//------------------------------------------------------------------------------
|
||||
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||||
void PWM_SetQuad(short Pow[4], unsigned short Min, unsigned short Max)
|
||||
{
|
||||
if(!Pow) { Stop(); return; }
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||||
TIM2->CCR1 = Mid(Pow[0], Min, Max); //M1
|
||||
TIM2->CCR2 = Mid(Pow[1], Min, Max); //M2
|
||||
TIM2->CCR3 = Mid(Pow[2], Min, Max); //M3
|
||||
TIM2->CCR4 = Mid(Pow[3], Min, Max); //M4
|
||||
|
||||
|
||||
|
||||
bool en=false;
|
||||
for(int a=0; a<4; a++) if(Pow[a]>PWM_work_min) en=true;
|
||||
PWM_Enable=en;
|
||||
}
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
|
||||
|
||||
void PWM_SetAll(unsigned short Pow)
|
||||
{
|
||||
|
||||
TIM2->CCR1 = Pow;
|
||||
TIM2->CCR2 = Pow;
|
||||
TIM2->CCR3 = Pow;
|
||||
TIM2->CCR4 = Pow;
|
||||
|
||||
bool en=false;
|
||||
if(Pow>PWM_work_min) en=true;
|
||||
PWM_Enable=en;
|
||||
}
|
||||
//------------------------------------------------------------------------------
|
||||
7
drv/pwm.h
Normal file
7
drv/pwm.h
Normal file
@ -0,0 +1,7 @@
|
||||
#pragma once
|
||||
|
||||
extern bool PWM_Enable;
|
||||
|
||||
void PWM_Init(unsigned long Freq);
|
||||
void PWM_SetQuad(short M[4], unsigned short Min, unsigned short Max);
|
||||
void PWM_SetAll(unsigned short Pow);
|
||||
138
drv/spi.cpp
Normal file
138
drv/spi.cpp
Normal file
@ -0,0 +1,138 @@
|
||||
#include "stm32g4xx.h"
|
||||
|
||||
#include "gpio.h"
|
||||
|
||||
#include "spi.h"
|
||||
|
||||
static void Init(SPI_TypeDef* SPI)
|
||||
{
|
||||
SPI->CR1 = SPI_CR1_CPHA | SPI_CR1_CPOL | SPI_CR1_SSI | SPI_CR1_SSM | (SPI_CR1_BR_0 | SPI_CR1_BR_1) | SPI_CR1_MSTR;
|
||||
SPI->CR2 = SPI_CR2_DS_0 | SPI_CR2_DS_1 | SPI_CR2_DS_2 | SPI_CR2_FRXTH;
|
||||
SPI->CR1 |= SPI_CR1_SPE;
|
||||
}
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
void SPI1_Init()
|
||||
{
|
||||
if(RCC->APB2ENR & RCC_APB2ENR_SPI1EN) return;
|
||||
|
||||
RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
|
||||
|
||||
RCC->AHB2ENR |= RCC_AHB2ENR_GPIOAEN;
|
||||
GPIO_InitPin(GPIO_PIN_5 | GPIO_PORT_A | GPIO_ALTER | GPIO_AF5 | GPIO_OSPEED_HIGH); // SCK
|
||||
GPIO_InitPin(GPIO_PIN_6 | GPIO_PORT_A | GPIO_ALTER | GPIO_AF5 | GPIO_OSPEED_HIGH); // MISO
|
||||
|
||||
GPIO_InitPin(GPIO_PIN_7 | GPIO_PORT_A | GPIO_ALTER | GPIO_AF5 | GPIO_OSPEED_HIGH); // MOSI
|
||||
|
||||
|
||||
|
||||
GPIO_InitPin(GPIO_PIN_4 | GPIO_PORT_A | GPIO_OUTPUT | GPIO_OSPEED_HIGH | GPIO_SET); // NCS -> PMW3901
|
||||
|
||||
|
||||
|
||||
|
||||
Init(SPI1);
|
||||
}
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
static void Trans(SPI_TypeDef* SPI, const void* WriteData, void* ReadData, unsigned long Size)
|
||||
{
|
||||
unsigned char* dr=(unsigned char*)ReadData;
|
||||
unsigned char* dw=(unsigned char*)WriteData;
|
||||
|
||||
volatile char& DR = *((volatile char*)&(SPI->DR));
|
||||
|
||||
while (Size--)
|
