main.c

/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file           : main.c
 * @brief          : Main program body
 ******************************************************************************
 * @attention
 *
 * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
 * All rights reserved.</center></h2>
 *
 * This software component is licensed by ST under BSD 3-Clause license,
 * the "License"; You may not use this file except in compliance with the
 * License. You may obtain a copy of the License at:
 *                        opensource.org/licenses/BSD-3-Clause
 *
 ******************************************************************************
 */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "string.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
// NCS BEGIN
#include <stdio.h>
#include "vl53l5cx_api.h"
#include "vl53l5cx_plugin_async.h"
// NCS END
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

#ifndef HSEM_ID_0
#define HSEM_ID_0 (0U) /* HW semaphore 0*/
#endif
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
#if defined ( __ICCARM__ ) /*!< IAR Compiler */

#pragma location=0x30040000
ETH_DMADescTypeDef  DMARxDscrTab[ETH_RX_DESC_CNT]; /* Ethernet Rx DMA Descriptors */
#pragma location=0x30040060
ETH_DMADescTypeDef  DMATxDscrTab[ETH_TX_DESC_CNT]; /* Ethernet Tx DMA Descriptors */
#pragma location=0x30040200
uint8_t Rx_Buff[ETH_RX_DESC_CNT][ETH_MAX_PACKET_SIZE]; /* Ethernet Receive Buffers */

#elif defined ( __CC_ARM )  /* MDK ARM Compiler */

__attribute__((at(0x30040000))) ETH_DMADescTypeDef  DMARxDscrTab[ETH_RX_DESC_CNT]; /* Ethernet Rx DMA Descriptors */
__attribute__((at(0x30040060))) ETH_DMADescTypeDef  DMATxDscrTab[ETH_TX_DESC_CNT]; /* Ethernet Tx DMA Descriptors */
__attribute__((at(0x30040200))) uint8_t Rx_Buff[ETH_RX_DESC_CNT][ETH_MAX_PACKET_SIZE]; /* Ethernet Receive Buffer */

#elif defined ( __GNUC__ ) /* GNU Compiler */

ETH_DMADescTypeDef DMARxDscrTab[ETH_RX_DESC_CNT] __attribute__((section(".RxDecripSection"))); /* Ethernet Rx DMA Descriptors */
ETH_DMADescTypeDef DMATxDscrTab[ETH_TX_DESC_CNT] __attribute__((section(".TxDecripSection"))); /* Ethernet Tx DMA Descriptors */
uint8_t Rx_Buff[ETH_RX_DESC_CNT][ETH_MAX_PACKET_SIZE] __attribute__((section(".RxArraySection"))); /* Ethernet Receive Buffers */

#endif

ETH_TxPacketConfig TxConfig;

ETH_HandleTypeDef heth;

I2C_HandleTypeDef hi2c1;
DMA_HandleTypeDef hdma_i2c1_rx;
DMA_HandleTypeDef hdma_i2c1_tx;

UART_HandleTypeDef huart3;
DMA_HandleTypeDef hdma_usart3_tx;

PCD_HandleTypeDef hpcd_USB_OTG_FS;

/* USER CODE BEGIN PV */
VL53L5CX_Configuration vl53l5cx;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_DMA_Init(void);
static void MX_ETH_Init(void);
static void MX_USART3_UART_Init(void);
static void MX_USB_OTG_FS_PCD_Init(void);
static void MX_I2C1_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
// NCS BEGIN
void HAL_I2C_MemRxCpltCallback(I2C_HandleTypeDef *hi2c)
{
	// First we determine if the i2c interrupt came from a "check_data_ready" or "get_ranging_data" request.
	// This is done via the *_in_progress calls.
	if (vl53l5cx_check_data_ready_async_in_progress(&vl53l5cx))
	{
		uint8_t ready = 0;
		// Collect the response. True if the sensor have data ready to be read.
		vl53l5cx_check_data_ready_async_finish(&vl53l5cx, &ready);
		if (ready)
		{
			vl53l5cx_get_ranging_data_async_start(&vl53l5cx); // Send request to read ranging data
		}
		else
		{
			vl53l5cx_check_data_ready_async_start(&vl53l5cx); // Try again to ask if data is ready
		}
	}

