vl53l0x激光測距stm32庫函數程序源碼

ID:413306 · 發表于 2018-10-21 21:59

vl53l0x stm32程序

#include "vl53l0x_gen.h"
VL53L0X_RangingMeasurementData_t vl53l0x_data;//測距測量結構體
vu16 Distance_data=0;//保存測距數據
//VL53L0X 測量模式配置
//dev:設備I2C參數結構體
//mode: 0:默認;1:高精度;2:長距離;3:高速
VL53L0X_Error vl53l0x_set_mode(VL53L0X_Dev_t *dev,u8 mode)
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t VhvSettings;
uint8_t PhaseCal;
uint32_t refSpadCount;
uint8_t isApertureSpads;
vl53l0x_reset(dev);//復位vl53l0x(頻繁切換工作模式容易導致采集距離數據不準，需加上這一代碼)
status = VL53L0X_StaticInit(dev);
if(AjustOK!=0)//已校準好了,寫入校準值
{
status= VL53L0X_SetReferenceSpads(dev,Vl53l0x_data.refSpadCount,Vl53l0x_data.isApertureSpads);//設定Spads校準值
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status= VL53L0X_SetRefCalibration(dev,Vl53l0x_data.VhvSettings,Vl53l0x_data.PhaseCal);//設定Ref校準值
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status=VL53L0X_SetOffsetCalibrationDataMicroMeter(dev,Vl53l0x_data.OffsetMicroMeter);//設定偏移校準值
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status=VL53L0X_SetXTalkCompensationRateMegaCps(dev,Vl53l0x_data.XTalkCompensationRateMegaCps);//設定串擾校準值
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
}
else
{
status = VL53L0X_PerformRefCalibration(dev, &VhvSettings, &PhaseCal);//Ref參考校準
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_PerformRefSpadManagement(dev, &refSpadCount, &isApertureSpads);//執行參考SPAD管理
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
}
status = VL53L0X_SetDeviceMode(dev,VL53L0X_DEVICEMODE_SINGLE_RANGING);//使能單次測量模式
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetLimitCheckEnable(dev,VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,1);//使能SIGMA范圍檢查
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetLimitCheckEnable(dev,VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,1);//使能信號速率范圍檢查
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetLimitCheckValue(dev,VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,Mode_data[mode].sigmaLimit);//設定SIGMA范圍
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetLimitCheckValue(dev,VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,Mode_data[mode].signalLimit);//設定信號速率范圍范圍
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(dev,Mode_data[mode].timingBudget);//設定完整測距最長時間
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetVcselPulsePeriod(dev, VL53L0X_VCSEL_PERIOD_PRE_RANGE, Mode_data[mode].preRangeVcselPeriod);//設定VCSEL脈沖周期
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetVcselPulsePeriod(dev, VL53L0X_VCSEL_PERIOD_FINAL_RANGE, Mode_data[mode].finalRangeVcselPeriod);//設定VCSEL脈沖周期范圍
error://錯誤信息
if(status!=VL53L0X_ERROR_NONE)
{
print_pal_error(status);
LCD_Fill(30,140+20,300,300,WHITE);
return status;
}
return status;
}
//VL53L0X 單次距離測量函數
//dev:設備I2C參數結構體
//pdata:保存測量數據結構體