||||
{
|
||||
while (!(SPI->SR & SPI_SR_TXE)) { asm volatile("NOP"); }
|
||||
if (dw) DR = *(dw++);
|
||||
else DR = 0x00;
|
||||
|
||||
while (!(SPI->SR & SPI_SR_RXNE)) { asm volatile("NOP"); }
|
||||
if (dr) *(dr++) = DR;
|
||||
else volatile char t = DR;
|
||||
}
|
||||
|
||||
while (SPI->SR & SPI_SR_BSY) { asm volatile("NOP"); }
|
||||
}
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
static inline void CS_IMU(bool En)
|
||||
{
|
||||
if(En) GPIOB->BSRR = GPIO_BSRR_BR_12;
|
||||
else GPIOB->BSRR = GPIO_BSRR_BS_12;
|
||||
|
||||
for (unsigned long a = 0; a < 21; a++) { asm volatile("NOP"); }
|
||||
}
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
void SPI1_TransferCons(const void* WriteData, unsigned long WriteSize, void* ReadData, unsigned long ReadSize)
|
||||
{
|
||||
CS_IMU(true);
|
||||
|
||||
Trans(SPI1, WriteData, 0, WriteSize);
|
||||
Trans(SPI1, 0, ReadData, ReadSize);
|
||||
|
||||
CS_IMU(false);
|
||||
}
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
void SPI1_TransferParallel(const void* WriteData, void* ReadData, unsigned long Size)
|
||||
{
|
||||
CS_IMU(true);
|
||||
|
||||
Trans(SPI1, WriteData, ReadData, Size);
|
||||
|
||||
CS_IMU(false);
|
||||
}
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
void SPI2_Init()
|
||||
{
|
||||
|
||||
if ( RCC->APB1ENR1&RCC_APB1ENR1_SPI2EN) return;
|
||||
|
||||
RCC->APB1ENR1 |= RCC_APB1ENR1_SPI2EN;
|
||||
|
||||
RCC->AHB2ENR |= RCC_AHB2ENR_GPIOAEN;
|
||||
RCC->AHB2ENR |= RCC_AHB2ENR_GPIOBEN;
|
||||
|
||||
GPIO_InitPin(GPIO_PIN_10 | GPIO_PORT_A | GPIO_ALTER | GPIO_AF5 | GPIO_OSPEED_HIGH | GPIO_OPENDRAIN | GPIO_PULLUP); // MISO
|
||||
GPIO_InitPin(GPIO_PIN_11 | GPIO_PORT_A | GPIO_ALTER | GPIO_AF5 | GPIO_OSPEED_HIGH | GPIO_OPENDRAIN | GPIO_PULLUP); // MOSI
|
||||
|
||||
|
||||
GPIO_InitPin(GPIO_PIN_13 | GPIO_PORT_B | GPIO_ALTER | GPIO_AF5 | GPIO_OSPEED_HIGH| GPIO_OPENDRAIN | GPIO_PULLUP); // SCK
|
||||
GPIO_InitPin(GPIO_PIN_12 | GPIO_PORT_B | GPIO_OUTPUT | GPIO_OSPEED_HIGH | GPIO_SET| GPIO_OPENDRAIN | GPIO_PULLUP); // NSS -> PMW3901
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
Init(SPI2);
|
||||
}
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
void SPI2_TransferCons(const void* WriteData, unsigned long WriteSize, void* ReadData, unsigned long ReadSize)
|
||||
{
|
||||
CS_IMU(true);
|
||||
|
||||
Trans(SPI2, WriteData, 0, WriteSize);
|
||||
Trans(SPI2, 0, ReadData, ReadSize);
|
||||
|
||||
CS_IMU(false);
|
||||
}
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
void SPI2_TransferParallel(const void* WriteData, void* ReadData, unsigned long Size)
|
||||
{
|
||||
CS_IMU(true);
|
||||
|
||||
Trans(SPI2, WriteData, ReadData, Size);
|
||||
|
||||
CS_IMU(false);
|
||||
}
|
||||
//-----------------------------------------------------------------------------
|
||||
12
drv/spi.h
Normal file
12
drv/spi.h
Normal file
@ -0,0 +1,12 @@
|
||||
#pragma once
|
||||
|
||||
void SPI1_Init();
