软件培训机构,贵州seo排名,网络规划设计师的发证机构,免费营销课程培训TMF8801激光测距芯片驱动程序
一、芯片介绍
TMF8801是2019年艾迈斯半导体推出的用于测量直接飞行时间(dToF)距离的集成式模块#xff0c;号称全球体积最小#xff08;表示怀疑#xff0c;不过体积确实非常小#xff09;。这个传感器可以精准测量0.02m至2.5m范围#xff…TMF8801激光测距芯片驱动程序
一、芯片介绍
TMF8801是2019年艾迈斯半导体推出的用于测量直接飞行时间(dToF)距离的集成式模块号称全球体积最小表示怀疑不过体积确实非常小。这个传感器可以精准测量0.02m至2.5m范围我实际测试在较亮的环境下能达到2.4m我站在2.4m的位置1s检测一次测试了几分钟大概有百分五十的概率能检测到暗环境下能够测量到2.5m2m以内基本都能检测到。相比于我们熟知的VL53L0X测距模块测量距离和精度确实要好很多。关于芯片的介绍我就不多说了感兴趣的同学可以去查一下。
二、引脚定义 引脚号引脚名称信号类型描述1VCCD电源供电电压3V接一个0.1uF电容到地2GNDC地电源负极3GPIO0IO通用IO口如果不用请保持开路4INT输出中断输出如果不用请接到地5SCL输入IIC时钟引脚6SDAIOIIC数据引脚7VDD电源供电电压3V接一个0.1uF电容到地8GND地电源负极9EN输入启用输入有效高电平设置为低电平强制器件关闭所有内存内容都会丢失如果未使用则连接至VDD10GPIO1IO通用IO口如果不用请保持开路11GNDV地电源负极12VDDV电源供电电压3V接一个0.1uF电容到地
三、驱动流程
1、IIC引脚初始化 2、模块初始化 1复位寄存器地址0xE0 2初始化下载 HW寄存器地址0x08 3设置写 RAM 地址寄存器首地址0x08 4写 RAM数据寄存器首地址0x08 5重映射 RAM 到地址 0 并复位 6获取 TMF8801 信息 6.1读取APP0 主版本号寄存器地址0x01 6.2读取次版本号和修订版本号寄存器地址0x12 6.3读取芯片修订 ID寄存器地址0xE4 6.4生成序列号寄存器地址0x10 6.5读取序列号寄存器地址0x1E 7使能检测中断 3、配置APP0 写入校准数据寄存器地址0x20 4、检测中断 5、获取结果
四、驱动程序
驱动的程序我这里以stm32的为例 1、IIC驱动部分用IO口模拟IIC时序
#include tmf8801_iic.h
#include math.h#define TMF8001_Address 0x82//器件地址/********************************************************** 名称: iic_delay_us* 功能: 用于IIC通讯延时* 形参: 无 * 返回: 无* 说明: 直接用软件延时延时的时间和主频有关如要移植到别的单片机* 可能需要修改i的次数以确保延时时间足够*********************************************************/
void iic_delay_us(u8 time)
{u8 i;while(time --){ for(i0;i6;i);}
}/********************************************************** 名称: TMF8001_I2C_Init* 功能: I2C引脚初始化* 形参: 无 * 返回: 无* 说明: 无 *********************************************************/
void TMF8001_I2C_Init(void)
{GPIO_InitTypeDef GPIO_InitStructure;RCC_APB2PeriphClockCmd(TMF8001_I2C_RCC, ENABLE); GPIO_InitStructure.GPIO_Pin TMF8001_I2C_SCL_PIN | TMF8001_I2C_SDA_PIN;GPIO_InitStructure.GPIO_Mode GPIO_Mode_Out_PP ; GPIO_InitStructure.GPIO_Speed GPIO_Speed_50MHz;GPIO_Init(TMF8001_I2C_PORT, GPIO_InitStructure);TMF8001_I2C_SCL_HIGHT;TMF8001_I2C_SDA_HIGHT;
}/********************************************************** 名称: TMF8001_I2C_Start* 功能: 模拟I2C的起始条件* 形参: 无 * 返回: 无* 说明: 标准的I2C协议I2C起始条件SCL为高时SDA由高变低 *********************************************************/
void TMF8001_I2C_Start(void)
{TMF8001_I2C_SDA_Out;TMF8001_I2C_SCL_HIGHT;TMF8001_I2C_SDA_HIGHT;iic_delay_us(4);TMF8001_I2C_SDA_LOW;//标准的I2C协议I2C起始条件SCL为高时SDA由高变低iic_delay_us(4);TMF8001_I2C_SCL_LOW;//钳住I2C总线准备发送或接收数据
}/********************************************************** 名称: TMF8001_I2C_Stop* 功能: 模拟I2C的停止条件* 形参: 无 * 返回: 无* 说明: 标准的I2C协议I2C停止条件SCL为高时SDA由低变高 *********************************************************/
void TMF8001_I2C_Stop(void)
{TMF8001_I2C_SDA_Out;TMF8001_I2C_SCL_LOW;TMF8001_I2C_SDA_LOW;iic_delay_us(4);TMF8001_I2C_SCL_HIGHT;TMF8001_I2C_SDA_HIGHT;iic_delay_us(4);
}/********************************************************** 名称: TMF8001_I2C_Wait_Ack* 功能: 等待应答信号* 形参: 无 * 返回: 0接收成功 1接收失败* 说明: 无 *********************************************************/
u8 TMF8001_I2C_Wait_Ack(void)
{u8 ucErrTime0;TMF8001_I2C_SDA_In;TMF8001_I2C_SDA_HIGHT;iic_delay_us(4); TMF8001_I2C_SCL_HIGHT;iic_delay_us(4); while(Get_TMF8001_I2C_SDA){ucErrTime ;if(ucErrTime 250){TMF8001_I2C_Stop();return 1;}}TMF8001_I2C_SCL_LOW;return 0;
}/********************************************************** 名称: TMF8001_I2C_Ack* 功能: 模拟I2C的应答* 形参: 无 * 返回: 无* 说明: 根据标准的I2C协议从I2C从器件读1个byte后也就是在第9个CLK的时候I2C主设备的SDA要变低表示I2C主器件已经接收完一个字节byteI2C从器件继续发送数据 *********************************************************/
void TMF8001_I2C_Ack(void)
{TMF8001_I2C_SCL_LOW;TMF8001_I2C_SDA_Out;TMF8001_I2C_SDA_LOW;iic_delay_us(4);TMF8001_I2C_SCL_HIGHT;iic_delay_us(4);TMF8001_I2C_SCL_LOW;
}/********************************************************** 名称: TMF8001_I2C_NAck* 功能: 模拟I2C的不应答* 形参: 无 * 返回: 无* 说明: *********************************************************/
void TMF8001_I2C_NAck(void)
{TMF8001_I2C_SCL_LOW;TMF8001_I2C_SDA_Out;TMF8001_I2C_SDA_HIGHT;iic_delay_us(4);TMF8001_I2C_SCL_HIGHT;iic_delay_us(4);TMF8001_I2C_SCL_LOW;
