设置 I2C 通信
Set up I2C communications
我正在尝试在 nucleo STM32F466RE 板上的两个 Adafruit TOF 传感器 VL6180X 之间设置 I²C 通信。我正在使用 cubeMX 和 VS 代码，还帮助 ST website 的 x-nucleo-6180xa1 上的 VL6180X API，我想设置它以便我可以分别测试两个传感器。到目前为止，我只成功测量了一个传感器，但是当我尝试将两个传感器连接到 SHDN 到 nucleo STM32F466RE 上的 GPIO 时，我遇到了问题。我正在尝试管理一些主从操作，但我是这方面的新手，有人知道怎么做吗？
我要找的是示例代码，这样我就可以看到它是如何实现的。这不是制作 运行，而是供我家庭使用的。目标是在这两个TOF传感器上进行管理，我一直没能找到代码研究。
这是我的主要代码：
/* Private variables ---------------------------------------------------------*/
I2C_HandleTypeDef hi2c1;
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_I2C1_Init(void);
static void MX_USART2_UART_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void WaitMilliSec(int ms);
VL6180xDev_t theVL6180xDev;
struct MyVL6180Dev_t BoardDevs[2] = {
[0]= { .DevID = 0 },
[1]= { .DevID = 1 }
};
VL6180xDev_t theVL6180xDev = &BoardDevs[0];
/**
* VL6180x CubeMX F401 multiple device i2c implementation
*/
#define i2c_bus (&hi2c1)
#define def_i2c_time_out 100
int VL6180x_I2CWrite(VL6180xDev_t dev, uint8_t *buff, uint8_t len) {
int status;
status = HAL_I2C_Master_Transmit(i2c_bus, dev->I2cAddr, buff, len, def_i2c_time_out);
if (status) {
HAL_I2C_MspInit(&hi2c1);
}
return status? -1 : 0;
}
int VL6180x_I2CRead(VL6180xDev_t dev, uint8_t *buff, uint8_t len) {
int status;
status = HAL_I2C_Master_Receive(i2c_bus, dev->I2cAddr, buff, len, def_i2c_time_out);
if (status) {
HAL_I2C_MspInit(&hi2c1);
}
return status? -1 : 0;
}
void WaitMilliSec(int ms) {
HAL_Delay(ms); /* it's milli sec cos we do set systick to 1KHz */
}
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
#define MAX_DEV 1
VL6180x_RangeData_t Range[MAX_DEV];
int status;
int i;
int n_dev=1;
int PresentDevMask;
int nPresentDevs;
int PresentDevIds[MAX_DEV];
int nReady;
/* 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_I2C1_Init();
MX_USART2_UART_Init();
/* USER CODE BEGIN 2 */
/* detect presence and initialize devices i2c address */
/*set device i2c address for dev[i] = 0x52+(i+1)*2 */
PresentDevMask = 0;
nPresentDevs = 0;
//strcpy(DisplayStr,"TLBR");
for (i = 0; i <= n_dev; i++){
int FinalI2cAddr;
uint8_t id;
/* unreset device that wake up at default i2c addres 0x52 */
WaitMilliSec(2); /* at least 400usec before to acces device */
BoardDevs[i].I2cAddr = 0x52;
/* to detect device presence try to read it's dev id */
status = VL6180x_RdByte(&BoardDevs[i], IDENTIFICATION_MODEL_ID, &id);
if (status) {
/* these device is not present skip init and clear it's letter on string */
BoardDevs[i].Present = 0;
//DisplayStr[i]=' ';
continue;
}
/* device present only */
BoardDevs[i].Present = 1;
PresentDevMask |= 1 << i;
PresentDevIds[nPresentDevs]=i;
nPresentDevs++;
status = VL6180x_InitData(&BoardDevs[i]);
FinalI2cAddr = 0x52 + ((i+1) * 2);
if (FinalI2cAddr != 0x52) {
status = VL6180x_SetI2CAddress(&BoardDevs[i], FinalI2cAddr);
if( status ){
//HandleError("VL6180x_SetI2CAddress fail");
}
BoardDevs[i].I2cAddr = FinalI2cAddr;
}
WaitMilliSec(1);
