6016
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2.5m，2m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 |
|---|---|---|---|
| 1 | VCCD | 电源 | 供电电压3V；接一个0.1uF电容到地 |
| 2 | GNDC | 地 | 电源负极 |
| 3 | GPIO0 | IO | 通用IO口，如果不用，请保持开路 |
| 4 | INT | 输出 | 中断输出，如果不用，请接到地 |
| 5 | SCL | 输入 | IIC时钟引脚 |
| 6 | SDA | IO | IIC数据引脚 |
| 7 | VDD | 电源 | 供电电压3V；接一个0.1uF电容到地 |
| 8 | GND | 地 | 电源负极 |
| 9 | EN | 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VDD |
| 10 | GPIO1 | IO | 通用IO口，如果不用，请保持开路 |
| 11 | GNDV | 地 | 电源负极 |
| 12 | VDDV | 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(i=0;i<6;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 ucErrTime=0;
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byte，I2C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(bit=0;bit<8;bit++)
{
if((Byte&0x80)>>7)
{
TMF8001_I2C_SDA_HIGHT;
}
else
{
TMF8001_I2C_SDA_LOW;
}
Byte<<=1;
//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_Byte=0;
TMF8001_I2C_SDA_In;
for(bit=0;bit<8;bit++)
{
TMF8001_I2C_SCL_LOW;
iic_delay_us(4);
TMF8001_I2C_SCL_HIGHT;
Receive_Byte<<=1;//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(i=0;i<Len;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(i=0;i<Len;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,
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0xCC, 0x2E, 0xC4, 0xB4, 0xCE, 0x31, 0x91, 0x81, 0x50, 0xCA, 0x6F, 0x36, 0xF9, 0xF4, 0xC4, 0x5F,
0xE9, 0x98, 0xA6, 0x67, 0x09, 0x07, 0x0C, 0x7A, 0x04, 0x3F, 0xAE, 0x20, 0xF9, 0x41, 0x25, 0xA6,
0x0D, 0xD7, 0x78, 0x08, 0xA0, 0x51, 0xE3, 0x72, 0xD6, 0x6F, 0xB2, 0x4C, 0x33, 0x8A, 0x4D, 0xC7,
0x17, 0xA3, 0x33, 0xC3, 0x44, 0xE3, 0x92, 0xDA, 0x33, 0xA5, 0x4B, 0x88, 0xF3, 0x7C, 0x85, 0x2E,
0xC2, 0x7D, 0x19, 0x1E, 0x9C, 0x40, 0xA9, 0x09, 0x2B, 0xF8, 0xD5, 0x91, 0xFD, 0x8A, 0xC4, 0xBD,
0x25, 0x23, 0x43, 0xB7, 0x37, 0x9A, 0x89, 0xA9, 0x7C, 0xEB, 0x2E, 0x47, 0x38, 0x00, 0xEC, 0x6A,
0x94, 0xB7, 0xA9, 0x60, 0xEF, 0xCD, 0x4A, 0x2A, 0xA5, 0x40, 0xA5, 0x40, 0x2B, 0x1C, 0xFA, 0x48,
0xA1, 0x71, 0xC6, 0xA2, 0x79, 0x76, 0x5D, 0x74, 0xE6, 0x09, 0x05, 0x1C, 0x97, 0xED, 0x15, 0x37,
0x61, 0xE5, 0x9F, 0xDA, 0xAA, 0x79, 0x4A, 0x7F, 0x85, 0x71, 0x29, 0x62, 0x1B, 0x56, 0x89, 0x23,
0xC1, 0xC4, 0xBB, 0x32, 0x5A, 0x3B, 0xAE, 0x5F, 0xC2, 0x3A, 0x90, 0xAD, 0xE6, 0x72, 0x36, 0xB5,
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("Errorrn");
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!rn");
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!rn");
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[2+j] = 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!rn");
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, ®val, 1);
if (regval == 0x41)
{
break;
}
tick ++;
if (tick >= 10)
{
printf("__tmf8801_ram_remap_rst tmo!rn");
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, ®val, 1);
while (1)
{/* wait CPU ready */
I2C_TMF8001_ReadByte(0xE0, ®val , 1);
if (regval == 0x41)
{
break;
}
tick ++;
if (tick >= 100)
{
printf("__tmf8801_rst tmo!rn");
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, ®val, 1);
while (1)
{ /* 等待序列号生成完毕 */
I2C_TMF8001_ReadByte(0x1E, ®val, 1);
if (regval == 0x47)
{
break;
}
tick ++;
if (tick >= 10)
{
printf("__tmf8801_info_read tmo!rn");
return TMF8x01_NK;
}
}
I2C_TMF8001_ReadByte(0x28, serial_num, 4);
/* 打印 */
printf("Serial Number: %02x-%02x-%02x-%02xrn",
serial_num[0], serial_num[1], serial_num[2], serial_num[3]);
printf("App0 Revision: %d.%d.%drn",
app0_rev_num[0], app0_rev_num[1], app0_rev_num[2]);
printf("Chip Revision: %drn", 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_data7=03 Algorithm state and factory calibration is provided
* cmd_data6=23
* cmd_data5=00 No GPIO control used