}/********************************************************** 名称: TMF8001_I2C_Send_Byte* 功能: 模拟I2C发送一个字节* 形参: Byte * 返回: 无* 说明: *********************************************************/
void TMF8001_I2C_Send_Byte(u8 Byte)
{u8 bit;TMF8001_I2C_SDA_Out;TMF8001_I2C_SCL_LOW;for(bit0;bit8;bit){if((Byte0x80)7){TMF8001_I2C_SDA_HIGHT;}else {TMF8001_I2C_SDA_LOW;}Byte1;//iic_delay_us(4);TMF8001_I2C_SCL_HIGHT;iic_delay_us(4);TMF8001_I2C_SCL_LOW;iic_delay_us(4);}
}/************************************************* 名称: TMF8001_I2C_Read_Byte* 功能: 模拟I2C读取一个字节* 形参: 无 * 返回: 1个字节* 说明: 无 **************************************************/
u8 TMF8001_I2C_Read_Byte(u8 ack)
{u8 bit,Receive_Byte0;TMF8001_I2C_SDA_In;for(bit0;bit8;bit){TMF8001_I2C_SCL_LOW;iic_delay_us(4);TMF8001_I2C_SCL_HIGHT;Receive_Byte1;//把上一时刻的值左移一位if(Get_TMF8001_I2C_SDA){Receive_Byte|0x01;}iic_delay_us(4);}if(!ack){TMF8001_I2C_NAck();}else{TMF8001_I2C_Ack();}return Receive_Byte;
}/******************************************************************************** 名称: I2C_TMF8001_WriteByte* 功能: 通过I2C协议向TMF8001写入1个字节* 形参: Data_com - 要写入的数据* 返回: 无* 说明: 无 ******************************************************************************/
void I2C_TMF8001_WriteByte(u8 Addr, u8 *Data_Com, u8 Len)
{u8 i;TMF8001_I2C_Start(); /*I2C Start*/TMF8001_I2C_Send_Byte(TMF8001_Address); /*Send TMF8001 Driver address*/TMF8001_I2C_Ack();TMF8001_I2C_Send_Byte(Addr); /*Send byte*/TMF8001_I2C_Ack();for(i0;iLen;i){TMF8001_I2C_Send_Byte(Data_Com[i]); /*Send byte*/TMF8001_I2C_Ack();}TMF8001_I2C_Stop(); /*I2C Stop*/
}/******************************************************************************** 名称: I2C_TMF8001_ReadByte* 功能: 通过I2C协议从TMF8001读取6个字节* 形参: Addr - 写入寄存器地址 *Read_Buf - 存数据的数组地址* 返回: 1个字节数据* 说明: 无 ******************************************************************************/
u8 I2C_TMF8001_ReadByte(u8 Addr, u8 *Read_Buf, u8 Len)
{ u8 i;TMF8001_I2C_Start();/*I2C start*/TMF8001_I2C_Send_Byte(TMF8001_Address); /*Send TMF8001 Driver address*/TMF8001_I2C_Ack();TMF8001_I2C_Send_Byte(Addr); /*Send byte*/TMF8001_I2C_Ack();TMF8001_I2C_Start();/*I2C start*/TMF8001_I2C_Send_Byte(TMF8001_Address|0x01);/*Send ReadCommand*/TMF8001_I2C_Ack();for(i0;iLen;i){if(i (Len - 1)){Read_Buf[i] TMF8001_I2C_Read_Byte(0);/*I2C ReadByte*/}else{Read_Buf[i] TMF8001_I2C_Read_Byte(1);/*I2C ReadByte*/}}TMF8001_I2C_Stop();/*I2C Stop*/
// printf(Read_Buf0: %02X ,Read_Buf[0]);
}
2、TMF8001驱动部分
#include tmf8801.h
#include tmf8801_iic.h//TMF8x01 寄存器地址定义
#define TMF8x01_REGADDR_COMMAND 0x10
#define TMF8x01_REGADDR_STATUS 0x1D
#define TMF8x01_REGADDR_CONTENTS 0x1E
#define TMF8x01_REGADDR_TID 0x1F
#define TMF8x01_REGADDR_ENABLE 0xE0//RAM数据缓存
const uint8_t app_buf[] {
0x6D, 0xC9, 0x41, 0x85, 0x3D, 0x15, 0xAA, 0x51, 0xF4, 0xD2, 0x9E, 0xA8, 0xA7, 0xAC, 0x77, 0xE9,
0xF9, 0xEC, 0x20, 0x24, 0x63, 0xB8, 0xF1, 0xA5, 0x0B, 0xA7, 0x65, 0xB4, 0x32, 0xB8, 0x18, 0xD7,
0x5C, 0xF4, 0x00, 0xD0, 0xDC, 0xFD, 0xD9, 0xD5, 0x98, 0xAF, 0x6F, 0x40, 0x96, 0x0A, 0xB2, 0xFA,
0x9E, 0x13, 0x44, 0xF8, 0x6F, 0x5B, 0xF1, 0x65, 0xA6, 0x88, 0x67, 0xD7, 0x75, 0x0A, 0x4A, 0x7F,
0x81, 0x9C, 0xF6, 0x91, 0x7B, 0xCF, 0xF2, 0x7C, 0xC1, 0x83, 0xF3, 0xA5, 0xF6, 0xEB, 0xD2, 0xFA,
0x14, 0x01, 0x7B, 0x81, 0x6D, 0xA9, 0x31, 0x0B, 0x79, 0x14, 0x9D, 0xFE, 0xAA, 0x24, 0x5A, 0x5A,
0x77, 0xF0, 0x00, 0x00, 0x88, 0x76, 0xBA, 0x20, 0xD1, 0x33, 0xB2, 0x66, 0xCF, 0xD9, 0x67, 0xDD,
0x4C, 0xF8, 0x5E, 0xAD, 0x6C, 0xF5, 0xF4, 0x7A, 0x60, 0x3D, 0xFB, 0x05, 0x4B, 0xB9, 0x26, 0xA5,
0xDF, 0xF1, 0xE3, 0xC7, 0x7E, 0x55, 0xEC, 0x50, 0x9C, 0xE3, 0xC9, 0xDA, 0x91, 0xAE, 0x5E, 0x9F,
0x13, 0x0E, 0x96, 0x52, 0x27, 0x8E, 0x06, 0x22, 0x63, 0x69, 0xAC, 0x61, 0x9C, 0x23, 0xF1, 0x38,
0x5F, 0x3A, 0x1D, 0x03, 0xBD, 0xCA, 0xDA, 0x42, 0xBB, 0x21, 0x55, 0x35, 0xC8, 0x30, 0x50, 0x6D,
0x09, 0xBF, 0x32, 0x39, 0x7D, 0xF1, 0x4B, 0x9C, 0x09, 0x33, 0xF0, 0xA1, 0xBD, 0x1B, 0x89, 0xCD,
0xFC, 0x75, 0xCD, 0x92, 0x52, 0x8E, 0xA8, 0xD1, 0xD2, 0xED, 0x6B, 0x63, 0x41, 0x38, 0x0F, 0x22,