VL53L0X_Error vl53l0x_start_single_test(VL53L0X_Dev_t *dev,VL53L0X_RangingMeasurementData_t *pdata,char *buf)
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t RangeStatus;
status = VL53L0X_PerformSingleRangingMeasurement(dev, pdata);//執行單次測距并獲取測距測量數據
if(status !=VL53L0X_ERROR_NONE) return status;
RangeStatus = pdata->RangeStatus;//獲取當前測量狀態
memset(buf,0x00,VL53L0X_MAX_STRING_LENGTH);
VL53L0X_GetRangeStatusString(RangeStatus,buf);//根據測量狀態讀取狀態字符串
Distance_data = pdata->RangeMilliMeter;//保存最近一次測距測量數據
return status;
}
//啟動普通測量
//dev：設備I2C參數結構體
//mode模式配置 0:默認;1:高精度;2:長距離
void vl53l0x_general_start(VL53L0X_Dev_t *dev,u8 mode)
{
static char buf[VL53L0X_MAX_STRING_LENGTH];//測試模式字符串字符緩沖區
VL53L0X_Error Status=VL53L0X_ERROR_NONE;//工作狀態
u8 key=0;
u8 i=0;
LED0=1;
mode_string(mode,buf);//顯示當前配置的模式
while(vl53l0x_set_mode(dev,mode))//配置精度模式
{
LCD_ShowString(30,140+40,200,16,16,"Mode Set Error!!!");
delay_ms(500);
LCD_ShowString(30,140+40,200,16,16," ");
delay_ms(500);
i++;
if(i==2) return;
}
LCD_Fill(30,140+20,300,300,WHITE);
LCD_ShowString(30,140+30,200,16,16,"KEY_UP: Exit the test ");
LCD_ShowString(30,140+50,200,16,16,"Mode: ");
LCD_ShowString(80,140+50,200,16,16,(u8*)buf);
LCD_ShowString(30,140+70,200,16,16,"State:");//顯示測量狀態
LCD_ShowString(30,140+90,200,16,16,"Distance: 0 mm");//顯示測量距離
while(1)
{
key = KEY_Scan(0);
if(key == WKUP_PRES)
{
LED1=1;
break;//返回上一菜單
}
if(Status==VL53L0X_ERROR_NONE)
{
Status = vl53l0x_start_single_test(dev,&vl53l0x_data,buf);//執行一次測量
LCD_ShowString(85,140+70,200,16,16,(u8*)buf);
LCD_ShowxNum(110,140+90,Distance_data,4,16,0);
//printf("State;%i , %s\r\n",vl53l0x_data.RangeStatus,buf);//打印測量狀態
printf("d: %4imm\r\n",Distance_data);//打印測量距離
}
i++;
if(i==5)
{
i=0;
LED1=!LED1;
}
delay_ms(50);
}
}
//vl53l0x普通測量模式UI
void general_ui(void)
{
LCD_Fill(30,140+20,300,300,WHITE);
POINT_COLOR=RED; //設置字體為紅色
LCD_ShowString(30,140+30,300,16,16,"General Mode ");
LCD_ShowString(30,140+55,300,16,16,"KEY1: Switch working mode ");
POINT_COLOR=BLUE; //設置字體為藍色
LCD_ShowString(30,140+75,300,16,16, "KEY_UP: Return menu ");
LCD_ShowString(30,140+95,300,16,16, "KEY0: Default ");
}
//vl53l0x普通測量模式測試
//dev:設備I2C參數結構體
void vl53l0x_general_test(VL53L0X_Dev_t *dev)
{
u8 key=0;
u8 i=0;
u8 mode=0;
LED1=1;
general_ui();//顯示普通測量模式UI
while(1)
{
key = KEY_Scan(0);
if(key==WKUP_PRES) break;//返回主菜單
else if(key==KEY1_PRES)//選擇工作模式
{
mode++;
if(mode==4) mode=0;
switch(mode)
{
case Default_Mode: LCD_ShowString(95,140+95,300,16,16, "Default "); break;//默認
case HIGH_ACCURACY: LCD_ShowString(95,140+95,300,16,16, "High Accuracy "); break;//高精度
case LONG_RANGE: LCD_ShowString(95,140+95,300,16,16, "Long Range "); break;//長距離
case HIGH_SPEED: LCD_ShowString(95,140+95,300,16,16, "High Speed "); break;//高速
}
}
else if(key==KEY0_PRES)//啟動測量
{
vl53l0x_general_start(dev,mode);
general_ui();
mode=0;
}
i++;
if(i==5)
{
i=0;
LED0=!LED0;
}
delay_ms(50);
}
}