|
||||
|
||||
void SPI1_TransferCons(const void* WriteData, unsigned long WriteSize, void* ReadData, unsigned long ReadSize);
|
||||
void SPI1_TransferParallel(const void* WriteData, void* ReadData, unsigned long Size);
|
||||
|
||||
|
||||
void SPI2_Init();
|
||||
|
||||
void SPI2_TransferCons(const void* WriteData, unsigned long WriteSize, void* ReadData, unsigned long ReadSize);
|
||||
void SPI2_TransferParallel(const void* WriteData, void* ReadData, unsigned long Size);
|
||||
36
drv/tick.cpp
Normal file
36
drv/tick.cpp
Normal file
@ -0,0 +1,36 @@
|
||||
#include "stm32g4xx.h"
|
||||
|
||||
#include "tick.h"
|
||||
|
||||
static unsigned long Tick = 0;
|
||||
|
||||
extern "C" void SysTick_Handler()
|
||||
{
|
||||
Tick++;
|
||||
}
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
void TICK_Init()
|
||||
{
|
||||
SysTick->LOAD = SystemCoreClock / 1000;
|
||||
SysTick->VAL = 0UL;
|
||||
SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk | SysTick_CTRL_TICKINT_Msk | SysTick_CTRL_ENABLE_Msk;
|
||||
|
||||
NVIC_SetPriority(SysTick_IRQn, 0);
|
||||
}
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
unsigned long TICK_GetCount() // ms
|
||||
{
|
||||
return Tick;
|
||||
}
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
|
||||
void Tick_Delay(unsigned long ms)
|
||||
{
|
||||
const unsigned long start = Tick;
|
||||
while ((Tick - start) < ms) {
|
||||
__NOP();
|
||||
}
|
||||
}
|
||||
5
drv/tick.h
Normal file
5
drv/tick.h
Normal file
@ -0,0 +1,5 @@
|
||||
#pragma once
|
||||
|
||||
void TICK_Init();
|
||||
unsigned long TICK_GetCount();
|
||||
void Tick_Delay(unsigned long ms);
|
||||
34
drv/tim.cpp
Normal file
34
drv/tim.cpp
Normal file
@ -0,0 +1,34 @@
|
||||
#include "stm32g4xx.h"
|
||||
|
||||
#include "tim.h"
|
||||
|
||||
static void (*TIM7_Proc)() = 0;
|
||||
|
||||
extern "C" void TIM7_IRQHandler()
|
||||
{
|
||||
TIM7->SR = 0;
|
||||
TIM7_Proc();
|
||||
}
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
void TIM7_Init(long Priority)
|
||||
{
|
||||
RCC->APB1ENR1 |= RCC_APB1ENR1_TIM7EN;
|
||||
|
||||
TIM7->CR1 = 0;
|
||||
TIM7->ARR = 1000 - 1;
|
||||
TIM7->DIER = TIM_DIER_UIE;
|
||||
|
||||
NVIC_SetPriority(TIM7_IRQn, Priority);
|
||||
NVIC_EnableIRQ(TIM7_IRQn);
|
||||
}
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
void TIM7_Update(unsigned long Freq, void (*Proc)())
|
||||
{
|
||||
TIM7->CR1 = 0;
|
||||
TIM7->PSC = (SystemCoreClock / 1000 / Freq) - 1;
|
||||
TIM7_Proc = Proc;
|
||||
TIM7->CR1 = TIM_CR1_CEN;
|
||||
}
|
||||
//------------------------------------------------------------------------------
|
||||
4
drv/tim.h
Normal file
4
drv/tim.h
Normal file
@ -0,0 +1,4 @@
|
||||
#pragma once
|
||||
|
||||
void TIM7_Init(long Priority);
|
||||
void TIM7_Update(unsigned long Freq, void (*UpdateProc)());
|
||||
237
drv/uart.cpp
Normal file
237
drv/uart.cpp
Normal file
@ -0,0 +1,237 @@
|
||||
#include "stm32g4xx.h"
|