0xFF, 0xA6, 0x6A, 0xE3, 0xE0, 0x78, 0x83, 0xF5, 0x95, 0xC2, 0x88, 0x77, 0x5C, 0x4B, 0x9C, 0xAD,
0x32, 0xE4, 0x39, 0x85, 0xBF, 0x4E, 0x2C, 0x21, 0xCF, 0x19, 0x9D, 0x93, 0xFD, 0x9B, 0xFA, 0x15,
0x2D, 0xB5, 0x7C, 0xD1, 0x43, 0x83, 0x58, 0x4F, 0x8C, 0x66, 0x3E, 0xAA, 0xD2, 0xD2, 0x66, 0xA1,
0x56, 0x80, 0xD8, 0xF1, 0xED, 0x1F, 0x4D, 0x45, 0x06, 0x64, 0x9A, 0x02, 0xF9, 0x69, 0x6B, 0xCE,
0xA0, 0x84, 0xD2, 0x67, 0x85, 0xE1, 0xE7, 0x8D, 0xE2, 0xEF, 0x11, 0x5B, 0xDD, 0x27, 0x5A, 0x9E,
0x34, 0x9D, 0x66, 0x66, 0xE3, 0xA5, 0xD4, 0xC7, 0x6E, 0x80, 0x0D, 0xC6, 0x9C, 0x36, 0x86, 0x19,
0x32, 0xD0, 0x16, 0x67, 0x45, 0x2D, 0xE5, 0x09, 0x89, 0xC5, 0x80, 0x0F, 0x71, 0x2C, 0x9F, 0xB1,
0x38, 0x4A, 0x0B, 0xFD, 0x6F, 0x27, 0x69, 0xCD, 0x8B, 0x0F, 0x4B, 0x62, 0xF0, 0xC5, 0xC1, 0x96,
0xFD, 0xD2, 0x06, 0xCE, 0x01, 0xC4, 0x16, 0x84, 0x42, 0xEA, 0x01, 0x06, 0x16, 0xD9, 0x2C, 0x10,
0x7B, 0x6D, 0x95, 0xA0, 0x3C, 0x90, 0x7E, 0x83, 0x91, 0xF0, 0x9B, 0x51, 0x2E, 0xD8, 0x87, 0x81,
0x69, 0x54, 0x9C, 0xD9, 0x7F, 0x99, 0x11, 0x65, 0x85, 0xAA, 0xC7, 0x65, 0xDA, 0x00, 0xE4, 0xDA,
0x94, 0xDD, 0xCB, 0xEE, 0x04, 0xD6, 0xB5, 0xBD, 0x2D, 0x30, 0xFC, 0x20, 0x4F, 0x15, 0x7C, 0x9E,
0xD3, 0x2F, 0x39, 0xFC, 0xA6, 0xFB, 0xB5, 0x83, 0xD1, 0xDE, 0x43, 0x3A, 0x72, 0x51, 0x4A, 0xE2,
0x15, 0xCC, 0x63, 0x70, 0x88, 0x72, 0x52, 0x84, 0x86, 0x35, 0x05, 0xCF, 0xEF, 0x5D, 0x51, 0xFA,
0x95, 0x39, 0x0D, 0x37, 0xA1, 0xDD, 0x51, 0xDF, 0x54, 0x39, 0xC6, 0xFB, 0x76, 0x4C, 0x0B, 0xD6,
0x62, 0xEA, 0x84, 0x95, 0x56, 0xDF, 0xF8, 0x7F, 0xAA, 0x76, 0xDE, 0xDE, 0x5E, 0xA0, 0xA6, 0x56,
0x93, 0x31, 0xB3, 0x06, 0x34, 0x7B, 0xEC, 0x71, 0xB5, 0x47, 0xEF, 0x3E, 0xD4, 0x8B, 0x0A, 0xB2,
0xB1, 0xC7, 0x5F, 0xC5, 0x9B, 0xB0, 0x72, 0x38, 0xFF, 0x6C, 0x2E, 0x2E, 0xCF, 0x04, 0x00, 0x3C,
0xFC, 0x07, 0x9F, 0xF0, 0x6F, 0xB0, 0x14, 0xAD, 0x7B, 0x4D, 0xAC, 0x71, 0x53, 0xD8, 0xD1, 0x08,
0x5F, 0x11, 0xD8, 0x24, 0xD9, 0xB5, 0xA2, 0x0B, 0xFE, 0x8C, 0xDA, 0x83, 0x25, 0xC5, 0x2A, 0xCA,
0x97, 0x31, 0x3C, 0x4E, 0x53, 0xA6, 0x65, 0x3E, 0x59, 0xC5, 0xFE, 0x92, 0x8E, 0xA8, 0xE9, 0x93,
0xB6, 0xDF, 0xB8, 0x3A, 0xFE, 0xE9, 0x1C, 0x29, 0x60, 0x42, 0xA6, 0xC4, 0xE0, 0x0A, 0x04, 0xDC,
0xC5, 0x97, 0xCF, 0x79, 0x94, 0x67, 0x6D, 0x78, 0x7B, 0x88, 0xBA, 0x71, 0x96, 0xC1, 0xB9, 0x2D,
0xB6, 0x79, 0xFA, 0xC0, 0x00, 0x46, 0xE5, 0x11, 0x96, 0x13, 0xB0, 0x15, 0x48, 0x06, 0x5A, 0x94,
0x2C, 0x05, 0x01, 0xCF, 0x21, 0x7C, 0x7E, 0x47, 0xA1, 0x1E, 0x68, 0xD7, 0x84, 0x45, 0x1B, 0x1B,
0x1B, 0x03, 0x78, 0xD9, 0x2C, 0x58, 0xEF, 0xB5, 0xCC, 0x88, 0xF5, 0x0D, 0xCD, 0xC3, 0xD5, 0xF6,
0x26, 0x18, 0xCE, 0x53, 0x7C, 0x90, 0x34, 0x0D, 0xF1, 0x43, 0x70, 0x0F, 0xF1, 0x70, 0x77, 0xB0,
0x71, 0x4B, 0x83, 0x3D, 0xCC, 0xA3, 0x16, 0xAA, 0x8D, 0x96, 0xFF, 0x00, 0xB5, 0xC5, 0xB4, 0x52,
0x90, 0xDE, 0x1F, 0xB5, 0x7A, 0x8F, 0x6C, 0xA0, 0x22, 0xD5, 0x76, 0x48, 0xE5, 0x10, 0xE6, 0x59,
0xC2, 0xB7, 0xF7, 0x16, 0x13, 0x8E, 0x35, 0xFF, 0xCE, 0x34, 0x96, 0x7C, 0xFD, 0x18, 0x61, 0xA2,
0x5A, 0x88, 0x88, 0x2C, 0xE6, 0x66, 0x26, 0xB6, 0xA0, 0xDE, 0x04, 0x6D, 0x71, 0x46, 0xDB, 0xCE,
0xFC, 0x2D, 0x4C, 0xAF, 0x1B, 0xCE, 0xE2, 0x18, 0xCA, 0x96, 0x3D, 0xDF, 0x2B, 0xFC, 0x57, 0x29,
0xF4, 0x07, 0xC3, 0xB6, 0x5A, 0x37, 0x00, 0x44, 0xF7, 0x1F, 0x54, 0x8D, 0x38, 0x5D, 0xA0, 0xBC,
0xF8, 0x34, 0x7B, 0x9C, 0xFD, 0xCB, 0x42, 0x62, 0x0F, 0xC3, 0xBF, 0x5C, 0xE6, 0x3F, 0x8D, 0xBD,
0xDD, 0x3C, 0xA8, 0xE6, 0x21, 0x24, 0xF1, 0x38, 0x58, 0xF5, 0xF0, 0x9B, 0xB3, 0xA2, 0xE1, 0x40,
0xDC, 0xAB, 0xFD, 0xD3, 0xFB, 0x78, 0x26, 0x50, 0x93, 0x5A, 0xE4, 0x72, 0x6F, 0x2C, 0xC4, 0x4F,
0xD7, 0x77, 0xD9, 0xE4, 0xBC, 0x86, 0x2B, 0x0B, 0x36, 0xE4, 0xC2, 0x7F, 0x3E, 0x4B, 0xB5, 0xBA,
0xDD, 0xDA, 0xDE, 0x7F, 0xEE, 0x71, 0x51, 0xAF, 0x55, 0x6A, 0xD4, 0x45, 0xEC, 0x21, 0x0A, 0x94,
0x08, 0xAE, 0x1B, 0x0D, 0x68, 0x1A, 0x81, 0x0A, 0x5B, 0x3C, 0xDA, 0xC6, 0xF2, 0x78, 0x4E, 0xAF,
0x79, 0x06, 0x6A, 0xEB, 0x00, 0x67, 0xCE, 0x2E, 0xBC, 0xDF, 0xB9, 0xAF, 0x2F, 0x99, 0x30, 0x51,
0x78, 0x56, 0x89, 0x86, 0xDB, 0x5D, 0x9C, 0x0A, 0x68, 0xC2, 0x41, 0x01, 0x68, 0xC5, 0x1D, 0x9E,