status = VL6180x_RdByte(&BoardDevs[i], IDENTIFICATION_MODEL_ID, &id);
WaitMilliSec(1);
status= VL6180x_Prepare(&BoardDevs[i]);
if( status<0 ){
//HandleError("VL6180x_Prepare fail");
}
/* Disable Dmax computation */
VL6180x_DMaxSetState(&BoardDevs[i], 0);
}
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
VL6180xDev_t dev;
/*
VL6180x_RangePollMeasurement(dev, &Range[0]);
HAL_Delay(20);
*/
// kick off measure on all device
for( i=0; i<nPresentDevs; i++){
dev = BoardDevs + PresentDevIds[i];
//TODO: GPIO enamble of pa11
status = VL6180x_RangeStartSingleShot(dev);
if( status<0 ){
//HandleError("VL6180x_RangeStartSingleShot fail");
}
dev->Ready=0;
}
// wait for all present device to have a measure
nReady=0;
do{
//DISP_ExecLoopBody();
for( i=0; i<nPresentDevs; i++){
dev = BoardDevs + PresentDevIds[i];
if( !dev->Ready ){
status = VL6180x_RangeGetMeasurementIfReady(dev, &Range[i]);
if( status == 0 ){
if(Range[i].errorStatus == DataNotReady)
continue;
// New measurement ready
dev->Ready=1;
nReady++;
} else {
//HandleError("VL6180x_RangeStartSingleShot fail");
}
}
}
}
while( nReady<nPresentDevs);
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
...
我进入这类问题的方式如下。
- 从任何来源下载此传感器的 Arduino 库。 here
- 仔细阅读源文件，找出使用i2c通信的核心函数。
- 根据您的任务修改该核心函数。（实施适当的 i2c 调用）
- 将修改后的头文件和源文件包含到您的项目中并使用它们。
我解决了我的问题。您可能知道，要让几个 Adafruit TOF VL6180X 传感器一起工作，它们必须从它们的 SHDN 连接到板上的 GPIO。实际上缺少的是所有传感器的重置和这些传感器及其地址的设置。我在寻找解决方案时遇到的问题之一是命令的顺序。重要的是要注意，我们首先重置所有传感器，并在分配地址后设置。如果您也有兴趣，请附上对代码的更正。您可以在依赖于循环中的变量 i 的代码中看到 if 查询，以便分隔两个传感器。我这样做只是为了找到特定的组件。有一个更聪明的方法来做，它只是为了理解命令的顺序。
在评论中查看我的解决方案：
<<<<-------------------------RESET-----
<<<<-------------------------SET-----
/* USER CODE BEGIN PV */
// global vars only for debugging with STMStudio
VL6180x_RangeData_t Range[MAX_DEV];
VL6180x_RangeData_t RangeDB1;
VL6180x_RangeData_t RangeDB2;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_I2C1_Init(void);
static void MX_USART2_UART_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void WaitMilliSec(int ms);
VL6180xDev_t theVL6180xDev;
struct MyVL6180Dev_t BoardDevs[MAX_DEV] = {
[0]= { .DevID = 0 },
[1]= { .DevID = 1 },
};
VL6180xDev_t theVL6180xDev = &BoardDevs[0];
/**
* VL6180x CubeMX F401 multiple device i2c implementation
*/
#define i2c_bus (&hi2c1)
#define def_i2c_time_out 100
int VL6180x_I2CWrite(VL6180xDev_t dev, uint8_t *buff, uint8_t len) {
int status;
status = HAL_I2C_Master_Transmit(i2c_bus, dev->I2cAddr, buff, len, def_i2c_time_out);
if (status) {
HAL_I2C_MspInit(&hi2c1);
}
return status? -1 : 0;
}
int VL6180x_I2CRead(VL6180xDev_t dev, uint8_t *buff, uint8_t len) {
int status;
status = HAL_I2C_Master_Receive(i2c_bus, dev->I2cAddr, buff, len, def_i2c_time_out);
if (status) {
HAL_I2C_MspInit(&hi2c1);
}
return status? -1 : 0;
}
void WaitMilliSec(int ms) {
HAL_Delay(ms); /* it's milli sec cos we do set systick to 1KHz */
}
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
int status;
int i;
