void range_finder_init()
{
/* MCU Configuration----------------------------------------------------------*/
/* Initialize all configured peripherals */
MX_I2C1_Init();
tca9545_init();
tca9545_set(Channel_0);
/* these almost just redo what already done just above by CubeMx Init */
XNUCLEO6180XA1_GPIO_Init();
XNUCLEO6180XA1_I2C1_Init(&hi2c1);
tca9545Channel_e channel;
for(channel = Channel_0; channel <= Channel_3; channel++)
{
tca9545_set(channel);
MyDev_Init(myDev); // your code init device variable
MyDev_SetChipEnable(myDev); // your code assert chip enable
MyDev_uSleep(1000); // your code sleep at least 1 msec
VL6180x_InitData(myDev);
VL6180x_Prepare(myDev);
}
}
void Sample_XTalkCalibrate(void) {
VL6180xDev_t myDev;
VL6180x_RangeData_t Range;
int XTalkRate;
int i, status;
/* init device */
MyDev_Init(myDev);
status = Sample_Init(myDev);
if( status <0 ){
HandleError("Sample_Init fail");
}
/* run calibration */
XTalkRate = Sample_XTalkRunCalibration(myDev);
/*TODO when possible reset re-init device else set back required scaling/filter*/
VL6180x_FilterSetState(myDev, 1); // turn on wrap around filter again
VL6180x_UpscaleSetScaling(myDev, 3); // set scaling
/* apply cross talk */
status = VL6180x_SetXTalkCompensationRate(myDev, XTalkRate);
if( status<0 ){ /* ignore warning but not error */
HandleError("VL6180x_WrWord fail");
}
for( i=0; i< 10; i++){
status = VL6180x_RangePollMeasurement(myDev, &Range);
MyDev_ShowRange(myDev, Range.range_mm);
}
}
/**
* All in one device init
* @param myDev The device
* @return 0 on success may @a #CALIBRATION_WARNING <0 on errir
*/
int Sample_Init(VL6180xDev_t myDev){
int status, init_status;
MyDev_Init(myDev); // your code
MyDev_SetChipEnable(myDev); // your code
MyDev_uSleep(2000); // your code sleep at least 1msec prior to do i2c to device
init_status = VL6180x_InitData(myDev);
if(init_status == 0 || init_status == CALIBRATION_WARNING ){
status = VL6180x_Prepare(myDev);
if( !status )
status=init_status; // if prepare is successfull return potential init warning
}
return status;
}
/**
* @brief Simplest polling ALS
* that may be your main()
*/
void Sample_SimpleAls(void) {
#if VL6180x_ALS_SUPPORT
VL6180xDev_t myDev;
VL6180x_AlsData_t Als;
MyDev_Init(myDev); // your code init device variable
MyDev_SetChipEnable(myDev); // your code assert chip enable
MyDev_uSleep(1000); // your code sleep at least 1 msec
VL6180x_InitData(myDev);
VL6180x_Prepare(myDev);
do {
VL6180x_AlsPollMeasurement(myDev, &Als);
if (Als.errorStatus == 0 )
MyDev_ShowLux(myDev, Als.lux); // your code display range in mm
else
MyDev_ShowErr(myDev, Als.errorStatus); // your code display error code
} while (!MyDev_UserSayStop(myDev)); // your code to stop looping
#endif
}