復制代碼

#include "vl53l0x_it.h"
//上下限距離值單位:mm
#define Thresh_Low 60
#define Thresh_High 150
//中斷模式參數結構體
typedef struct
{
const int VL53L0X_Mode;//模式
uint32_t ThreshLow; //下限值
uint32_t ThreshHigh; //上限值
}AlrmMode_t;
AlrmMode_t AlarmModes ={
VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT,// value < thresh_low OR value > thresh_high
Thresh_Low<<16,
Thresh_High<<16
};
//中斷配置初始化
static void exti_init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
EXTI_InitTypeDef EXTI_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);//使能PORTA時鐘
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE); //使能復用功能時鐘
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; //設置成上拉輸入
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_EXTILineConfig(GPIO_PortSourceGPIOA,GPIO_PinSource4);
EXTI_InitStructure.EXTI_Line = EXTI_Line4;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;//下降沿觸發
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure); //根據EXTI_InitStruct中指定的參數初始化外設EXTI寄存器
NVIC_InitStructure.NVIC_IRQChannel = EXTI4_IRQn; //使能按鍵WK_UP所在的外部中斷通道
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x02; //搶占優先級2，
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x03; //子優先級3
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //使能外部中斷通道
NVIC_Init(&NVIC_InitStructure);
}
//警報標志位 alarm_flag
//1:有警報
//0：無
u8 alarm_flag=0;
//外部中斷服務函數
void EXTI4_IRQHandler(void)
{
alarm_flag=1;//標志
EXTI_ClearITPendingBit(EXTI_Line4); //清除LINE4上的中斷標志位
}
extern uint8_t AjustOK;
extern mode_data Mode_data[];
//vl53l0x中斷測量模式測試
//dev:設備I2C參數結構體
//mode: 0:默認;1:高精度;2:長距離;3:高速
void vl53l0x_interrupt_start(VL53L0X_Dev_t *dev,uint8_t mode)
{
uint8_t VhvSettings;
uint8_t PhaseCal;
uint32_t refSpadCount;
uint8_t isApertureSpads;
VL53L0X_RangingMeasurementData_t RangingMeasurementData;
static char buf[VL53L0X_MAX_STRING_LENGTH];//測試模式字符串字符緩沖區
VL53L0X_Error status=VL53L0X_ERROR_NONE;//工作狀態
u8 key;
exti_init();//中斷初始化
LED0=1;
mode_string(mode,buf);//顯示當前配置的模式
LCD_Fill(30,170,300,300,WHITE);
POINT_COLOR=RED; //設置字體為紅色
LCD_ShowString(30,140+30,300,16,16,"Interrupt Mode ");
POINT_COLOR=BLUE; //設置字體為藍色
LCD_ShowString(30,140+50,200,16,16,"KEY_UP: Exit the test ");
LCD_ShowString(30,140+70,200,16,16,"Mode: ");
LCD_ShowString(80,140+70,200,16,16,(u8*)buf);
sprintf((char*)buf,"Thresh Low: %d mm ",Thresh_Low);
LCD_ShowString(30,140+90,300,16,16,(u8*)buf);
sprintf((char*)buf,"Thresh High: %d mm",Thresh_High);
LCD_ShowString(30,140+110,300,16,16,(u8*)buf);
LCD_ShowString(30,140+130,300,16,16,"Now value: mm");
vl53l0x_reset(dev);//復位vl53l0x(頻繁切換工作模式容易導致采集距離數據不準，需加上這一代碼)
status = VL53L0X_StaticInit(dev);
if(status!=VL53L0X_ERROR_NONE) goto error;
if(AjustOK!=0)//已校準好了,寫入校準值
{
status= VL53L0X_SetReferenceSpads(dev,Vl53l0x_data.refSpadCount,Vl53l0x_data.isApertureSpads);//設定Spads校準值
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status= VL53L0X_SetRefCalibration(dev,Vl53l0x_data.VhvSettings,Vl53l0x_data.PhaseCal);//設定Ref校準值
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status=VL53L0X_SetOffsetCalibrationDataMicroMeter(dev,Vl53l0x_data.OffsetMicroMeter);//設定偏移校準值
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status=VL53L0X_SetXTalkCompensationRateMegaCps(dev,Vl53l0x_data.XTalkCompensationRateMegaCps);//設定串擾校準值
if(status!=VL53L0X_ERROR_NONE) goto error;
}else
{
status = VL53L0X_PerformRefCalibration(dev, &VhvSettings, &PhaseCal);//Ref參考校準
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_PerformRefSpadManagement(dev, &refSpadCount, &isApertureSpads);//執行參考SPAD管理
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
}
status = VL53L0X_SetDeviceMode(dev,VL53L0X_DEVICEMODE_CONTINUOUS_RANGING);//使能連續測量模式