int n_dev=2;
int PresentDevMask;
int nPresentDevs;
int PresentDevIds[MAX_DEV];
int nReady;
/* 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 */
// here I put all my devices under reset <<<<-------------------------RESET-----
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_11, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_RESET);
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_I2C1_Init();
MX_USART2_UART_Init();
/* USER CODE BEGIN 2 */
/* detect presence and initialize devices i2c address */
/*set device i2c address for dev[i] = 0x52+(i+1)*2 */
PresentDevMask = 0;
nPresentDevs = 0;
//strcpy(DisplayStr,"TLBR");
for (i = 0; i <= n_dev - 1; i++) {
int FinalI2cAddr;
uint8_t id;
// here I put all my devices under set <<<<-------------------------SET-----
if (i==0){
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_11, GPIO_PIN_SET);
}
if (i==1){
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_SET);
}
/* unreset device that wake up at default i2c addres 0x52 */
WaitMilliSec(2); /* at least 400usec before to acces device */
BoardDevs[i].I2cAddr = 0x52;
/* to detect device presence try to read it's dev id */
status = VL6180x_RdByte(&BoardDevs[i], IDENTIFICATION_MODEL_ID, &id);
if (status) {
/* these device is not present skip init and clear it's letter on string */
/*we can add here some debug prints*/
//BoardDevs[i].Present = 0;
//DisplayStr[i]=' ';
continue;
}
/* device present only */
BoardDevs[i].Present = 1;
PresentDevMask |= 1 << i;
PresentDevIds[nPresentDevs]=i;
nPresentDevs++;
status = VL6180x_InitData(&BoardDevs[i]);
FinalI2cAddr = 0x52 + ((i+1) * 2);
if (FinalI2cAddr != 0x52) {
status = VL6180x_SetI2CAddress(&BoardDevs[i], FinalI2cAddr);
if( status ){
//HandleError("VL6180x_SetI2CAddress fail");
}
BoardDevs[i].I2cAddr = FinalI2cAddr;
}
WaitMilliSec(1);
status = VL6180x_RdByte(&BoardDevs[i], IDENTIFICATION_MODEL_ID, &id);
WaitMilliSec(1);
status= VL6180x_Prepare(&BoardDevs[i]);
if( status<0 ){
//HandleError("VL6180x_Prepare fail");
}
/* Disable Dmax computation */
VL6180x_DMaxSetState(&BoardDevs[i], 0);
}
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
VL6180xDev_t dev;
// kick off measure on all device
for( i=0; i<nPresentDevs; i++){
dev = BoardDevs + PresentDevIds[i];
status = VL6180x_RangeStartSingleShot(dev);
if( status<0 ){
//TODO: print error : debug
}
dev->Ready=0;
}
// wait for all present device to have a measure
nReady=0;
do{
//DISP_ExecLoopBody();
for( i=0; i<nPresentDevs; i++){
dev = BoardDevs + PresentDevIds[i];
if( !dev->Ready ){
status = VL6180x_RangeGetMeasurementIfReady(dev, &Range[i]);
if (i==0)
RangeDB1 = Range[i];
if (i==1)
RangeDB2 = Range[i];
if( status == 0 ){
if(Range[i].errorStatus == DataNotReady)
continue;
// New measurement ready
dev->Ready=1;
nReady++;
} else {
//HandleError("VL6180x_RangeStartSingleShot fail");
}
}
}
}
while( nReady<nPresentDevs);
HAL_Delay(10);
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