0x47, 0xDC, 0x78, 0xDD, 0xF5, 0x1B, 0x9E, 0x75, 0x0D, 0x31, 0x59, 0xCE, 0xB3, 0xA1, 0x7D, 0x27,
0xF9, 0x3A, 0xC3, 0x96, 0xCD, 0x4B, 0x88, 0xE8, 0x8E, 0xC0, 0xC5, 0x06, 0x0B, 0xE6, 0x5E, 0x5E,
0xA1, 0xFA, 0xB5, 0x05, 0xD4, 0xF7, 0x6A, 0x10, 0xCF, 0xFE, 0x2E, 0xE0, 0xF8, 0x83, 0x6C, 0x6B,
0x51, 0xBE, 0x10, 0x4E, 0x64, 0x3B, 0x14, 0x4C, 0x9B, 0xA6, 0xD0, 0x53, 0x1F, 0x48, 0x68, 0xDC,
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0xB3, 0x25, 0xDB, 0x78, 0x5D, 0x24, 0xD7, 0x20, 0x32, 0x88, 0xC9, 0x01, 0x29, 0x41, 0xE3, 0x20,
0x3A, 0xC1, 0x6D, 0xD8, 0x7C, 0xB5, 0xCB, 0x54, 0x69, 0xE6, 0x65, 0xA3, 0xE2, 0x61, 0xF7, 0x7A,
0x79, 0x89, 0xB6, 0xE6, 0x4F, 0x82, 0x20, 0x30, 0x6F, 0x11, 0x56, 0xB1, 0x9E, 0xC1, 0xFD, 0x1F,
0xF0, 0x7A, 0xF5, 0x10, 0x3F, 0x33, 0x64, 0xEE, 0x16, 0x26, 0x94, 0x5A, 0xDB, 0xFC, 0x02, 0xB4,
0x7F, 0xC6, 0x4B, 0xAF, 0x88, 0xAB, 0x06, 0xBA, 0x5B, 0x70, 0xD4, 0xAD, 0x90, 0xBB, 0x7E, 0x71,
0x45, 0x3C, 0x62, 0xF0, 0xD9, 0xDE, 0xBC, 0x3C, 0x61, 0x7F, 0x50, 0x65, 0x8D, 0x1E, 0x72, 0x88,
0x69, 0xF4, 0xD5, 0xDA, 0x1F, 0x2B, 0x65, 0x9A, 0xEA, 0x05, 0x0A, 0x30, 0xC0, 0x56, 0x20, 0x01,
0x27, 0xCD, 0xDD, 0xF4, 0xBD, 0x37, 0x87, 0x58, 0x4F, 0x6D, 0x52, 0x12, 0xDC, 0xD7, 0x25, 0xCD,
0x21, 0xEF, 0x77, 0x78, 0x61, 0x06, 0x6B, 0x63, 0xC5, 0xCC, 0x9A, 0x36, 0x27, 0x5A, 0xF9, 0xC6,
0xDF, 0x28, 0x58, 0x38, 0xD9, 0x62, 0x98, 0x7E, 0x79, 0x4A, 0x6F, 0xD0, 0xBF, 0x6D, 0x20, 0x1D,
0x78, 0x5C, 0xF3, 0xAD, 0x4A, 0x31, 0xB4, 0xDD, 0xCD, 0xFC, 0xF2, 0x9C, 0x66, 0xEF, 0xC4, 0x46,
0xDB, 0xA8, 0x39, 0xDF, 0x6B, 0x78, 0x6F, 0xB5, 0xC2, 0xE0, 0xB2, 0xE4, 0x82, 0xF4, 0xAC, 0x26,
0xB6, 0xEA, 0xEF, 0xDD, 0xEB, 0xE9, 0x04, 0x39, 0x7E, 0x43, 0xD6, 0x7A, 0xF2, 0xE4, 0x26, 0xDB,
0x42, 0xBB, 0x0C, 0xDB, 0xB9, 0x00, 0xF2, 0x07, 0x7A, 0xED, 0xCC, 0x32, 0xFE, 0xEB, 0x12, 0x8D,
0x8E, 0x9D, 0x5B, 0xCF, 0x36, 0x4A, 0xB2, 0x90, 0xAE, 0xAE, 0xC3, 0x46, 0x94, 0x2B, 0x67, 0xD9,
0x0D, 0x88, 0x22, 0x74, 0x42, 0x90, 0x80, 0x24, 0xDD, 0x11, 0xE0, 0xC2, 0x20, 0xAC, 0xD1, 0x90,
0x5E, 0x18, 0x70, 0x5C, 0xB1, 0x2E, 0xA5, 0x6B, 0xC5, 0x0F, 0x7E, 0xFF, 0x86, 0x91, 0x26, 0x09,
0x76, 0x5F, 0x8A, 0xB6, 0xAC, 0xFA, 0x84, 0x6C, 0x5C, 0x4F, 0x1F, 0x45, 0x45, 0x45, 0xE8, 0x0A,
0x5B, 0x95, 0x05, 0x1F, 0xFC, 0xD7, 0x72, 0xA9, 0xA0, 0x2E, 0x1D, 0x7F, 0xE3, 0xF6, 0xC1, 0xBF,
0x64, 0xA1, 0x11, 0x1C, 0x9F, 0xDA, 0x64, 0x78, 0x1A, 0x5A, 0xC8, 0x1D, 0x85, 0xD3, 0xC5, 0x70,
0xCE, 0x7E, 0xAB, 0x94, 0x92, 0xCE, 0xF5, 0x20, 0xD3, 0x59, 0xD5, 0x43, 0xDE, 0xC7, 0x40, 0x1E,
0x1F, 0x1B, 0xFC, 0x06, 0xD3, 0xE5, 0x81, 0xE6, 0xDC, 0x75, 0x13, 0xF5, 0xD7, 0x95, 0x3A, 0xC3,
0x2F, 0xBE, 0xD5, 0x27, 0xEB, 0xE9, 0x82, 0x55, 0x74, 0x2A, 0x30, 0x50, 0xB4, 0xAD, 0x06, 0xB2,
0xE6, 0x4C, 0xAF, 0x1E, 0x8B, 0x6B, 0xB4, 0x76, 0x89, 0x37, 0x38, 0x23, 0x2C, 0xA2, 0xAF, 0x7E,
0xA0, 0x60, 0x1A, 0xFA, 0xD5, 0xB4, 0xD1, 0x66, 0x5F, 0xBB, 0x03, 0x8A, 0x09, 0x26, 0xAE, 0xE5,
0x0C, 0xF7, 0xF8, 0x02, 0xA6, 0xC4, 0x75, 0x37, 0xD4, 0x90, 0x58, 0xD0, 0x44, 0xFC, 0x57, 0xD6,
0xF3, 0x85, 0x9A, 0xEF, 0x44, 0xC3, 0xF3, 0xE3, 0xDE, 0x38, 0xFE, 0xA6, 0x48, 0x96, 0x9A, 0xB4,
0xB7, 0x9D, 0x0B, 0x3A, 0x2C, 0xCE, 0xD5, 0x37, 0xA0, 0xB7, 0x9E, 0x6B, 0x5F, 0xDE, 0x04, 0x52,
0x81, 0xC4, 0x92, 0xE6, 0xDC, 0x56, 0x08, 0xF2, 0x11, 0x98, 0x3E, 0xFF, 0x31, 0x3C, 0x54, 0xD2,
0xB5, 0xAF, 0x69, 0x51, 0x06, 0xB4, 0xF3, 0x54, 0xAF, 0xC4, 0x3B, 0x8D, 0x94, 0xC3, 0x05, 0x4D,
0x5F, 0xD8, 0x06, 0xA0, 0x90, 0xEB, 0xEC, 0xFB, 0x6E, 0x7B, 0xA5, 0xBE, 0x94, 0xAD, 0xFF, 0x32,
0x9E, 0x59, 0xF4, 0x6C, 0x55, 0x17, 0x6A, 0xE9, 0xA8, 0x5A, 0x14, 0xAA, 0x7C, 0x1B, 0xD3, 0xBB,
0xA4, 0x7E, 0x80, 0xCE, 0x02, 0xDF, 0xA2, 0x93, 0x07, 0xF3, 0xD9, 0xDB, 0x96, 0x5F, 0xA8, 0xC7,
0xF8, 0xE7, 0x5D, 0xB6, 0x52, 0xC7, 0x3B, 0x6D, 0xE0, 0xAF, 0x4F, 0x19, 0xEB, 0x77, 0xE9, 0x7D,
0xDB, 0x51, 0xEE, 0x60, 0xC9, 0x94, 0x5B, 0x4D, 0x4B, 0x6B, 0x59, 0x97, 0x8D, 0xB6, 0x06, 0x30,
0x57, 0x0D, 0xB6, 0x70, 0xC9, 0xDC, 0x54, 0x68, 0xB4, 0xF1, 0x8B, 0x3B, 0xB0, 0x09, 0xD7, 0x20,
