VL53X0調(diào)試源代碼

ID:531506 · 發(fā)表于 2019-8-22 10:50

#include "ioCC2530.h"
#include "VL53L0X.h"

typedef union
{
uint16 u16;             // element specifier for accessing whole u16
int16 i16;             // element specifier for accessing whole i16

struct
{
      uint8 u8L;             // element specifier for accessing low u8
      uint8 u8H;             // element specifier for accessing high u8
} s16;                // element spec. for acc. struct with low or high u8
} nt16;

void Delay_5us()
{
uint8 i;

for (i=0; i<8; i++)
{
      asm("NOP");
}
}

void Delay_ms(uint16 sec)
{
uint16 i;

while (sec --)
{
      for (i = 0; i < 1500; i ++)
      {
         asm("NOP");
      }
}
return;
}

void initUARTSEND(void)
{
//時(shí)鐘配置
CLKCONCMD &= ~0x40;       //設(shè)置系統(tǒng)時(shí)鐘源為32MHZ晶振
while(CLKCONSTA & 0x40); //等待晶振穩(wěn)定
CLKCONCMD &= ~0x47;       //設(shè)置系統(tǒng)主時(shí)鐘頻率為32MHZ
//端口配置
PERCFG = 0x00;          //位置1 P0口
P0SEL = 0x0c; //P0_2,P0_3用作串口
P2DIR &= ~0XC0;                            //P0優(yōu)先作為UART0
//串口配置
U0CSR |= 0x80; //UART方式
U0GCR |= 11;    //U0GCR.BAUD_E
U0BAUD |= 216; //波特率設(shè)為115200 UxBAUD.BAUD_M
UTX0IF = 0;                               //UART0 TX中斷標(biāo)志初始置位0
}

void UartSendString(char *Data, uint16 len)
{
  uint16 j;
  for (j = 0; j < len; j++)
  {
U0DBUF = *Data++;
for (; 0 == UTX0IF ;);
UTX0IF = 0;
  }
}

void uart0PutChar(char c)
{
  uint16 i;

  for(i=0; i<10000; i++)
  {
if(!(U0CSR & 0x01))
break;
  }

  U0DBUF = c;
  for(i=0; i<10000; i++)
  {
if(!(U0CSR & 0x01))
break;
  }
}

uint16 makeuint16(int lsb, int msb)
{
  return ((msb & 0xFF) << 8) | (lsb & 0xFF);
}

void uartPutInt16(uint16 c)
{
  uart0PutChar((c & 0xFF00) >> 8);
  uart0PutChar(c & 0xFF);
}

void GPIO_Init(void)
{
P0SEL &= ~0x12;       //將P0_1、P0_4設(shè)置為通用I/O端口功能
P0DIR |= 0x02;          //將P0_1的端口傳輸方式設(shè)置為輸出
P0DIR &= ~0x10;       //將P0_4的端口傳輸方式設(shè)置為輸入

P1SEL &= ~0x08;       //將P1_3設(shè)置為通用I/O端口功能
P1DIR |= 0x08;          //將P1_3的端口傳輸方式設(shè)置為輸出
P0INP &= ~0xef;
P2INP &= ~0x20;
KK_wakeup = 1;
KK_Xshut = 0;
}

void I2C1_Init(void)
{
SCL_1_W();
SDA_1_W();

I2C1_SCL_HIGH;
I2C1_SDA_HIGH;
}

void I2C1_Start(void)
{
SCL_1_W();SDA_1_W();
I2C1_SDA_HIGH;
I2C1_SCL_HIGH;
Delay_5us();
I2C1_SDA_LOW;
Delay_5us();
Delay_5us();
I2C1_SCL_LOW;
}

void I2C1_Stop(void)
{
SCL_1_W();SDA_1_W();