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetInterMeasurementPeriodMilliSeconds(dev,Mode_data[mode].timingBudget);//設置內部周期測量時間
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetLimitCheckEnable(dev,VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,1);//使能SIGMA范圍檢查
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetLimitCheckEnable(dev,VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,1);//使能信號速率范圍檢查
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetLimitCheckValue(dev,VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,Mode_data[mode].sigmaLimit);//設定SIGMA范圍
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetLimitCheckValue(dev,VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,Mode_data[mode].signalLimit);//設定信號速率范圍范圍
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(dev,Mode_data[mode].timingBudget);//設定完整測距最長時間
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetVcselPulsePeriod(dev, VL53L0X_VCSEL_PERIOD_PRE_RANGE, Mode_data[mode].preRangeVcselPeriod);//設定VCSEL脈沖周期
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetVcselPulsePeriod(dev, VL53L0X_VCSEL_PERIOD_FINAL_RANGE, Mode_data[mode].finalRangeVcselPeriod);//設定VCSEL脈沖周期范圍
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_StopMeasurement(dev);//停止測量
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetInterruptThresholds(dev,VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,AlarmModes.ThreshLow, AlarmModes.ThreshHigh);//設定觸發中斷上、下限值
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetGpioConfig(dev,0,VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,AlarmModes.VL53L0X_Mode,VL53L0X_INTERRUPTPOLARITY_LOW);//設定觸發中斷模式下降沿
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_ClearInterruptMask(dev,0);//清除VL53L0X中斷標志位
error://錯誤信息
if(status!=VL53L0X_ERROR_NONE)
{
print_pal_error(status);
return ;
}
alarm_flag = 0;
VL53L0X_StartMeasurement(dev);//啟動測量
while(1)
{
key = KEY_Scan(0);
if(key==WKUP_PRES)
{
VL53L0X_ClearInterruptMask(dev,0);//清除VL53L0X中斷標志位
status = VL53L0X_StopMeasurement(dev); //停止測量
LED1=1;
break;//返回上一菜單
}
if(alarm_flag==1)//觸發中斷
{
alarm_flag=0;
VL53L0X_GetRangingMeasurementData(dev,&RangingMeasurementData);//獲取測量距離,并且顯示距離
printf("d: %3d mm\r\n",RangingMeasurementData.RangeMilliMeter);
LCD_ShowxNum(110,140+130,RangingMeasurementData.RangeMilliMeter,4,16,0);
delay_ms(70);
VL53L0X_ClearInterruptMask(dev,0);//清除VL53L0X中斷標志位
}
delay_ms(30);
LED1=!LED1;
}
}
//vl53l0x中斷測量模式UI
void interrupt_ui(void)
{
LCD_Fill(30,140+20,300,300,WHITE);
POINT_COLOR=RED; //設置字體為紅色
LCD_ShowString(30,140+30,300,16,16,"Interrupt Mode ");
LCD_ShowString(30,140+55,300,16,16,"KEY1: Switch working mode ");
POINT_COLOR=BLUE; //設置字體為藍色
LCD_ShowString(30,140+75,300,16,16, "KEY_UP: Return menu ");
LCD_ShowString(30,140+95,300,16,16, "KEY0: Default ");
}
//vl53l0x中斷測量模式測試
//dev:設備I2C參數結構體
void vl53l0x_interrupt_test(VL53L0X_Dev_t *dev)
{
u8 key=0;
u8 i=0;
u8 mode=0;
LED1=1;
interrupt_ui();//顯示中斷測量模式UI
while(1)
{
key = KEY_Scan(0);
if(key==WKUP_PRES) break;//返回主菜單
else if(key==KEY1_PRES)//選擇工作模式
{
mode++;
if(mode==4) mode=0;
switch(mode)
{
case Default_Mode: LCD_ShowString(95,140+95,300,16,16, "Default "); break;//默認
case HIGH_ACCURACY: LCD_ShowString(95,140+95,300,16,16, "High Accuracy "); break;//高精度
case LONG_RANGE: LCD_ShowString(95,140+95,300,16,16, "Long Range "); break;//長距離
case HIGH_SPEED: LCD_ShowString(95,140+95,300,16,16, "High Speed "); break;//高速
}
}
else if(key==KEY0_PRES)//啟動測量
{
vl53l0x_interrupt_start(dev,mode);
interrupt_ui();
mode=0;
}
i++;
if(i==5)
{
i=0;
LED0=!LED0;
}
delay_ms(50);
}
}