0x21, 0x12, 0x29, 0x87, 0x4C, 0x35, 0x01, 0xB3, 0x76, 0xB6, 0x99, 0xD1, 0x4B, 0x2C, 0x3C, 0xED,
0xF9, 0xC0, 0x78, 0x97, 0x19, 0xF3, 0x9F, 0x73, 0x9D, 0xF7, 0xCC, 0x06, 0x6A, 0x9B, 0xEC, 0x94,
0xD7, 0xD1, 0x77, 0x20, 0xC3, 0xA2, 0x8B, 0x74, 0xCA, 0x96, 0x9F, 0x69, 0x6D, 0xAD, 0xE3, 0x62,
0x98, 0xEB, 0x86, 0x7E, 0xAC, 0xB9, 0x8B, 0x17, 0xA9, 0x4F, 0x07, 0xBB, 0x0C, 0xE3, 0x82, 0xDD,
0x40, 0xFF, 0x22, 0x7A, 0xF2, 0x46, 0x80, 0x5A, 0x8D, 0x5A, 0xF6, 0xCC, 0x3E, 0xC5, 0x34, 0x02,
0x0D, 0xAC, 0xDC, 0xE9, 0xC1, 0x1A, 0xC6, 0x5E, 0x68, 0xEE, 0x05, 0x1B, 0x6A, 0x6D, 0x39, 0x3F,
0x10, 0xF8, 0xEB, 0x43, 0x6F, 0x52, 0x81, 0x49, 0x6C, 0x0A, 0x23, 0x30, 0x24, 0x25, 0xF9, 0xB4,
0xF3, 0x95, 0x74, 0x23, 0x51, 0x6E, 0x27, 0xEC, 0x1C, 0x84, 0xB5, 0xD1, 0x0D, 0x8D, 0x17, 0x53,
0xCA, 0xB7, 0x1E, 0x3F, 0xA4, 0x5F, 0x07, 0x58, 0xB1, 0x6D, 0x94, 0xAE, 0x60, 0x23, 0x3F, 0x51,
0xAF, 0x7A, 0x45, 0xC3, 0x3B, 0x76, 0xE4, 0x9A, 0x5B, 0xB3, 0x5C, 0xBA, 0x64, 0xB9, 0x25, 0x92,
0xAB, 0x60, 0xB6, 0x2E, 0xF5, 0xCF, 0x85, 0xEB, 0x3E, 0xAB, 0xD4, 0x6B, 0x47, 0xDC, 0x8D, 0x69,
0x3C, 0x53, 0x51, 0x64, 0x7B, 0x22, 0xBE, 0xC8, 0xB0, 0x61, 0xD7, 0x89, 0xF6, 0xCA, 0xCF, 0x1D,
0x29, 0x18, 0xF2, 0x71, 0x5C, 0x58, 0xD7, 0x18, 0xEF, 0xDB, 0xE1, 0xD6, 0x83, 0xC3, 0x26, 0x1A,
0xBE, 0xF2, 0x7F, 0xDB, 0x0E, 0x99, 0x9F, 0x8C, 0x56, 0xD7, 0x6E, 0xD6, 0xCA, 0x55, 0x52, 0x66,
};/** \brief 校准数据 */
uint8_t g_cali_buf[14] {0x81, 0x47, 0x00, 0xf5, 0x94, 0x3f, 0xc3, 0x07, 0x0b, 0x08, 0x32, 0x6c, 0x00, 0x04,};/** \brief 状态数据 */
uint8_t g_state_buf[11] { 0xB1, 0xD3, 0x04, 0x00, 0x37, 0x70,0x02, 0x00, 0x00, 0x00, 0x00}; /** \brief 存储 TOF 获取的结果 */
result_info_t g_tof_result {0}; /*** \brief 读取 TMF8801 状态标志位 ** \retval TMF8x01_OK : 操作成功* \retval TMF8x01_NK : 操作失败*/
static int8_t __tmf8801_status_read (void)
{uint8_t sta_buf[3] {0};/* 读状态寄存器 */I2C_TMF8001_ReadByte(0x08, sta_buf, 3);if (sta_buf[0] ! 0x00 ||sta_buf[1] ! 0x00 ||sta_buf[2] ! 0xFF) {// printf(Error\r\n);return TMF8x01_NK;}return TMF8x01_OK;
}/*** \brief 初始化下载 HW */
static int8_t __tmf8801_download_init (void)
{/** cmd_buf[0] : 初始化下载 HW 命令(0x14)* cmd_buf[1] : 数据长度(0x01)* cmd_buf[3] : 1个字节数据* cmd_buf[4] : 校验字节*/uint8_t cmd_buf[] {0x14, 0x01, 0x29, 0xC1};uint32_t tick 0;I2C_TMF8001_WriteByte(0x08, cmd_buf, 4);while (1) {if (__tmf8801_status_read() TMF8x01_OK) {break;}tick ;if (tick 10) {printf(__tmf8801_download_init tmo!\r\n);return TMF8x01_NK;}}return TMF8x01_OK;
}/*** \brief 设置写 RAM 地址*/
static int8_t __tmf8801_set_ram_addr (uint16_t addr)
{/** cmd_buf[0] : 写 RAM 地址命令(0x43)* cmd_buf[1] : 数据长度(0x02)* cmd_buf[4:3] : 2个字节数据* cmd_buf[5] : 校验字节*/uint8_t cmd_buf[5] {0};uint32_t tick 0;cmd_buf[0] 0x43; cmd_buf[1] 0x02;cmd_buf[2] (uint8_t)addr; /* 地址低 8 位 */cmd_buf[3] (uint8_t)(addr 8); /* 地址高 8 位 */cmd_buf[4] (cmd_buf[0] /* 校验字节 */ cmd_buf[1] cmd_buf[2] cmd_buf[3])^ 0xFF;I2C_TMF8001_WriteByte(0x08, cmd_buf, 5);while (1) {if (__tmf8801_status_read() TMF8x01_OK) {break;}tick ;if (tick 10) {printf(__tmf8801_set_ram_addr tmo!\r\n);return TMF8x01_NK;}}return TMF8x01_OK;
}/*** \brief 写 RAM */
static int8_t __tmf8801_write_ram (void)
{ /** cmd_buf[0] : 命令(0x41)* cmd_buf[1] : 数据长度(0x10)* cmd_buf[17:2] : 16个字节数据* cmd_buf[18] : 校验字节*/uint8_t cmd_buf[19] {0}; uint16_t buf_length 0; /* app_buf 总字节个数 */ uint16_t buf_line 0; /* app_buf 行地址 */uint32_t tick 0;uint16_t i 0;uint16_t j 0;buf_length sizeof(app_buf) / sizeof(app_buf[0]);buf_line buf_length / 16;cmd_buf[0] 0x41; /* 写 RAM */cmd_buf[1] 0x10; /* 待写数据长度:16字节 */for (i 0; i buf_line; i) {/* 装载命令数据缓存区 */for (j 0; j 16; j) { /* 16字节 */cmd_buf[2j] app_buf[16 * i j]; }/* 计算校验字节 */cmd_buf[18] 0; /* 清零校验字节 */for (j 0; j 18; j) { /* 累加 */cmd_buf[18] cmd_buf[j];}cmd_buf[18] ^ 0xFF; /* 异或 0xFF *//* 写 RAM */I2C_TMF8001_WriteByte(0x08, cmd_buf, 19); /* 读状态寄存器 */while (1) {if (__tmf8801_status_read() TMF8x01_OK) {break;}tick ;if (tick 10) {printf(__tmf8801_write_ram tmo!\r\n);return TMF8x01_NK;}} } return TMF8x01_OK;