I2C1_SDA_LOW;
I2C1_SCL_LOW;
Delay_5us();
I2C1_SCL_HIGH;
Delay_5us();
Delay_5us();
I2C1_SDA_HIGH;
}

uint8 I2C1_WaitAck(void)
{
uint8 ErrTime = 0;

// 將 SCL 引腳和 SDA 引腳設(shè)置為輸出模式
SCL_1_W();SDA_1_W();

I2C1_SDA_HIGH;    // SDA 置高
I2C1_SCL_HIGH;    // SCL 置高
Delay_5us();

SDA_1_R();          // SDA 設(shè)置為輸入模式
while(I2C1_SDA_STATE)// 當(dāng) SDA 為低電平時(shí)退出循環(huán)
{
      ErrTime++;
      if(ErrTime>250)
      {
         I2C1_Stop();
         return true;
      }
}
I2C1_SCL_LOW;
Delay_5us();

return false;
}

void I2C1_SendAck(void)
{
SCL_1_W();SDA_1_W();

I2C1_SDA_LOW;
I2C1_SCL_LOW;
Delay_5us();
I2C1_SCL_HIGH;
Delay_5us();
I2C1_SCL_LOW;
}

void I2C1_SendNoAck(void)
{
SCL_1_W();SDA_1_W();

I2C1_SCL_LOW;
I2C1_SDA_HIGH;
Delay_5us();
I2C1_SDA_HIGH;
Delay_5us();
I2C1_SCL_LOW;
}

void I2C1_Send_Byte(uint8 txd)
{
uint8 t = 0;

SCL_1_W();SDA_1_W();

for (t = 0; t < 8; t ++)
{
      if ((txd & 0x80) >> 7)
      {
         I2C1_SDA_HIGH;
      }
      else
      {
         I2C1_SDA_LOW;
      }

      txd <<= 1;

      Delay_5us();
      I2C1_SCL_HIGH;

      Delay_5us();
      I2C1_SCL_LOW;

      Delay_5us();
}
}

uint8 I2C1_Read_Byte(uint8 ack)
{
uint8 i = 0;
uint8 receive = 0;

SDA_1_R();
for (i = 0; i < 8; i ++)
{
      I2C1_SCL_LOW;
      Delay_5us();

      I2C1_SCL_HIGH;
      receive <<= 1;

      if (I2C1_SDA_STATE)
      {
         receive ++;
      }
      Delay_5us();
}

if (ack)
{
      I2C1_SendAck();
}
else
{
      I2C1_SendNoAck();
}

return receive;
}
/*****************************************************
函數(shù)功能：IIC連續(xù)寫
主要參數(shù)：
addr-->器件地址
reg-->寄存器地址
len-->寫入長(zhǎng)度
buf-->數(shù)據(jù)區(qū)
返回值:0,正常
*****************************************************/
uint8 VL53L0X_Write_Len(uint8 reg,uint8 len,uint8 const *buf)
{
uint8 i;

I2C1_Start();
I2C1_Send_Byte(0x52);    //發(fā)送器件地址+寫命令
if(I2C1_WaitAck())       //等待應(yīng)答
{
   I2C1_Stop();
   return true;
}
I2C1_Send_Byte(reg);       //寫寄存器地址
I2C1_WaitAck();          //等待應(yīng)答
for(i=0;i<len;i++)
{
   I2C1_Send_Byte(buf[i]);       //發(fā)送數(shù)據(jù)
   if(I2C1_WaitAck())          //等待ACK
   {
      I2C1_Stop();
      return true;
   }
}
I2C1_Stop();

