text: /* USER CODE BEGIN Header */
  /**
    ******************************************************************************
    * @file           : main.c
    * @brief          : Main program body
    ******************************************************************************
    * @attention
    *
    * <h2><center>&copy; Copyright (c) 2019 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 */
  #include "main.h"
  #include "tof.h"
  
  I2C_HandleTypeDef hi2c1;
  I2C_HandleTypeDef hi2c2;
  UART_HandleTypeDef huart1;
  
  void SystemClock_Config(void);
  static void MX_GPIO_Init(void);
  static void MX_I2C1_Init(void);
  static void MX_I2C2_Init(void);
  static void MX_USART1_UART_Init(void);
  
  /////////////////necessary implementations for the library//////////////////////////
  void i2cRead(uint8_t address, uint8_t reg, uint8_t *buffer, int count)
  {
  	HAL_I2C_Mem_Read(&hi2c2, address, reg, I2C_MEMADD_SIZE_8BIT, buffer, count, 100);
  }
  void i2cWrite(uint8_t address, uint8_t reg, uint8_t *buffer, int count)
  {
  	HAL_I2C_Mem_Write(&hi2c2, address, reg, I2C_MEMADD_SIZE_8BIT, buffer, count, 100);
  }
  
  void tofSetResetState(uint8_t sensorNumber, uint8_t resetPinState)
  {
  	if(sensorNumber==0)HAL_GPIO_WritePin(GPIOB, GPIO_PIN_12, resetPinState>0?GPIO_PIN_SET:GPIO_PIN_RESET);
  	if(sensorNumber==1)HAL_GPIO_WritePin(GPIOB, GPIO_PIN_13, resetPinState>0?GPIO_PIN_SET:GPIO_PIN_RESET);
  }
  void varDelayMs(int ms)
  {
  	HAL_Delay(ms);
  }
  ///////////////////////////////////////////////////////////////////
  int main(void)
  {
    HAL_Init();
    SystemClock_Config();
    MX_GPIO_Init();
    MX_I2C1_Init();
    MX_I2C2_Init();
    MX_USART1_UART_Init();
    tofInitAll();
    while (1)
    {
  		int value = tofReadDistance(0);
  		char buffer[16];
  		HAL_UART_Transmit(&huart1, (uint8_t*)buffer, sprintf(buffer, "%d   ", value), 500);
  		value = tofReadDistance(1);
  		HAL_UART_Transmit(&huart1, (uint8_t*)buffer, sprintf(buffer, "%d\n\r", value), 500);
  		HAL_Delay(100);
    }
  }
  
  /**
    * @brief System Clock Configuration
    * @retval None
    */
  void SystemClock_Config(void)
  {
    RCC_OscInitTypeDef RCC_OscInitStruct = {0};
    RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
  
    /** Initializes the CPU, AHB and APB busses clocks 
    */
    RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
    RCC_OscInitStruct.HSEState = RCC_HSE_ON;
    RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
    RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
    RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
    RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL3;
    if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
    {
      Error_Handler();
    }
    /** Initializes the CPU, AHB and APB busses clocks 
    */
    RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                                |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
    RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
    RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
    RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
    RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
  
    if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
    {
      Error_Handler();
    }
  }
  
  /**
    * @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.ClockSpeed = 400000;
    hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
    hi2c1.Init.OwnAddress1 = 0;
    hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
    hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
    hi2c1.Init.OwnAddress2 = 0;
    hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
    hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
    if (HAL_I2C_Init(&hi2c1) != HAL_OK)
    {
      Error_Handler();
    }
    /* USER CODE BEGIN I2C1_Init 2 */
  
    /* USER CODE END I2C1_Init 2 */
  
  }
  
  /**
    * @brief I2C2 Initialization Function
    * @param None
    * @retval None
    */
  static void MX_I2C2_Init(void)
  {
  
    /* USER CODE BEGIN I2C2_Init 0 */
  
    /* USER CODE END I2C2_Init 0 */
  
    /* USER CODE BEGIN I2C2_Init 1 */
  
    /* USER CODE END I2C2_Init 1 */
    hi2c2.Instance = I2C2;
    hi2c2.Init.ClockSpeed = 100000;
    hi2c2.Init.DutyCycle = I2C_DUTYCYCLE_2;
    hi2c2.Init.OwnAddress1 = 0;
    hi2c2.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
    hi2c2.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
    hi2c2.Init.OwnAddress2 = 0;
    hi2c2.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
    hi2c2.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
    if (HAL_I2C_Init(&hi2c2) != HAL_OK)
    {
      Error_Handler();
    }
    /* USER CODE BEGIN I2C2_Init 2 */
  
    /* USER CODE END I2C2_Init 2 */
  
  }
  
  /**
    * @brief USART1 Initialization Function
    * @param None
    * @retval None
    */
  static void MX_USART1_UART_Init(void)
  {
  
    /* USER CODE BEGIN USART1_Init 0 */
  
    /* USER CODE END USART1_Init 0 */
  
    /* USER CODE BEGIN USART1_Init 1 */
  
    /* USER CODE END USART1_Init 1 */
    huart1.Instance = USART1;
    huart1.Init.BaudRate = 115200;
    huart1.Init.WordLength = UART_WORDLENGTH_8B;
    huart1.Init.StopBits = UART_STOPBITS_1;
    huart1.Init.Parity = UART_PARITY_NONE;
    huart1.Init.Mode = UART_MODE_TX_RX;
    huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
    huart1.Init.OverSampling = UART_OVERSAMPLING_16;
    if (HAL_UART_Init(&huart1) != HAL_OK)
    {
      Error_Handler();
    }
    /* USER CODE BEGIN USART1_Init 2 */
  
    /* USER CODE END USART1_Init 2 */
  
  }
  
  /**
    * @brief GPIO Initialization Function
    * @param None
    * @retval None
    */
  static void MX_GPIO_Init(void)
  {
  
    /* GPIO Ports Clock Enable */
    __HAL_RCC_GPIOD_CLK_ENABLE();
    __HAL_RCC_GPIOB_CLK_ENABLE();
    __HAL_RCC_GPIOA_CLK_ENABLE();
  
  	GPIO_InitTypeDef GPIO_InitStruct = {0};
  	GPIO_InitStruct.Pin = GPIO_PIN_12 | GPIO_PIN_13;
  	GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  	GPIO_InitStruct.Pull = GPIO_NOPULL;
  	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  	HAL_GPIO_Init(GPIOB, &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 */
  
    /* 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,
       tex: 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****/
  