}/*** \brief 重映射 RAM 到地址 0 并复位*/
static int8_t __tmf8801_ram_remap_rst (void)
{/** cmd_buf[0] : RAM 地址重映射并复位命令(0x11)* cmd_buf[1] : 数据长度(0x00)* cmd_buf[2] : 校验字节*/uint8_t cmd_buf[] {0x11, 0x00, 0xEE}; uint8_t regval 0;uint32_t tick 0;I2C_TMF8001_WriteByte(0x08, cmd_buf, 3);while (1) { /* wait CPU ready */I2C_TMF8001_ReadByte(0xE0, regval, 1);if (regval 0x41) {break;}tick ;if (tick 10) {printf(__tmf8801_ram_remap_rst tmo!\r\n);return TMF8x01_NK;}}return TMF8x01_OK;
}/*** \brief TMF8801 复位*/
static int8_t __tmf8801_rst (void)
{uint8_t regval 0; uint32_t tick 0;regval 0x81;I2C_TMF8001_WriteByte(0xE0, regval, 1);while (1) {/* wait CPU ready */I2C_TMF8001_ReadByte(0xE0, regval , 1);if (regval 0x41) {break;}tick ;if (tick 100) {printf(__tmf8801_rst tmo!\r\n);return TMF8x01_NK;}} return TMF8x01_OK;
}/*** \brief 获取 TMF8801 信息*/
static int8_t __tmf8801_info_read (void)
{ uint8_t app0_rev_num[3] {0};uint8_t chip_rev_id 0;uint8_t serial_num[4] {0};uint8_t regval 0; uint32_t tick 0;/* APP0 主版本号 */I2C_TMF8001_ReadByte(0x01, app0_rev_num[0], 1);/* 次版本号和修订版本号 */I2C_TMF8001_ReadByte(0x12, app0_rev_num[1], 2);/* 芯片修订 ID */I2C_TMF8001_ReadByte(0xE4, chip_rev_id, 1); /* 序列号 */regval 0x47; /* 发送读序列号命令 */I2C_TMF8001_WriteByte(0x10, regval, 1);while (1) { /* 等待序列号生成完毕 */I2C_TMF8001_ReadByte(0x1E, regval, 1);if (regval 0x47) {break;}tick ;if (tick 10) {printf(__tmf8801_info_read tmo!\r\n);return TMF8x01_NK;}} I2C_TMF8001_ReadByte(0x28, serial_num, 4);/* 打印 */printf(Serial Number: %02x-%02x-%02x-%02x\r\n,serial_num[0], serial_num[1], serial_num[2], serial_num[3]);printf(App0 Revision: %d.%d.%d\r\n,app0_rev_num[0], app0_rev_num[1], app0_rev_num[2]);printf(Chip Revision: %d\r\n, chip_rev_id);return TMF8x01_OK;
}/******************************************************************************/
int8_t tmf8801_init (void)
{ /* TMF8801 复位 */if (__tmf8801_rst() TMF8x01_NK) {return TMF8x01_NK;} /* 补丁下载初始化 */ if (__tmf8801_download_init() TMF8x01_NK) { return TMF8x01_NK;}/* 设置写 RAM 地址 */if (__tmf8801_set_ram_addr(0x00) TMF8x01_NK) {return TMF8x01_NK;}/* 写 RAM */if (__tmf8801_write_ram() TMF8x01_NK) {return TMF8x01_NK;} /* 复位 RAM */if (__tmf8801_ram_remap_rst() TMF8x01_NK) {return TMF8x01_NK;}delay_ms(100);/* 获取 TMF8801 芯片信息 */if (__tmf8801_info_read() TMF8x01_NK) {return TMF8x01_NK;} /* 使能检测中断 */tmf8801_intx_enable();return TMF8x01_OK;
}/******************************************************************************/
int8_t tmf8801_app0_start (app0_init_config_t *p_config)
{ /** cmd_data703 Algorithm state and factory calibration is provided* cmd_data623 * cmd_data500 No GPIO control used* cmd_data400 No GPIO control used* cmd_data300 Object detection threshold* cmd_data264 Repetition period in ms 64 hex 100ms* cmd_data184 Number of iterations, low byte; 1 LSB1 k* cmd_data003 Number of iterations, high byte; Set to 900k iterations* command 02 Set flag to perform target distance measurement with 8 * bytes of data containing where including setting of * calibration (and algorithm state) configuration.*/uint8_t cmd_buf[9] {0x00, 0xA3, 0x00, 0x00, 0x00, 0x64, 0x84, 0x03, 0x02}; uint8_t cali_ok 0;uint8_t regval 0; uint8_t i 0;I2C_TMF8001_ReadByte(0xE0, regval, 1);if (regval ! 0x41) {/* CPU 没准备好与主机 IIC 通信 */return TMF8x01_NK;}/* 配置 APP0 相关参数 */cmd_buf[0] p_config-calibration_state_mask;cmd_buf[2] p_config-gpio_control;cmd_buf[3] p_config-gpio_output_control;cmd_buf[5] p_config-repetition_period_ms;cmd_buf[6] p_config-iterations 0xFF;cmd_buf[7] (p_config-iterations 8) 0xFF;/* 预装载工厂校准数据或算法状态数据 */ if (cmd_buf[0] FACTORY_CALIBRATION_PROVIDE) {/* 提供了工厂校准数据 */#if 0if (eepromRead(CALI_STA_ADDR, cali_ok, 1) ! EE_SUCCESS) {return TMF8x01_NK;}if (cali_ok 0xAA) {/* 执行过工厂校准 */if (eepromRead(CALI_DATA_ADDR, g_cali_buf, 14) ! EE_SUCCESS)/* 读取工厂校准数据 */{return TMF8x01_NK;}}#endifI2C_TMF8001_WriteByte(0x20, g_cali_buf, 14);/* 写入 14 字节校准数据 */if (cmd_buf[0] ALGORITHM_STATE_PROVIDE) {/* 提供了算法状态数据 */I2C_TMF8001_WriteByte(0x2E, g_state_buf, 11);/* 写入 11 字节算法状态数据 */}} else if (cmd_buf[0] ALGORITHM_STATE_PROVIDE) {/* 提供了算法状态数据 */I2C_TMF8001_WriteByte(0x20, g_state_buf, 11);/* 写入 11 字节算法状态数据 */}I2C_TMF8001_WriteByte(0x08, cmd_buf, 9);/* 配置 TOF 功能并启动 */printf(配置并启动APP0:\r\n); /* 回显打印 */for (i 0; i 9; i) { printf(%02x , cmd_buf[i]);}printf(\r\n);return TMF8x01_OK;