	else if (vl53l5cx_get_ranging_data_async_in_progress(&vl53l5cx)) // Check if last request was a "get_ranging_data" request
	{
		VL53L5CX_ResultsData data;
		vl53l5cx_get_ranging_data_async_finish(&vl53l5cx, &data); // Read the ranging data from the buffer where it is stored.
		static char buf[32];
		sprintf(buf, "distance: %i\n", data.distance_mm[28]);
		HAL_UART_Transmit_DMA(&huart3, (uint8_t*) buf, strlen(buf)); // Sends the data over uart for pc to receive
		vl53l5cx_check_data_ready_async_start(&vl53l5cx); // Check if sensor is ready for a new measurement to be read.
	}
}
// NCS END

/* USER CODE END 0 */

/**
 * @brief  The application entry point.
 * @retval int
 */
int main(void)
{
	/* USER CODE BEGIN 1 */

	/* USER CODE END 1 */
	/* USER CODE BEGIN Boot_Mode_Sequence_0 */
	int32_t timeout;
	/* USER CODE END Boot_Mode_Sequence_0 */

	/* USER CODE BEGIN Boot_Mode_Sequence_1 */
	/* Wait until CPU2 boots and enters in stop mode or timeout*/
	timeout = 0xFFFF;
	while ((__HAL_RCC_GET_FLAG(RCC_FLAG_D2CKRDY) != RESET) && (timeout-- > 0))
		;
	if (timeout < 0)
	{
		Error_Handler();
	}
	/* USER CODE END Boot_Mode_Sequence_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 Boot_Mode_Sequence_2 */
	/* When system initialization is finished, Cortex-M7 will release Cortex-M4 by means of
	 HSEM notification */
	/*HW semaphore Clock enable*/
	__HAL_RCC_HSEM_CLK_ENABLE();
	/*Take HSEM */
	HAL_HSEM_FastTake(HSEM_ID_0);
	/*Release HSEM in order to notify the CPU2(CM4)*/
	HAL_HSEM_Release(HSEM_ID_0, 0);
	/* wait until CPU2 wakes up from stop mode */
	timeout = 0xFFFF;
	while ((__HAL_RCC_GET_FLAG(RCC_FLAG_D2CKRDY) == RESET) && (timeout-- > 0))
		;
	if (timeout < 0)
	{
		Error_Handler();
	}
	/* USER CODE END Boot_Mode_Sequence_2 */

	/* USER CODE BEGIN SysInit */

	/* USER CODE END SysInit */

	/* Initialize all configured peripherals */
	MX_GPIO_Init();
	MX_DMA_Init();
	MX_ETH_Init();
	MX_USART3_UART_Init();
	MX_USB_OTG_FS_PCD_Init();
	MX_I2C1_Init();
	/* USER CODE BEGIN 2 */

	// NCS BEGIN

	// Specify what i2c peripheral to communicate via
	vl53l5cx.platform.hi2c = &hi2c1;
	vl53l5cx.platform.address = VL53L5CX_DEFAULT_I2C_ADDRESS; //0x52 is standard i2c address

	uint8_t is_alive = 0;
	vl53l5cx_is_alive(&vl53l5cx, &is_alive); // Successful i2c message sent and received
	if (!is_alive)
	{
		return 1;
	}
	vl53l5cx_init(&vl53l5cx); // Mandatory init function, flashes necessary firmware to the sensor.
	/*
	 * Configuration of the sensor
	 */
	vl53l5cx_set_ranging_frequency_hz(&vl53l5cx, 5);
	vl53l5cx_set_resolution(&vl53l5cx, VL53L5CX_RESOLUTION_8X8);
	vl53l5cx_set_ranging_mode(&vl53l5cx, VL53L5CX_RANGING_MODE_CONTINUOUS);

	vl53l5cx_start_ranging(&vl53l5cx); // Tell the sensor to start doing measurment

	// Start an async process to determine if the sensor has a measurement ready to be read.
	// HAL_I2C_MemRxCpltCallback will be the interrupt called when the sensor has answered whether it is ready or not.
	vl53l5cx_check_data_ready_async_start(&vl53l5cx);