我正在尝试在 nucleo STM32F466RE 板上的两个 Adafruit TOF 传感器 VL6180X 之间设置 I²C 通信。我正在使用 cubeMX 和 VS 代码，还帮助 ST website 的 x-nucleo-6180xa1 上的 VL6180X API，我想设置它以便我可以分别测试两个传感器。到目前为止，我只成功测量了一个传感器，但是当我尝试将两个传感器连接到 SHDN 到 nucleo STM32F466RE 上的 GPIO 时，我遇到了问题。我正在尝试管理一些主从操作，但我是这方面的新手，有人知道怎么做吗？
我要找的是示例代码，这样我就可以看到它是如何实现的。这不是制作 运行，而是供我家庭使用的。目标是在这两个TOF传感器上进行管理，我一直没能找到代码研究。
这是我的主要代码：
/* Private variables ---------------------------------------------------------*/
I2C_HandleTypeDef hi2c1;
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_I2C1_Init(void);
static void MX_USART2_UART_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void WaitMilliSec(int ms);
VL6180xDev_t theVL6180xDev;
struct MyVL6180Dev_t BoardDevs[2] = {
[0]= { .DevID = 0 },
[1]= { .DevID = 1 }
};
VL6180xDev_t theVL6180xDev = &BoardDevs[0];
/**
* VL6180x CubeMX F401 multiple device i2c implementation
*/
#define i2c_bus (&hi2c1)
#define def_i2c_time_out 100
int VL6180x_I2CWrite(VL6180xDev_t dev, uint8_t *buff, uint8_t len) {
int status;
status = HAL_I2C_Master_Transmit(i2c_bus, dev->I2cAddr, buff, len, def_i2c_time_out);
if (status) {
HAL_I2C_MspInit(&hi2c1);
}
return status? -1 : 0;
}
int VL6180x_I2CRead(VL6180xDev_t dev, uint8_t *buff, uint8_t len) {
int status;
status = HAL_I2C_Master_Receive(i2c_bus, dev->I2cAddr, buff, len, def_i2c_time_out);
if (status) {
HAL_I2C_MspInit(&hi2c1);
}
return status? -1 : 0;
}
void WaitMilliSec(int ms) {
HAL_Delay(ms); /* it's milli sec cos we do set systick to 1KHz */
}
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
#define MAX_DEV 1
VL6180x_RangeData_t Range[MAX_DEV];
int status;
int i;
int n_dev=1;
int PresentDevMask;
int nPresentDevs;
int PresentDevIds[MAX_DEV];
int nReady;
/* 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_I2C1_Init();
MX_USART2_UART_Init();
/* USER CODE BEGIN 2 */
/* detect presence and initialize devices i2c address */
/*set device i2c address for dev[i] = 0x52+(i+1)*2 */
PresentDevMask = 0;
nPresentDevs = 0;
//strcpy(DisplayStr,"TLBR");
for (i = 0; i <= n_dev; i++){
int FinalI2cAddr;
uint8_t id;
/* unreset device that wake up at default i2c addres 0x52 */
WaitMilliSec(2); /* at least 400usec before to acces device */
BoardDevs[i].I2cAddr = 0x52;
/* to detect device presence try to read it's dev id */
status = VL6180x_RdByte(&BoardDevs[i], IDENTIFICATION_MODEL_ID, &id);
if (status) {
/* these device is not present skip init and clear it's letter on string */
BoardDevs[i].Present = 0;
//DisplayStr[i]=' ';
continue;
}
/* device present only */
BoardDevs[i].Present = 1;
PresentDevMask |= 1 << i;
PresentDevIds[nPresentDevs]=i;
nPresentDevs++;
status = VL6180x_InitData(&BoardDevs[i]);
FinalI2cAddr = 0x52 + ((i+1) * 2);
if (FinalI2cAddr != 0x52) {
status = VL6180x_SetI2CAddress(&BoardDevs[i], FinalI2cAddr);
if( status ){
//HandleError("VL6180x_SetI2CAddress fail");
}
BoardDevs[i].I2cAddr = FinalI2cAddr;
}
WaitMilliSec(1);