復制代碼

#include "vl53l0x.h"
VL53L0X_Dev_t vl53l0x_dev;//設備I2C數據參數
VL53L0X_DeviceInfo_t vl53l0x_dev_info;//設備ID版本信息
uint8_t AjustOK=0;//校準標志位
//VL53L0X各精度模式參數
//0：默認;1:高精度;2:長距離;3:高速
mode_data Mode_data[]=
{
{(FixPoint1616_t)(0.25*65536),
(FixPoint1616_t)(18*65536),
33000,
14,
10},//默認
{(FixPoint1616_t)(0.25*65536) ,
(FixPoint1616_t)(18*65536),
200000,
14,
10},//高精度
{(FixPoint1616_t)(0.1*65536) ,
(FixPoint1616_t)(60*65536),
33000,
18,
14},//長距離
{(FixPoint1616_t)(0.25*65536) ,
(FixPoint1616_t)(32*65536),
20000,
14,
10},//高速
};
//API錯誤信息打印
//Status：詳情看VL53L0X_Error參數的定義
void print_pal_error(VL53L0X_Error Status)
{
char buf[VL53L0X_MAX_STRING_LENGTH];
VL53L0X_GetPalErrorString(Status,buf);//根據Status狀態獲取錯誤信息字符串
printf("API Status: %i : %s\r\n",Status, buf);//打印狀態和錯誤信息
}
//模式字符串顯示
//mode:0-默認;1-高精度;2-長距離;3-高速
void mode_string(u8 mode,char *buf)
{
switch(mode)
{
case Default_Mode: strcpy(buf,"Default"); break;
case HIGH_ACCURACY: strcpy(buf,"High Accuracy"); break;
case LONG_RANGE: strcpy(buf,"Long Range"); break;
case HIGH_SPEED: strcpy(buf,"High Speed"); break;
}
}
//配置VL53L0X設備I2C地址
//dev:設備I2C參數結構體
//newaddr:設備新I2C地址
VL53L0X_Error vl53l0x_Addr_set(VL53L0X_Dev_t *dev,uint8_t newaddr)
{
uint16_t Id;
uint8_t FinalAddress;
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
u8 sta=0x00;
FinalAddress = newaddr;
if(FinalAddress==dev->I2cDevAddr)//新設備I2C地址與舊地址一致,直接退出
return VL53L0X_ERROR_NONE;
//在進行第一個寄存器訪問之前設置I2C標準模式(400Khz)
Status = VL53L0X_WrByte(dev,0x88,0x00);
if(Status!=VL53L0X_ERROR_NONE)
{
sta=0x01;//設置I2C標準模式出錯
goto set_error;
}
//嘗試使用默認的0x52地址讀取一個寄存器
Status = VL53L0X_RdWord(dev, VL53L0X_REG_IDENTIFICATION_MODEL_ID, &Id);
if(Status!=VL53L0X_ERROR_NONE)
{
sta=0x02;//讀取寄存器出錯
goto set_error;
}
if(Id == 0xEEAA)
{
//設置設備新的I2C地址
Status = VL53L0X_SetDeviceAddress(dev,FinalAddress);
if(Status!=VL53L0X_ERROR_NONE)
{
sta=0x03;//設置I2C地址出錯
goto set_error;
}
//修改參數結構體的I2C地址
dev->I2cDevAddr = FinalAddress;
//檢查新的I2C地址讀寫是否正常
Status = VL53L0X_RdWord(dev, VL53L0X_REG_IDENTIFICATION_MODEL_ID, &Id);
if(Status!=VL53L0X_ERROR_NONE)
{
sta=0x04;//新I2C地址讀寫出錯
goto set_error;
}
}
set_error:
if(Status!=VL53L0X_ERROR_NONE)
{
print_pal_error(Status);//打印錯誤信息
}
if(sta!=0)
printf("sta:0x%x\r\n",sta);
return Status;
}
//vl53l0x復位函數
//dev:設備I2C參數結構體
void vl53l0x_reset(VL53L0X_Dev_t *dev)
{
uint8_t addr;
addr = dev->I2cDevAddr;//保存設備原I2C地址
VL53L0X_Xshut=0;//失能VL53L0X
delay_ms(30);
VL53L0X_Xshut=1;//使能VL53L0X,讓傳感器處于工作(I2C地址會恢復默認0X52)
delay_ms(30);
dev->I2cDevAddr=0x52;
vl53l0x_Addr_set(dev,addr);//設置VL53L0X傳感器原來上電前原I2C地址
VL53L0X_DataInit(dev);
}
//初始化vl53l0x
//dev:設備I2C參數結構體
VL53L0X_Error vl53l0x_init(VL53L0X_Dev_t *dev)
{
GPIO_InitTypeDef GPIO_InitStructure;
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
VL53L0X_Dev_t *pMyDevice = dev;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE); //使能AFIO時鐘
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE); //先使能外設IO PORTA時鐘