||||
|
||||
#include <string.h>
|
||||
|
||||
#include "gpio.h"
|
||||
|
||||
#include "uart.h"
|
||||
|
||||
static const unsigned long UART_BuferSize=256;
|
||||
|
||||
struct UART_Data
|
||||
{
|
||||
USART_TypeDef* UART;
|
||||
|
||||
struct
|
||||
{
|
||||
unsigned long Size;
|
||||
unsigned char* Buffer;
|
||||
unsigned short Head;
|
||||
unsigned short Tail;
|
||||
unsigned short Push;
|
||||
unsigned short Pull;
|
||||
} Recv, Send;
|
||||
};
|
||||
|
||||
static unsigned char UART3_BufferRecv[UART_BuferSize], UART3_BufferSend[UART_BuferSize];
|
||||
static UART_Data UART3_Data{ USART3, {sizeof(UART3_BufferRecv), UART3_BufferRecv, 0, 0, 0, 0}, {sizeof(UART3_BufferSend), UART3_BufferSend, 0, 0, 0, 0} };
|
||||
|
||||
static unsigned char UART2_BufferRecv[UART_BuferSize], UART2_BufferSend[UART_BuferSize];
|
||||
static UART_Data UART2_Data{ USART2, {sizeof(UART2_BufferRecv), UART2_BufferRecv, 0, 0, 0, 0}, {sizeof(UART2_BufferSend), UART2_BufferSend, 0, 0, 0, 0} };
|
||||
|
||||
static unsigned char UART1_BufferRecv[UART_BuferSize], UART1_BufferSend[UART_BuferSize];
|
||||
static UART_Data UART1_Data{ USART1, {sizeof(UART1_BufferRecv), UART1_BufferRecv, 0, 0, 0, 0}, {sizeof(UART1_BufferSend), UART1_BufferSend, 0, 0, 0, 0} };
|
||||
|
||||
static void IRQHandler(UART_Data& Uart)
|
||||
{
|
||||
unsigned long isr = Uart.UART->ISR;
|
||||
if(isr & USART_ISR_RXNE)
|
||||
{
|
||||
Uart.Recv.Buffer[Uart.Recv.Head] = Uart.UART->RDR;
|
||||
if(Uart.Recv.Push-Uart.Recv.Pull<Uart.Recv.Size)
|
||||
{
|
||||
Uart.Recv.Head++;
|
||||
Uart.Recv.Push++;
|
||||
}
|
||||
if(Uart.Recv.Head>=Uart.Recv.Size) Uart.Recv.Head=0;
|
||||
}
|
||||
if(isr & USART_ISR_TXE)
|
||||
{
|
||||
if(Uart.Send.Push != Uart.Send.Pull)
|
||||
{
|
||||
Uart.UART->TDR = Uart.Send.Buffer[Uart.Send.Tail++];
|
||||
if(Uart.Send.Tail>=Uart.Send.Size) Uart.Send.Tail=0;
|
||||
Uart.Send.Pull++;
|
||||
}
|
||||
else Uart.UART->CR1 &= ~USART_CR1_TXEIE;
|
||||
}
|
||||
}
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
extern "C" void USART3_IRQHandler()
|
||||
{
|
||||
IRQHandler(UART3_Data);
|
||||
}
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
extern "C" void USART2_IRQHandler()
|
||||
{
|
||||
IRQHandler(UART2_Data);
|
||||
}
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
extern "C" void USART1_IRQHandler()
|
||||
{
|
||||
IRQHandler(UART1_Data);
|
||||
}
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
static void Init(USART_TypeDef* USART, unsigned long Baud)
|
||||
{
|
||||
USART->CR1 = 0;
|
||||
|
||||
USART->CR1 = USART_CR1_TE | USART_CR1_RE | USART_CR1_RXNEIE;
|
||||
|
||||
//USART->BRR = SystemCoreClock / 4 / Baud;
|
||||
USART->BRR = SystemCoreClock / Baud;
|
||||
|
||||
USART->CR3 |= USART_CR3_OVRDIS;
|
||||
USART->CR1 |= USART_CR1_UE;
|
||||
}
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
void UART3_Init(unsigned long Baud)
|
||||
{
|
||||