status = VL6180x_RdByte(&BoardDevs[i], IDENTIFICATION_MODEL_ID, &id);
WaitMilliSec(1);
status= VL6180x_Prepare(&BoardDevs[i]);
if( status<0 ){
//HandleError("VL6180x_Prepare fail");
}
/* Disable Dmax computation */
VL6180x_DMaxSetState(&BoardDevs[i], 0);
}
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
VL6180xDev_t dev;
/*
VL6180x_RangePollMeasurement(dev, &Range[0]);
HAL_Delay(20);
*/
// kick off measure on all device
for( i=0; i<nPresentDevs; i++){
dev = BoardDevs + PresentDevIds[i];
//TODO: GPIO enamble of pa11
status = VL6180x_RangeStartSingleShot(dev);
if( status<0 ){
//HandleError("VL6180x_RangeStartSingleShot fail");
}
dev->Ready=0;
}
// wait for all present device to have a measure
nReady=0;
do{
//DISP_ExecLoopBody();
for( i=0; i<nPresentDevs; i++){
dev = BoardDevs + PresentDevIds[i];
if( !dev->Ready ){
status = VL6180x_RangeGetMeasurementIfReady(dev, &Range[i]);
if( status == 0 ){
if(Range[i].errorStatus == DataNotReady)
continue;
// New measurement ready
dev->Ready=1;
nReady++;
} else {
//HandleError("VL6180x_RangeStartSingleShot fail");
}
}
}
}
while( nReady<nPresentDevs);
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
...
我进入这类问题的方式如下。
- 从任何来源下载此传感器的 Arduino 库。 here
- 仔细阅读源文件，找出使用i2c通信的核心函数。
- 根据您的任务修改该核心函数。（实施适当的 i2c 调用）
- 将修改后的头文件和源文件包含到您的项目中并使用它们。
我解决了我的问题。您可能知道，要让几个 Adafruit TOF VL6180X 传感器一起工作，它们必须从它们的 SHDN 连接到板上的 GPIO。实际上缺少的是所有传感器的重置和这些传感器及其地址的设置。我在寻找解决方案时遇到的问题之一是命令的顺序。重要的是要注意，我们首先重置所有传感器，并在分配地址后设置。如果您也有兴趣，请附上对代码的更正。您可以在依赖于循环中的变量 i 的代码中看到 if 查询，以便分隔两个传感器。我这样做只是为了找到特定的组件。有一个更聪明的方法来做，它只是为了理解命令的顺序。
在评论中查看我的解决方案：
<<<<-------------------------RESET-----
<<<<-------------------------SET-----
/* USER CODE BEGIN PV */
// global vars only for debugging with STMStudio
VL6180x_RangeData_t Range[MAX_DEV];
VL6180x_RangeData_t RangeDB1;
VL6180x_RangeData_t RangeDB2;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_I2C1_Init(void);
static void MX_USART2_UART_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void WaitMilliSec(int ms);
VL6180xDev_t theVL6180xDev;
struct MyVL6180Dev_t BoardDevs[MAX_DEV] = {
[0]= { .DevID = 0 },
[1]= { .DevID = 1 },
};
VL6180xDev_t theVL6180xDev = &BoardDevs[0];
/**
* VL6180x CubeMX F401 multiple device i2c implementation
*/
#define i2c_bus (&hi2c1)
#define def_i2c_time_out 100
int VL6180x_I2CWrite(VL6180xDev_t dev, uint8_t *buff, uint8_t len) {
int status;
status = HAL_I2C_Master_Transmit(i2c_bus, dev->I2cAddr, buff, len, def_i2c_time_out);
if (status) {
HAL_I2C_MspInit(&hi2c1);
}
return status? -1 : 0;
}
int VL6180x_I2CRead(VL6180xDev_t dev, uint8_t *buff, uint8_t len) {
int status;
status = HAL_I2C_Master_Receive(i2c_bus, dev->I2cAddr, buff, len, def_i2c_time_out);
if (status) {
HAL_I2C_MspInit(&hi2c1);
}
return status? -1 : 0;
}
void WaitMilliSec(int ms) {
HAL_Delay(ms); /* it's milli sec cos we do set systick to 1KHz */
}
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
int status;
int i;
int n_dev=2;
int PresentDevMask;