	// NCS END

	/* USER CODE END 2 */

	/* Infinite loop */
	/* USER CODE BEGIN WHILE */
	while (1)
	{
		/* USER CODE END WHILE */

		/* USER CODE BEGIN 3 */
	}
	/* USER CODE END 3 */
}

/**
 * @brief System Clock Configuration
 * @retval None
 */
void SystemClock_Config(void)
{
	RCC_OscInitTypeDef RCC_OscInitStruct =
	{ 0 };
	RCC_ClkInitTypeDef RCC_ClkInitStruct =
	{ 0 };

	/** Supply configuration update enable
	 */
	HAL_PWREx_ConfigSupply(PWR_DIRECT_SMPS_SUPPLY);
	/** Configure the main internal regulator output voltage
	 */
	__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE2);

	while (!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY))
	{
	}
	/** Initializes the RCC Oscillators according to the specified parameters
	 * in the RCC_OscInitTypeDef structure.
	 */
	RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI
			| RCC_OSCILLATORTYPE_HSE;
	RCC_OscInitStruct.HSEState = RCC_HSE_BYPASS;
	RCC_OscInitStruct.HSIState = RCC_HSI_DIV1;
	RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
	RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
	RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
	RCC_OscInitStruct.PLL.PLLM = 1;
	RCC_OscInitStruct.PLL.PLLN = 24;
	RCC_OscInitStruct.PLL.PLLP = 2;
	RCC_OscInitStruct.PLL.PLLQ = 4;
	RCC_OscInitStruct.PLL.PLLR = 2;
	RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_3;
	RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE;
	RCC_OscInitStruct.PLL.PLLFRACN = 0;
	if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
	{
		Error_Handler();
	}
	/** Initializes the CPU, AHB and APB buses clocks
	 */
	RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK
			| RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2 | RCC_CLOCKTYPE_D3PCLK1
			| RCC_CLOCKTYPE_D1PCLK1;
	RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
	RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
	RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV1;
	RCC_ClkInitStruct.APB3CLKDivider = RCC_APB3_DIV1;
	RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV1;
	RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV1;
	RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV1;

	if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)
	{
		Error_Handler();
	}
}

/**
 * @brief ETH Initialization Function
 * @param None
 * @retval None
 */
static void MX_ETH_Init(void)
{

	/* USER CODE BEGIN ETH_Init 0 */

	/* USER CODE END ETH_Init 0 */

	/* USER CODE BEGIN ETH_Init 1 */

	/* USER CODE END ETH_Init 1 */
	heth.Instance = ETH;
	heth.Init.MACAddr[0] = 0x00;
	heth.Init.MACAddr[1] = 0x80;
	heth.Init.MACAddr[2] = 0xE1;
	heth.Init.MACAddr[3] = 0x00;
	heth.Init.MACAddr[4] = 0x00;
	heth.Init.MACAddr[5] = 0x00;
	heth.Init.MediaInterface = HAL_ETH_RMII_MODE;
	heth.Init.TxDesc = DMATxDscrTab;
	heth.Init.RxDesc = DMARxDscrTab;
	heth.Init.RxBuffLen = 1524;

	/* USER CODE BEGIN MACADDRESS */

	/* USER CODE END MACADDRESS */

	if (HAL_ETH_Init(&heth) != HAL_OK)
	{
		Error_Handler();
	}

	memset(&TxConfig, 0, sizeof(ETH_TxPacketConfig));
	TxConfig.Attributes = ETH_TX_PACKETS_FEATURES_CSUM
			| ETH_TX_PACKETS_FEATURES_CRCPAD;
	TxConfig.ChecksumCtrl = ETH_CHECKSUM_IPHDR_PAYLOAD_INSERT_PHDR_CALC;
	TxConfig.CRCPadCtrl = ETH_CRC_PAD_INSERT;
	/* USER CODE BEGIN ETH_Init 2 */