if (RCC->APB1ENR1 & RCC_APB1ENR1_USART3EN) return;
|
||||
|
||||
RCC->APB1ENR1 |= RCC_APB1ENR1_USART3EN;
|
||||
|
||||
GPIO_InitPin(GPIO_PIN_10 | GPIO_PORT_B | GPIO_ALTER | GPIO_AF7 | GPIO_OSPEED_HIGH);
|
||||
GPIO_InitPin(GPIO_PIN_11 | GPIO_PORT_B | GPIO_ALTER | GPIO_AF7 | GPIO_OSPEED_HIGH);
|
||||
|
||||
Init(USART3, Baud);
|
||||
|
||||
NVIC_SetPriority(USART3_IRQn, 0);
|
||||
NVIC_EnableIRQ(USART3_IRQn);
|
||||
}
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
void UART2_Init(unsigned long Baud)
|
||||
{
|
||||
if (RCC->APB1ENR1 & RCC_APB1ENR1_USART2EN) return;
|
||||
|
||||
RCC->APB1ENR1 |= RCC_APB1ENR1_USART2EN;
|
||||
|
||||
GPIO_InitPin(GPIO_PIN_3 | GPIO_PORT_B | GPIO_ALTER | GPIO_AF7 | GPIO_OSPEED_HIGH);
|
||||
GPIO_InitPin(GPIO_PIN_4 | GPIO_PORT_B | GPIO_ALTER | GPIO_AF7 | GPIO_OSPEED_HIGH);
|
||||
|
||||
Init(USART2, Baud);
|
||||
|
||||
NVIC_SetPriority(USART2_IRQn, 0);
|
||||
NVIC_EnableIRQ(USART2_IRQn);
|
||||
}
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
void UART1_Init(unsigned long Baud)
|
||||
{
|
||||
if (RCC->APB2ENR & RCC_APB2ENR_USART1EN) return;
|
||||
|
||||
RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
|
||||
|
||||
GPIO_InitPin(GPIO_PIN_6 | GPIO_PORT_B | GPIO_ALTER | GPIO_AF7 | GPIO_OSPEED_HIGH);
|
||||
GPIO_InitPin(GPIO_PIN_7 | GPIO_PORT_B | GPIO_ALTER | GPIO_AF7 | GPIO_OSPEED_HIGH);
|
||||
|
||||
Init(USART1, Baud);
|
||||
|
||||
NVIC_SetPriority(USART1_IRQn, 0);
|
||||
NVIC_EnableIRQ(USART1_IRQn);
|
||||
}
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
static unsigned long Recv(UART_Data& Uart, void* Data, unsigned long Size)
|
||||
{
|
||||
if(!Data) return Uart.Recv.Push-Uart.Recv.Pull;
|
||||
|
||||
unsigned char* data=(unsigned char*)Data;
|
||||
unsigned long size = 0;
|
||||
|
||||
while (size < Size)
|
||||
{
|
||||
if (Uart.Recv.Push == Uart.Recv.Pull) break;
|
||||
data[size++] = Uart.Recv.Buffer[Uart.Recv.Tail++];
|
||||
if(Uart.Recv.Tail>=Uart.Recv.Size) Uart.Recv.Tail=0;
|
||||
Uart.Recv.Pull++;
|
||||
}
|
||||
return size;
|
||||
}
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
static unsigned long Send(UART_Data& Uart, const void* Data, unsigned long Size)
|
||||
{
|
||||
unsigned char* data=(unsigned char*)Data;
|
||||
unsigned long size = 0;
|
||||
|
||||
while (size < Size)
|
||||
{
|
||||
if (Uart.Send.Push - Uart.Send.Pull >= Uart.Send.Size) break;
|
||||
Uart.Send.Buffer[Uart.Send.Head++] = data[size++];
|
||||
if(Uart.Send.Head>=Uart.Send.Size) Uart.Send.Head=0;
|
||||
Uart.Send.Push++;
|
||||
}
|
||||
|
||||
Uart.UART->CR1 |= USART_CR1_TXEIE;
|
||||
|
||||
return size;
|
||||
}
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
static inline void Flush(UART_Data& Uart)
|
||||
{
|
||||
Uart.Recv.Tail=Uart.Recv.Head;
|
||||
Uart.Recv.Pull=Uart.Recv.Push;
|
||||
}
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
unsigned long UART3_Recv(void* Data, unsigned long Size)
|
||||
{
|
||||