* cmd_data4=00 No GPIO control used
* cmd_data3=00 Object detection threshold
* cmd_data2=64 Repetition period in ms 64 hex = 100ms
* cmd_data1=84 Number of iterations, low byte; 1 LSB=1 k
* cmd_data0=03 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, ®val, 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 0
if (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;
}
}
#endif
I2C_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:rn"); /* 回显打印 */
for (i = 0; i < 9; i++)
{
printf("%02x ", cmd_buf[i]);
}
printf("rn");
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: %xrn", status);
I2C_TMF8001_ReadByte(TMF8x01_REGADDR_CONTENTS, &status, 1);
printf("TMF8x01_REGADDR_CONTENTS: %xrn", 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: %drn", *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, ®val, 1);
I2C_TMF8001_ReadByte(TMF8x01_REGADDR_CONTENTS, ®val, 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:%drn", result.result_num);
printf("Distance(mm):%drn", result.distance_peak);
printf("Reliability:%drn", result.reliability);
printf("Timestamp(100us):%drn", result.time_stamp);
printf("State data:%02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02xrn",
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:%drn", result.reference_hits);
printf("Object hits:%drn", result.object_hits);
}
/******************************************************************************/
int8_t tmf8801_app0_stop (void)
{
uint32_t tick = 0;
uint8_t regval = 0xFF;
I2C_TMF8001_WriteByte(TMF8x01_REGADDR_COMMAND, ®val, 1);
while (1)
{/* wait CPU ready */
I2C_TMF8001_ReadByte(0xE0, ®val, 1);
if (regval == 0x41)
{
break;
}
tick ++;
if (tick >= 5)
{ /* 重新发送停止命令 */
I2C_TMF8001_WriteByte(TMF8x01_REGADDR_COMMAND, ®val, 1);
}
if (tick >= 10)
{ /* 超时 */
printf("tmf8801_app0_stop err!rn");
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, ®val, 1);
if (regval != 0x41)
{/* 传感器忙 */
return TMF8x01_ENOTREADY;
}
regval = 0x0A;
I2C_TMF8001_WriteByte(TMF8x01_REGADDR_COMMAND, ®val, 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, ®val, 1);
if (regval == 0x0A)
{
break;
}
tick ++;
if (tick >= 10)
{
printf("tmf8801_factory_calibration tmo!rn");
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;
}
#endif
printf("工厂校准数据: ");
for (i = 0; i < 14; i++)
{
printf("0x%02x, ", g_cali_buf[i]);
}
printf("rn");
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, ®val, 1);
regval = 0x00; /* PON = 0 */
I2C_TMF8001_WriteByte(0xE0, ®val, 1);
while (1)
{ /* 等待进入待机模式 */
I2C_TMF8001_ReadByte(0xE0, ®val, 1);
{
if (regval == 0x00)
{
break;
}
}
tick ++;
if (tick >= 10)
{
printf("tmf8801_app0_osc_trim tmo!rn");
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, ®val, 1);
while (1)
{/* 等待进入空闲模式 */
I2C_TMF8001_ReadByte(0xE0, ®val, 1);
{
if (regval == 0x41)
{
break;
}
}
tick ++;
if (tick >= 10)
{
printf("tmf8801_app0_osc_trim tmo!rn");
return TMF8x01_NK;
}
}
return TMF8x01_OK;
}
/******************************************************************************/
void tmf8801_intx_enable (void)
{
uint8_t regval = 0x01;
I2C_TMF8001_WriteByte(0xE2, ®val, 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, ®val, 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!rn");
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5MS
TMF8001_I2C_Init();
//初始化TMF8x01
if (tmf8801_init() == TMF8x01_NK)
{
printf("tmf8801_init err!rn");
}
//配置APP0
config.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100ms
config.iterations = 900;//迭代次数 900k
if (tmf8801_app0_start(&config) == TMF8x01_NK)//配置APP0
{
printf("tmf8801_app0_start err!rn");
}
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
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