	/* USER CODE END ETH_Init 2 */

}

/**
 * @brief I2C1 Initialization Function
 * @param None
 * @retval None
 */
static void MX_I2C1_Init(void)
{

	/* USER CODE BEGIN I2C1_Init 0 */

	/* USER CODE END I2C1_Init 0 */

	/* USER CODE BEGIN I2C1_Init 1 */

	/* USER CODE END I2C1_Init 1 */
	hi2c1.Instance = I2C1;
	hi2c1.Init.Timing = 0x10707DBC;
	hi2c1.Init.OwnAddress1 = 0;
	hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
	hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
	hi2c1.Init.OwnAddress2 = 0;
	hi2c1.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
	hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
	hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
	if (HAL_I2C_Init(&hi2c1) != HAL_OK)
	{
		Error_Handler();
	}
	/** Configure Analogue filter
	 */
	if (HAL_I2CEx_ConfigAnalogFilter(&hi2c1, I2C_ANALOGFILTER_ENABLE) != HAL_OK)
	{
		Error_Handler();
	}
	/** Configure Digital filter
	 */
	if (HAL_I2CEx_ConfigDigitalFilter(&hi2c1, 0) != HAL_OK)
	{
		Error_Handler();
	}
	/* USER CODE BEGIN I2C1_Init 2 */

	/* USER CODE END I2C1_Init 2 */

}

/**
 * @brief USART3 Initialization Function
 * @param None
 * @retval None
 */
static void MX_USART3_UART_Init(void)
{

	/* USER CODE BEGIN USART3_Init 0 */

	/* USER CODE END USART3_Init 0 */

	/* USER CODE BEGIN USART3_Init 1 */

	/* USER CODE END USART3_Init 1 */
	huart3.Instance = USART3;
	huart3.Init.BaudRate = 115200;
	huart3.Init.WordLength = UART_WORDLENGTH_8B;
	huart3.Init.StopBits = UART_STOPBITS_1;
	huart3.Init.Parity = UART_PARITY_NONE;
	huart3.Init.Mode = UART_MODE_TX_RX;
	huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE;
	huart3.Init.OverSampling = UART_OVERSAMPLING_16;
	huart3.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
	huart3.Init.ClockPrescaler = UART_PRESCALER_DIV1;
	huart3.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
	if (HAL_UART_Init(&huart3) != HAL_OK)
	{
		Error_Handler();
	}
	if (HAL_UARTEx_SetTxFifoThreshold(&huart3, UART_TXFIFO_THRESHOLD_1_8)
			!= HAL_OK)
	{
		Error_Handler();
	}
	if (HAL_UARTEx_SetRxFifoThreshold(&huart3, UART_RXFIFO_THRESHOLD_1_8)
			!= HAL_OK)
	{
		Error_Handler();
	}
	if (HAL_UARTEx_DisableFifoMode(&huart3) != HAL_OK)
	{
		Error_Handler();
	}
	/* USER CODE BEGIN USART3_Init 2 */

	/* USER CODE END USART3_Init 2 */

}

/**
 * @brief USB_OTG_FS Initialization Function
 * @param None
 * @retval None
 */
static void MX_USB_OTG_FS_PCD_Init(void)
{