return Recv(UART3_Data, Data, Size);
|
||||
}
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
void UART3_Flush()
|
||||
{
|
||||
Flush(UART3_Data);
|
||||
}
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
unsigned long UART3_Send(const void* Data, unsigned long Size)
|
||||
{
|
||||
return Send(UART3_Data, Data, Size);
|
||||
}
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
unsigned long UART2_Recv(void* Data, unsigned long Size)
|
||||
{
|
||||
return Recv(UART2_Data, Data, Size);
|
||||
}
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
void UART2_Flush()
|
||||
{
|
||||
Flush(UART2_Data);
|
||||
}
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
unsigned long UART2_Send(const void* Data, unsigned long Size)
|
||||
{
|
||||
return Send(UART2_Data, Data, Size);
|
||||
}
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
unsigned long UART1_Recv(void* Data, unsigned long Size)
|
||||
{
|
||||
return Recv(UART1_Data, Data, Size);
|
||||
}
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
void UART1_Flush()
|
||||
{
|
||||
Flush(UART1_Data);
|
||||
}
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
unsigned long UART1_Send(const void* Data, unsigned long Size)
|
||||
{
|
||||
return Send(UART1_Data, Data, Size);
|
||||
}
|
||||
//------------------------------------------------------------------------------
|
||||
16
drv/uart.h
Normal file
16
drv/uart.h
Normal file
@ -0,0 +1,16 @@
|
||||
#pragma once
|
||||
|
||||
void UART3_Init(unsigned long Baud);
|
||||
void UART3_Flush();
|
||||
unsigned long UART3_Recv(void* Data, unsigned long Size);
|
||||
unsigned long UART3_Send(const void* Data, unsigned long Size);
|
||||
|
||||
void UART2_Init(unsigned long Baud);
|
||||
void UART2_Flush();
|
||||
unsigned long UART2_Recv(void* Data, unsigned long Size);
|
||||
unsigned long UART2_Send(const void* Data, unsigned long Size);
|
||||
|
||||
void UART1_Init(unsigned long Baud);
|
||||
void UART1_Flush();
|
||||
unsigned long UART1_Recv(void* Data, unsigned long Size);
|
||||
unsigned long UART1_Send(const void* Data, unsigned long Size);
|
||||
1053
drv/vl53l0x.cpp
Normal file
1053
drv/vl53l0x.cpp
Normal file
File diff suppressed because it is too large
Load Diff
186
drv/vl53l0x.h
Normal file
186
drv/vl53l0x.h
Normal file
@ -0,0 +1,186 @@
|
||||
#ifndef VL53L0X_h
|
||||
#define VL53L0X_h
|
||||
|
||||
#include <cstdint>
|
||||
#include "tick.h"
|
||||
|
||||
class VL53L0X
|
||||
{
|
||||
public:
|
||||
// register addresses from API vl53l0x_device.h (ordered as listed there)
|
||||
enum regAddr
|
||||
{
|
||||
SYSRANGE_START = 0x00,
|
||||
|
||||
SYSTEM_THRESH_HIGH = 0x0C,
|
||||
SYSTEM_THRESH_LOW = 0x0E,
|
||||
|
||||
SYSTEM_SEQUENCE_CONFIG = 0x01,
|
||||
SYSTEM_RANGE_CONFIG = 0x09,
|
||||
SYSTEM_INTERMEASUREMENT_PERIOD = 0x04,
|
||||
|
||||
SYSTEM_INTERRUPT_CONFIG_GPIO = 0x0A,
|
||||
|
||||
GPIO_HV_MUX_ACTIVE_HIGH = 0x84,
|
||||
|