}/******************************************************************************/
int8_t tof_timestamp_get (uint8_t *timestamp)
{uint8_t status 0;/** 一定要从ToF_REGADDR_STATUS开始读并判断ToF_REGADDR_CONTENTS中的值为0x55* 否则可能读出时间戳为0!!! */I2C_TMF8001_ReadByte(TMF8x01_REGADDR_STATUS, status, 1);printf(TMF8x01_REGADDR_STATUS: %x\r\n, status);I2C_TMF8001_ReadByte(TMF8x01_REGADDR_CONTENTS, status, 1);printf(TMF8x01_REGADDR_CONTENTS: %x\r\n, status);if (status ! 0x55) {/* 未生成结果数据 */return TMF8x01_ENORES;}I2C_TMF8001_ReadByte(0x24, timestamp, 4); /* 读取时间戳 */printf(timestamp: %d\r\n, *timestamp);return TMF8x01_OK;
}/******************************************************************************/
int8_t tmf8801_result_get (result_info_t *p_res)
{uint8_t result_buf[0x3A - 0x20 1] {0};uint8_t regval 0;uint8_t i 0;I2C_TMF8001_ReadByte(TMF8x01_REGADDR_STATUS, regval, 1);I2C_TMF8001_ReadByte(TMF8x01_REGADDR_CONTENTS, regval, 1);if (regval ! 0x55) {/* 未生成结果数据 */return TMF8x01_ENORES;}/* 读取结果数据 */I2C_TMF8001_ReadByte(0x20, result_buf, 0x3A - 0x20 1);p_res-result_num result_buf[0x20 - 0x20];p_res-reliability result_buf[0x21 - 0x20] 0x3F;p_res-distance_peak ((uint16_t)result_buf[0x23 - 0x20] 8) result_buf[0x22 - 0x20];p_res-time_stamp ((uint32_t)result_buf[0x27 - 0x20] 24) | ((uint32_t)result_buf[0x26 - 0x20] 16) |((uint32_t)result_buf[0x25 - 0x20] 8) |((uint32_t)result_buf[0x24 - 0x20] 0);p_res-reference_hits ((uint32_t)result_buf[0x36 - 0x20] 24) | ((uint32_t)result_buf[0x35 - 0x20] 16) |((uint32_t)result_buf[0x34 - 0x20] 8) |((uint32_t)result_buf[0x33 - 0x20] 0);p_res-object_hits ((uint32_t)result_buf[0x3A - 0x20] 24) | ((uint32_t)result_buf[0x39 - 0x20] 16) |((uint32_t)result_buf[0x38 - 0x20] 8) |((uint32_t)result_buf[0x37 - 0x20] 0); /* 备份算法状态数据 */for (i 0; i 11; i) { g_state_buf[i] result_buf[0x28 - 0x20 i];} return TMF8x01_OK;
}/******************************************************************************/
void tmf8801_result_display (result_info_t result)
{ printf(Result number:%d\r\n, result.result_num);printf(Distance(mm):%d\r\n, result.distance_peak);printf(Reliability:%d\r\n, result.reliability); printf(Timestamp(100us):%d\r\n, result.time_stamp);printf(State data:%02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x\r\n,g_state_buf[0], g_state_buf[1], g_state_buf[2], g_state_buf[3], g_state_buf[4], g_state_buf[5], g_state_buf[6], g_state_buf[7], g_state_buf[8], g_state_buf[9], g_state_buf[10]); printf(Reference hits:%d\r\n, result.reference_hits);printf(Object hits:%d\r\n, result.object_hits);
}/******************************************************************************/
int8_t tmf8801_app0_stop (void)
{uint32_t tick 0; uint8_t regval 0xFF;I2C_TMF8001_WriteByte(TMF8x01_REGADDR_COMMAND, regval, 1);while (1) {/* wait CPU ready */I2C_TMF8001_ReadByte(0xE0, regval, 1);if (regval 0x41) {break;} tick ;if (tick 5) { /* 重新发送停止命令 */I2C_TMF8001_WriteByte(TMF8x01_REGADDR_COMMAND, regval, 1);}if (tick 10) { /* 超时 */printf(tmf8801_app0_stop err!\r\n);return TMF8x01_NK;}} return TMF8x01_OK;
}/******************************************************************************/
int8_t tmf8801_factory_calibration (void)