int nPresentDevs;
int PresentDevIds[MAX_DEV];
int nReady;
/* 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 */
// here I put all my devices under reset <<<<-------------------------RESET-----
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_11, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_RESET);
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_I2C1_Init();
MX_USART2_UART_Init();
/* USER CODE BEGIN 2 */
/* detect presence and initialize devices i2c address */
/*set device i2c address for dev[i] = 0x52+(i+1)*2 */
PresentDevMask = 0;
nPresentDevs = 0;
//strcpy(DisplayStr,"TLBR");
for (i = 0; i <= n_dev - 1; i++) {
int FinalI2cAddr;
uint8_t id;
// here I put all my devices under set <<<<-------------------------SET-----
if (i==0){
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_11, GPIO_PIN_SET);
}
if (i==1){
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_SET);
}
/* unreset device that wake up at default i2c addres 0x52 */
WaitMilliSec(2); /* at least 400usec before to acces device */
BoardDevs[i].I2cAddr = 0x52;
/* to detect device presence try to read it's dev id */
status = VL6180x_RdByte(&BoardDevs[i], IDENTIFICATION_MODEL_ID, &id);
if (status) {
/* these device is not present skip init and clear it's letter on string */
/*we can add here some debug prints*/
//BoardDevs[i].Present = 0;
//DisplayStr[i]=' ';
continue;
}
/* device present only */
BoardDevs[i].Present = 1;
PresentDevMask |= 1 << i;
PresentDevIds[nPresentDevs]=i;
nPresentDevs++;
status = VL6180x_InitData(&BoardDevs[i]);
FinalI2cAddr = 0x52 + ((i+1) * 2);
if (FinalI2cAddr != 0x52) {
status = VL6180x_SetI2CAddress(&BoardDevs[i], FinalI2cAddr);
if( status ){
//HandleError("VL6180x_SetI2CAddress fail");
}
BoardDevs[i].I2cAddr = FinalI2cAddr;
}
WaitMilliSec(1);
status = VL6180x_RdByte(&BoardDevs[i], IDENTIFICATION_MODEL_ID, &id);
WaitMilliSec(1);
status= VL6180x_Prepare(&BoardDevs[i]);
if( status<0 ){
//HandleError("VL6180x_Prepare fail");
}
/* Disable Dmax computation */
VL6180x_DMaxSetState(&BoardDevs[i], 0);
}
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
VL6180xDev_t dev;
// kick off measure on all device
for( i=0; i<nPresentDevs; i++){
dev = BoardDevs + PresentDevIds[i];
status = VL6180x_RangeStartSingleShot(dev);
if( status<0 ){
//TODO: print error : debug
}
dev->Ready=0;
}
// wait for all present device to have a measure
nReady=0;
do{
//DISP_ExecLoopBody();
for( i=0; i<nPresentDevs; i++){
dev = BoardDevs + PresentDevIds[i];
if( !dev->Ready ){
status = VL6180x_RangeGetMeasurementIfReady(dev, &Range[i]);
if (i==0)
RangeDB1 = Range[i];
if (i==1)
RangeDB2 = Range[i];
if( status == 0 ){
if(Range[i].errorStatus == DataNotReady)
continue;
// New measurement ready
dev->Ready=1;
nReady++;
} else {
//HandleError("VL6180x_RangeStartSingleShot fail");
}
}
}
}
while( nReady<nPresentDevs);
HAL_Delay(10);
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}