||||
SYSTEM_INTERRUPT_CLEAR = 0x0B,
|
||||
|
||||
RESULT_INTERRUPT_STATUS = 0x13,
|
||||
RESULT_RANGE_STATUS = 0x14,
|
||||
|
||||
RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN = 0xBC,
|
||||
RESULT_CORE_RANGING_TOTAL_EVENTS_RTN = 0xC0,
|
||||
RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF = 0xD0,
|
||||
RESULT_CORE_RANGING_TOTAL_EVENTS_REF = 0xD4,
|
||||
RESULT_PEAK_SIGNAL_RATE_REF = 0xB6,
|
||||
|
||||
ALGO_PART_TO_PART_RANGE_OFFSET_MM = 0x28,
|
||||
|
||||
I2C_SLAVE_DEVICE_ADDRESS = 0x8A,
|
||||
|
||||
MSRC_CONFIG_CONTROL = 0x60,
|
||||
|
||||
PRE_RANGE_CONFIG_MIN_SNR = 0x27,
|
||||
PRE_RANGE_CONFIG_VALID_PHASE_LOW = 0x56,
|
||||
PRE_RANGE_CONFIG_VALID_PHASE_HIGH = 0x57,
|
||||
PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT = 0x64,
|
||||
|
||||
FINAL_RANGE_CONFIG_MIN_SNR = 0x67,
|
||||
FINAL_RANGE_CONFIG_VALID_PHASE_LOW = 0x47,
|
||||
FINAL_RANGE_CONFIG_VALID_PHASE_HIGH = 0x48,
|
||||
FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT = 0x44,
|
||||
|
||||
PRE_RANGE_CONFIG_SIGMA_THRESH_HI = 0x61,
|
||||
PRE_RANGE_CONFIG_SIGMA_THRESH_LO = 0x62,
|
||||
|
||||
PRE_RANGE_CONFIG_VCSEL_PERIOD = 0x50,
|
||||
PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI = 0x51,
|
||||
PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO = 0x52,
|
||||
|
||||
SYSTEM_HISTOGRAM_BIN = 0x81,
|
||||
HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT = 0x33,
|
||||
HISTOGRAM_CONFIG_READOUT_CTRL = 0x55,
|
||||
|
||||
FINAL_RANGE_CONFIG_VCSEL_PERIOD = 0x70,
|
||||
FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI = 0x71,
|
||||
FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO = 0x72,
|
||||
CROSSTALK_COMPENSATION_PEAK_RATE_MCPS = 0x20,
|
||||
|
||||
MSRC_CONFIG_TIMEOUT_MACROP = 0x46,
|
||||
|
||||
SOFT_RESET_GO2_SOFT_RESET_N = 0xBF,
|
||||
IDENTIFICATION_MODEL_ID = 0xC0,
|
||||
IDENTIFICATION_REVISION_ID = 0xC2,
|
||||
|
||||
OSC_CALIBRATE_VAL = 0xF8,
|
||||
|
||||
GLOBAL_CONFIG_VCSEL_WIDTH = 0x32,
|
||||
GLOBAL_CONFIG_SPAD_ENABLES_REF_0 = 0xB0,
|
||||
GLOBAL_CONFIG_SPAD_ENABLES_REF_1 = 0xB1,
|
||||
GLOBAL_CONFIG_SPAD_ENABLES_REF_2 = 0xB2,
|
||||
GLOBAL_CONFIG_SPAD_ENABLES_REF_3 = 0xB3,
|
||||
GLOBAL_CONFIG_SPAD_ENABLES_REF_4 = 0xB4,
|
||||
GLOBAL_CONFIG_SPAD_ENABLES_REF_5 = 0xB5,
|
||||
|
||||
GLOBAL_CONFIG_REF_EN_START_SELECT = 0xB6,
|
||||
DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD = 0x4E,
|
||||
DYNAMIC_SPAD_REF_EN_START_OFFSET = 0x4F,
|
||||
POWER_MANAGEMENT_GO1_POWER_FORCE = 0x80,
|
||||
|
||||
VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV = 0x89,
|
||||
|
||||
ALGO_PHASECAL_LIM = 0x30,
|
||||
ALGO_PHASECAL_CONFIG_TIMEOUT = 0x30,
|
||||
};
|
||||
|
||||
enum vcselPeriodType { VcselPeriodPreRange, VcselPeriodFinalRange };
|
||||
|
||||
uint8_t last_status; // status of last I2C transmission
|
||||
|
||||
VL53L0X();
|
||||
|
||||
|
||||
|
||||
void setAddress(uint8_t new_addr);
|
||||