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15; //端口配置
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; //推挽輸出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; //IO口速度為50MHz
GPIO_Init(GPIOA, &GPIO_InitStructure); //根據設定參數初始化GPIOA
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable,ENABLE);//禁止JTAG,從而PA15可以做普通IO使用,否則PA15不能做普通IO!!!
pMyDevice->I2cDevAddr = VL53L0X_Addr;//I2C地址(上電默認0x52)
pMyDevice->comms_type = 1; //I2C通信模式
pMyDevice->comms_speed_khz = 400; //I2C通信速率
VL53L0X_i2c_init();//初始化IIC總線
VL53L0X_Xshut=0;//失能VL53L0X
delay_ms(30);
VL53L0X_Xshut=1;//使能VL53L0X,讓傳感器處于工作
delay_ms(30);
vl53l0x_Addr_set(pMyDevice,0x54);//設置VL53L0X傳感器I2C地址
if(Status!=VL53L0X_ERROR_NONE) goto error;
Status = VL53L0X_DataInit(pMyDevice);//設備初始化
if(Status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
Status = VL53L0X_GetDeviceInfo(pMyDevice,&vl53l0x_dev_info);//獲取設備ID信息
if(Status!=VL53L0X_ERROR_NONE) goto error;
AT24CXX_Read(0,(u8*)&Vl53l0x_data,sizeof(_vl53l0x_adjust));//讀取24c02保存的校準數據,若已校準 Vl53l0x_data.adjustok==0xAA
if(Vl53l0x_data.adjustok==0xAA)//已校準
AjustOK=1;
else //沒校準
AjustOK=0;
error:
if(Status!=VL53L0X_ERROR_NONE)
{
print_pal_error(Status);//打印錯誤信息
return Status;
}
return Status;
}
//主菜單界面
void vl53l0x_mtest_ui(void)
{
POINT_COLOR=BLUE;//設置字體為藍色
LCD_Fill(30,170,300,300,WHITE);
LCD_ShowString(30,170,200,16,16,"KEY_UP: Calibration mode");//校準模式
LCD_ShowString(30,190,200,16,16,"KEY1: General mode"); //普通測量模式
LCD_ShowString(30,210,200,16,16,"KEY0: Interrupt mode"); //中斷測量模式
}
//VL53L0X主測試程序
void vl53l0x_test(void)
{
u8 i=0;
u8 key=0;
while(vl53l0x_init(&vl53l0x_dev))//vl53l0x初始化
{
LCD_ShowString(30,140,200,16,16,"VL53L0X Error!!!");
delay_ms(500);
LCD_ShowString(30,140,200,16,16," ");
delay_ms(500);
LED0=!LED0;//DS0閃爍
}
printf("VL53L0X OK\r\n");
LCD_ShowString(30,140,200,16,16,"VL53L0X OK");
vl53l0x_mtest_ui();//主菜單顯示
while(1)
{
key = KEY_Scan(0);
if(key)
{
switch(key)
{
case WKUP_PRES: vl53l0x_calibration_test(&vl53l0x_dev); break;//校準模式
case KEY1_PRES: vl53l0x_general_test(&vl53l0x_dev); break;//普通測量模式
case KEY0_PRES: vl53l0x_interrupt_test(&vl53l0x_dev); break;//中斷測量模式
}
vl53l0x_mtest_ui();
}
i++;
if(i==5)
{
i=0;
LED0=!LED0;
}
delay_ms(50);
}
}
//----------以下函數為USMART調用------------//
//獲取vl53l0x傳感器ID信息
void vl53l0x_info(void)
{
printf("\r\n-------vl53l0x傳感器設備信息-------\r\n\r\n");
printf(" Name:%s\r\n",vl53l0x_dev_info.Name);
printf(" Addr:0x%x\r\n",vl53l0x_dev.I2cDevAddr);
printf(" ProductId:%s\r\n",vl53l0x_dev_info.ProductId);
printf(" RevisionMajor:0x%x\r\n",vl53l0x_dev_info.ProductRevisionMajor);
printf(" RevisionMinor:0x%x\r\n",vl53l0x_dev_info.ProductRevisionMinor);
printf("\r\n-----------------------------------\r\n");
}
//獲取一次測量距離數據
//mode模式配置 0:默認;1:高精度;2:長距離;3:高速
void One_measurement(u8 mode)
{
vl53l0x_set_mode(&vl53l0x_dev,mode);
VL53L0X_PerformSingleRangingMeasurement(&vl53l0x_dev,&vl53l0x_data);
printf("\r\n d: %4d mm.\r\n",vl53l0x_data.RangeMilliMeter);
}

