第一次提交

modules/TFminiPlus/tfminiplus.c

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

modules/TFminiPlus/tfminiplus.h

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+#ifndef __TFMINIPLUS_H__
+#define __TFMINIPLUS_H__
+
+#include "stdint.h"
+#include "bsp_iic.h"
+
+typedef struct
+{
+	IICInstance *iic;
+	uint8_t Mode;	   //= buf[6];
+	uint16_t Dist;	   //= buf[2] | (buf[3] << 8);
+	uint32_t Strength; //= buf[4] | (buf[5] << 8);
+	uint8_t buf[9];	
+} TFMiniInstance;
+
+TFMiniInstance *TFMiniRegister(I2C_HandleTypeDef *hi2c);
+
+float GetDistance(TFMiniInstance *tfmini);
+
+#endif

modules/TFminiPlus/tfminiplus.md

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+# tfminiplus
+
+北醒激光单点激光雷达模块的简单实现。目前使用iic阻塞通信耗时和速度都太慢，需修改为中断读取，bsp_iic已经提供相应的接口。