return false;
}
/*****************************************************
函數(shù)功能：IIC連續(xù)讀
主要參數(shù)：
addr-->器件地址
reg-->寄存器地址
len-->讀取長(zhǎng)度
buf-->數(shù)據(jù)區(qū)
返回值:0,正常
*****************************************************/
uint8 VL53L0X_Read_Len(uint8 reg,uint8 len,uint8 *buf)
{
I2C1_Start();
I2C1_Send_Byte(0x52);//發(fā)送器件地址+寫命令
if(I2C1_WaitAck())       //等待應(yīng)答
{
   I2C1_Stop();
   return true;
}
I2C1_Send_Byte(reg);       //寫寄存器地址
I2C1_WaitAck();          //等待應(yīng)答
I2C1_Start();
I2C1_Send_Byte(0x53);//發(fā)送器件地址+讀命令
I2C1_WaitAck();          //等待應(yīng)答
while(len)
{
   if(len==1)*buf=I2C1_Read_Byte(0);//讀數(shù)據(jù),發(fā)送nACK
   else *buf=I2C1_Read_Byte(1);    //讀數(shù)據(jù),發(fā)送ACK
   len--;
   buf++;
}
I2C1_Stop();       //產(chǎn)生一個(gè)停止條件

return false;
}

uint8 VL53L0X_Write_Byte(uint8 reg,uint8 data)
{
I2C1_Start();
I2C1_Send_Byte(0x52);//發(fā)送器件地址+寫命令
if(I2C1_WaitAck()) //等待應(yīng)答
{
   I2C1_Stop();
   return true;
}

I2C1_Send_Byte(reg);       //寫寄存器地址
I2C1_WaitAck();             //等待應(yīng)答
I2C1_Send_Byte(data);       //寫入數(shù)據(jù)
if(I2C1_WaitAck())          //等待ACK
{
   I2C1_Stop();
   return true;
}
I2C1_Stop();

return false;
}

uint8 VL53L0X_Read_Byte(uint8 reg)
{
uint8 VL53L0X_data;

I2C1_Start();
I2C1_Send_Byte(0x52);       //發(fā)送器件地址+寫命令
I2C1_WaitAck();             //等待應(yīng)答
I2C1_Send_Byte(reg);       //寫寄存器地址
I2C1_WaitAck();             //等待應(yīng)答
I2C1_Stop();                //產(chǎn)生一個(gè)停止條件

I2C1_Start();
I2C1_Send_Byte(0x53);       //發(fā)送器件地址+讀命令
I2C1_WaitAck();             //等待應(yīng)答
VL53L0X_data=I2C1_Read_Byte(0);//讀取數(shù)據(jù),發(fā)送ACK
I2C1_Stop();                //產(chǎn)生一個(gè)停止條件

return VL53L0X_data;
}

void main()
{
  uint8 gbuf[16];
  uint8 val = 0;
  uint32 cnt = 0;
  uint16 Distance = 0;

  GPIO_Init();
  Delay_ms(100);
  KK_Xshut = 1;
  initUARTSEND();
  I2C1_Init();

  while(1)
  {
   if(KK_lcdctl)
   {
      KK_wakeup = 1;
   }
   else
   {
      //uartPutInt16(0xff);
      VL53L0X_Write_Byte(VL53L0X_REG_SYSRANGE_START, 0x01);//啟動(dòng)檢測(cè)
      while(cnt < 65535)//當(dāng)檢測(cè)完成，即讀取距離值
      {
         Delay_ms(1);
         val = VL53L0X_Read_Byte(VL53L0X_REG_RESULT_RANGE_STATUS);
         if( val & 0x01) break;
         cnt++;
      }

      if( val & 0x01)
      {
            VL53L0X_Read_Len(0x1E , 2, gbuf);//讀取數(shù)據(jù)
//             VL53L0X_Write_Byte(0x0b, 0x01);//啟動(dòng)檢測(cè)
            Distance = gbuf[0]<<8;
            Distance |= gbuf[1];
      }

      if((Distance > 20)&&(Distance < 1500))
      {
         uartPutInt16(Distance);
         if((Distance>=450)&&(Distance<=550))
         {
            KK_wakeup = 0;
         }
      }
      Delay_ms(200);
   }
  }
}

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VL53X0調(diào)試源代碼

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