復制代碼

全部資料51hei下載地址：

（標準庫版本，適合戰艦V3 STM32開發板）擴展實驗21 ATK-VL53L0X模塊實驗.rar (497.84 KB, 下載次數: 355)

ID:282266 · 發表于 2019-1-30 21:51

贊啊方便了。多謝樓主

ID:393991 · 發表于 2019-3-27 14:56

贊啊多謝樓主

ID:67537 · 發表于 2019-4-28 17:39

這個測試距離是多少

ID:288090 · 發表于 2019-5-11 23:02

多謝樓主

ID:506805 · 發表于 2019-6-5 10:24

學習了。thx

ID:248814 · 發表于 2019-6-6 08:34

yyhhgg 發表于 2019-4-28 17:39
這個測試距離是多少

2.5m內吧

ID:568187 · 發表于 2019-6-20 18:15

多謝樓主

ID:561383 · 發表于 2019-6-25 11:01

你好，有沒有硬件部分的電路圖看看呢

ID:585332 · 發表于 2019-7-16 19:30

謝謝，下載來學習。

ID:585332 · 發表于 2019-7-16 19:30

可是這里沒有說硬件上怎么接線

ID:298802 · 發表于 2019-8-7 16:41

感謝樓主

ID:511461 · 發表于 2019-8-8 10:59

適合戰艦的？

ID:216959 · 發表于 2019-8-21 09:49

贊啊多謝樓主

ID:602256 · 發表于 2019-8-21 10:35

飛秒測試預制三種發射增益對應三種距離范圍這個例程真標準多謝樓主

ID:334968 · 發表于 2019-9-2 13:39

很不錯的資料！值得學習！

ID:216667 · 發表于 2019-9-8 11:03

謝謝！給你個大大

ID:593927 · 發表于 2020-2-14 13:41

成功下載，感謝樓主。

ID:16031 · 發表于 2020-2-14 18:18

下載這個工程，學習一下

ID:68875 · 發表于 2020-2-14 22:04

多謝樓主

ID:538733 · 發表于 2020-3-24 11:46

很好的資料。值得學習。

ID:538733 · 發表于 2020-3-24 11:47

有空可以研究一下。太好了

ID:747116 · 發表于 2020-5-8 18:21

mark,有空研究下，多謝分享。

ID:367242 · 發表于 2020-6-3 08:03

謝謝分享

ID:868171 · 發表于 2021-3-30 14:47

現在ST的缺貨，可以試一下國產VI5300，完美兼容替換XL53L0X、XL53L1X、VL53L3X系列，需要可百度，VL53L0X兼容

ID:910441 · 發表于 2021-4-22 18:07

yyhhgg 發表于 2019-4-28 17:39
這個測試距離是多少

1.2米或2米，來自https://blog.csdn.net/qlexcel/article/details/106154743

ID:896590 · 發表于 2023-11-16 22:24

收藏了，感謝

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vl53l0x激光測距stm32庫函數程序源碼

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