inline uint8_t getAddress() { return address; }
|
||||
|
||||
bool init(bool io_2v8 = true);
|
||||
|
||||
void writeReg(uint8_t reg, uint8_t value);
|
||||
void writeReg16Bit(uint8_t reg, uint16_t value);
|
||||
void writeReg32Bit(uint8_t reg, uint32_t value);
|
||||
uint8_t readReg(uint8_t reg);
|
||||
uint16_t readReg16Bit(uint8_t reg);
|
||||
uint32_t readReg32Bit(uint8_t reg);
|
||||
|
||||
void writeMulti(uint8_t reg, uint8_t const * src, uint8_t count);
|
||||
void readMulti(uint8_t reg, uint8_t * dst, uint8_t count);
|
||||
|
||||
bool setSignalRateLimit(float limit_Mcps);
|
||||
float getSignalRateLimit();
|
||||
|
||||
bool setMeasurementTimingBudget(uint32_t budget_us);
|
||||
uint32_t getMeasurementTimingBudget();
|
||||
|
||||
bool setVcselPulsePeriod(vcselPeriodType type, uint8_t period_pclks);
|
||||
uint8_t getVcselPulsePeriod(vcselPeriodType type);
|
||||
|
||||
void startContinuous(uint32_t period_ms = 0);
|
||||
void stopContinuous();
|
||||
uint16_t readRangeContinuousMillimeters();
|
||||
uint16_t readRangeSingleMillimeters();
|
||||
|
||||
|
||||
bool isRangeReady();
|
||||
uint16_t readRange();
|
||||
|
||||
inline void setTimeout(uint16_t timeout) { io_timeout = timeout; }
|
||||
inline uint16_t getTimeout() { return io_timeout; }
|
||||
bool timeoutOccurred();
|
||||
|
||||
private:
|
||||
// TCC: Target CentreCheck
|
||||
// MSRC: Minimum Signal Rate Check
|
||||
// DSS: Dynamic Spad Selection
|
||||
|
||||
struct SequenceStepEnables
|
||||
{
|
||||
bool tcc, msrc, dss, pre_range, final_range;
|
||||
};
|
||||
|
||||
struct SequenceStepTimeouts
|
||||
{
|
||||
uint16_t pre_range_vcsel_period_pclks, final_range_vcsel_period_pclks;
|
||||
|
||||
uint16_t msrc_dss_tcc_mclks, pre_range_mclks, final_range_mclks;
|
||||
uint32_t msrc_dss_tcc_us, pre_range_us, final_range_us;
|
||||
};
|
||||
|
||||
|
||||
uint8_t address;
|
||||
uint16_t io_timeout;
|
||||
bool did_timeout;
|
||||
uint16_t timeout_start_ms;
|
||||
|
||||
uint8_t stop_variable; // read by init and used when starting measurement; is StopVariable field of VL53L0X_DevData_t structure in API
|
||||
uint32_t measurement_timing_budget_us;
|
||||
|
||||
bool getSpadInfo(uint8_t * count, bool * type_is_aperture);
|
||||
|
||||
void getSequenceStepEnables(SequenceStepEnables * enables);
|
||||
void getSequenceStepTimeouts(SequenceStepEnables const * enables, SequenceStepTimeouts * timeouts);
|
||||
|
||||
bool performSingleRefCalibration(uint8_t vhv_init_byte);
|
||||
|
||||
static uint16_t decodeTimeout(uint16_t value);
|
||||
static uint16_t encodeTimeout(uint32_t timeout_mclks);
|
||||
static uint32_t timeoutMclksToMicroseconds(uint16_t timeout_period_mclks, uint8_t vcsel_period_pclks);
|
||||
static uint32_t timeoutMicrosecondsToMclks(uint32_t timeout_period_us, uint8_t vcsel_period_pclks);
|
||||
|
||||
|
||||
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
Reference in New Issue
Block a user