31 lines
816 B
C
31 lines
816 B
C
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#include "tfminiplus.h"
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#include "stdlib.h"
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#include "bsp_dwt.h"
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static TFMiniInstance *tfmini;
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TFMiniInstance *TFMiniRegister(I2C_HandleTypeDef *hi2c)
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{
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tfmini = (TFMiniInstance *)malloc(sizeof(TFMiniInstance));
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IIC_Init_Config_s conf = {
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.handle = hi2c,
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.dev_address = 0x10,
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.id = tfmini,
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.work_mode = IIC_BLOCK_MODE,
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};
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tfmini->iic = IICRegister(&conf);
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DWT_Delay(0.5);
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return tfmini;
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}
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float GetDistance(TFMiniInstance *tfmini)
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{
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uint8_t cmd_buf[5] = {0x5A, 0x05, 0x00, 0x06, 0x65};
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IICTransmit(tfmini->iic, cmd_buf, 5, IIC_SEQ_RELEASE);
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IICReceive(tfmini->iic, tfmini->buf, 11, IIC_SEQ_RELEASE);
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tfmini->Mode = tfmini->buf[6];
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tfmini->Dist = (uint16_t)tfmini->buf[2] + (((uint16_t)tfmini->buf[3]) << 8);
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tfmini->Strength = tfmini->buf[4] | (tfmini->buf[5] << 8);
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return tfmini->Dist;
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}
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