	/* USER CODE BEGIN USB_OTG_FS_Init 0 */

	/* USER CODE END USB_OTG_FS_Init 0 */

	/* USER CODE BEGIN USB_OTG_FS_Init 1 */

	/* USER CODE END USB_OTG_FS_Init 1 */
	hpcd_USB_OTG_FS.Instance = USB_OTG_FS;
	hpcd_USB_OTG_FS.Init.dev_endpoints = 9;
	hpcd_USB_OTG_FS.Init.speed = PCD_SPEED_FULL;
	hpcd_USB_OTG_FS.Init.dma_enable = DISABLE;
	hpcd_USB_OTG_FS.Init.phy_itface = PCD_PHY_EMBEDDED;
	hpcd_USB_OTG_FS.Init.Sof_enable = DISABLE;
	hpcd_USB_OTG_FS.Init.low_power_enable = DISABLE;
	hpcd_USB_OTG_FS.Init.lpm_enable = DISABLE;
	hpcd_USB_OTG_FS.Init.battery_charging_enable = ENABLE;
	hpcd_USB_OTG_FS.Init.vbus_sensing_enable = ENABLE;
	hpcd_USB_OTG_FS.Init.use_dedicated_ep1 = DISABLE;
	if (HAL_PCD_Init(&hpcd_USB_OTG_FS) != HAL_OK)
	{
		Error_Handler();
	}
	/* USER CODE BEGIN USB_OTG_FS_Init 2 */

	/* USER CODE END USB_OTG_FS_Init 2 */

}

/**
 * Enable DMA controller clock
 */
static void MX_DMA_Init(void)
{

	/* DMA controller clock enable */
	__HAL_RCC_DMA1_CLK_ENABLE();

	/* DMA interrupt init */
	/* DMA1_Stream0_IRQn interrupt configuration */
	HAL_NVIC_SetPriority(DMA1_Stream0_IRQn, 0, 0);
	HAL_NVIC_EnableIRQ(DMA1_Stream0_IRQn);
	/* DMA1_Stream1_IRQn interrupt configuration */
	HAL_NVIC_SetPriority(DMA1_Stream1_IRQn, 0, 0);
	HAL_NVIC_EnableIRQ(DMA1_Stream1_IRQn);
	/* DMA1_Stream2_IRQn interrupt configuration */
	HAL_NVIC_SetPriority(DMA1_Stream2_IRQn, 0, 0);
	HAL_NVIC_EnableIRQ(DMA1_Stream2_IRQn);

}

/**
 * @brief GPIO Initialization Function
 * @param None
 * @retval None
 */
static void MX_GPIO_Init(void)
{
	GPIO_InitTypeDef GPIO_InitStruct =
	{ 0 };

	/* GPIO Ports Clock Enable */
	__HAL_RCC_GPIOC_CLK_ENABLE();
	__HAL_RCC_GPIOH_CLK_ENABLE();
	__HAL_RCC_GPIOA_CLK_ENABLE();
	__HAL_RCC_GPIOB_CLK_ENABLE();
	__HAL_RCC_GPIOD_CLK_ENABLE();
	__HAL_RCC_GPIOG_CLK_ENABLE();

	/*Configure GPIO pin Output Level */
	HAL_GPIO_WritePin(PWR_EN_C_GPIO_Port, PWR_EN_C_Pin, GPIO_PIN_SET);

	/*Configure GPIO pin Output Level */
	HAL_GPIO_WritePin(LPn_C_GPIO_Port, LPn_C_Pin, GPIO_PIN_SET);

	/*Configure GPIO pin : PWR_EN_C_Pin */
	GPIO_InitStruct.Pin = PWR_EN_C_Pin;
	GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
	GPIO_InitStruct.Pull = GPIO_NOPULL;
	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
	HAL_GPIO_Init(PWR_EN_C_GPIO_Port, &GPIO_InitStruct);

	/*Configure GPIO pin : LPn_C_Pin */
	GPIO_InitStruct.Pin = LPn_C_Pin;
	GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
	GPIO_InitStruct.Pull = GPIO_NOPULL;
	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
	HAL_GPIO_Init(LPn_C_GPIO_Port, &GPIO_InitStruct);

}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
 * @brief  This function is executed in case of error occurrence.
 * @retval None
 */
void Error_Handler(void)
{
	/* USER CODE BEGIN Error_Handler_Debug */
	/* User can add his own implementation to report the HAL error return state */
	__disable_irq();
	while (1)
	{
	}
	/* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/