{uint8_t cali_ok 0;uint8_t regval 0; uint32_t tick 0;uint8_t i 0;I2C_TMF8001_ReadByte(TMF8x01_REGADDR_ENABLE, regval, 1);if (regval ! 0x41) {/* 传感器忙 */return TMF8x01_ENOTREADY;}regval 0x0A;I2C_TMF8001_WriteByte(TMF8x01_REGADDR_COMMAND, regval, 1); /* 执行工厂校准命令 */while (1) { /* 等待校准数据生成完毕 */I2C_TMF8001_ReadByte(0x1E, regval, 1);if (regval 0x0A) {break;}tick ;if (tick 10){printf(tmf8801_factory_calibration tmo!\r\n);return TMF8x01_NK;}}/* 读取14字节的校验数据 */I2C_TMF8001_ReadByte(0x20, g_cali_buf, 14);cali_ok 0xAA; /* 标志已经执行过工厂校准 */#if 0/* 备份工厂校准数据 */if (eepromRead(0, g_sys_para, SYSPARA_BUF_LEN) ! EE_SUCCESS) {return TMF8x01_NK;}for (i 0; i 14; i) {g_sys_para[i] g_cali_buf[i];}g_sys_para[CALI_STA_ADDR] cali_ok; if (eepromWriteNByte(0, g_sys_para, SYSPARA_BUF_LEN) ! EE_SUCCESS) {return TMF8x01_NK;}#endifprintf(工厂校准数据: );for (i 0; i 14; i) { printf(0x%02x, , g_cali_buf[i]);}printf(\r\n);return TMF8x01_OK;
}/******************************************************************************/
void tmf8801_app0_get_default_config (app0_init_config_t *p_config)
{/* 不提供工厂校准数据和算法状态数据 */p_config-calibration_state_mask NO_DATA_PROVIDE;/* GPIO0, GPIO1 均作输入(复位值) */p_config-gpio_control GPIO0_INPUT | GPIO1_INPUT;/* 无信号输出 */p_config-gpio_output_control 0;/* 重复测量周期为 6ms */p_config-repetition_period_ms 6; /* 迭代次数 900k */p_config-iterations 900;
}/******************************************************************************/
int8_t tmf8801_app0_osc_trim (int32_t change)
{uint8_t regval 0;uint8_t fuse3 0;uint8_t fuse6 0;int32_t trim_val 0;uint32_t tick 0;regval 0x29; I2C_TMF8001_WriteByte(0x06, regval, 1);regval 0x00; /* PON 0 */I2C_TMF8001_WriteByte(0xE0, regval, 1);while (1) { /* 等待进入待机模式 */I2C_TMF8001_ReadByte(0xE0, regval, 1);{if (regval 0x00) {break;}}tick ;if (tick 10){printf(tmf8801_app0_osc_trim tmo!\r\n);return TMF8x01_NK;}} I2C_TMF8001_ReadByte(0x03, fuse3, 1);I2C_TMF8001_ReadByte(0x06, fuse6, 1);trim_val (((int32_t)fuse3) 1) | ((fuse6 (0x01 6)) 6);trim_val change;trim_val 0x1FF;fuse6 ~(0x01 6);fuse6 | ((trim_val 0x01) 6);fuse3 ((trim_val 1) 0xFF);I2C_TMF8001_WriteByte(0x03, fuse3, 1);I2C_TMF8001_WriteByte(0x06, fuse6, 1);regval 0x01; /* PON 1 */I2C_TMF8001_WriteByte(0xE0, regval, 1);while (1) {/* 等待进入空闲模式 */I2C_TMF8001_ReadByte(0xE0, regval, 1);{if (regval 0x41) {break;}}tick ;if (tick 10){printf(tmf8801_app0_osc_trim tmo!\r\n);return TMF8x01_NK;}} return TMF8x01_OK;
}/******************************************************************************/
void tmf8801_intx_enable (void)
{uint8_t regval 0x01;I2C_TMF8001_WriteByte(0xE2, regval, 1);
}/******************************************************************************/
uint8_t tmf8801_int_status_get (void)
{uint8_t status 0;I2C_TMF8001_ReadByte(0xE1, status, 1);return status;
}/******************************************************************************/
void tmf8801_int_status_clr (void)
{uint8_t regval 0x01;I2C_TMF8001_WriteByte(0xE1, regval, 1);
}/******************************************************************************/
int8_t tmf8801_handle_irq (void)
{uint8_t status 0;uint32_t tick 0;status tmf8801_int_status_get();if (status 0x01) { /* 发生检测中断 */tmf8801_int_status_clr();while (1) {if (tmf8801_result_get(g_tof_result) TMF8x01_OK) {break;}tick ;if (tick 10){printf(tmf8801_result_get tmo!\r\n);return TMF8x01_NK;}} } return TMF8x01_OK;
}
3、main函数
//有些变量是全局变量关系比较复杂我这里就不写出来了你们看一下TMF8801配置的流程就行了
int main(void)
{ u8 tof_timestamp[4];static uint32_t tof_timestamp_t1 {0};static uint32_t tof_timestamp_t0 {0};static uint8_t cnt 0; app0_init_config_t config {0}; uart_init(115200);TIM3_Int_Init(10,36000);//5ms定时实际测量5MSTMF8001_I2C_Init();//初始化TMF8x01if (tmf8801_init() TMF8x01_NK) {printf(tmf8801_init err!\r\n);} //配置APP0config.calibration_state_mask FACTORY_CALIBRATION_PROVIDE;//提供了工厂校准数据config.repetition_period_ms 100;//重复测量周期为100msconfig.iterations 900;//迭代次数 900kif (tmf8801_app0_start(config) TMF8x01_NK)//配置APP0 {printf(tmf8801_app0_start err!\r\n);} while(1){if(System_Tick 200){System_Tick 0;tmf8801_handle_irq();printf(num:%3d 测量距离(mm):%4d 可信度:%2d, g_tof_result.result_num,g_tof_result.distance_peak,g_tof_result.reliability);}}
} 五、测试
1、正常运行时串口打印的数据 2、单片机和TMF8801通讯有问题时串口打印的数据 好了关于这款传感器的介绍就到这里想要完整的驱动程序可以在下面的链接下载有stm8/stm32的驱动程序也有立功科技的一个demo板的原理图和程序用的是LPC824主控。如果还有什么问题可以留言给我如果发现文章有误请一定要指出来谢谢
程序下载链接https://download.csdn.net/download/ShenZhen_zixian/12063597
