STM32多路VL53L0激光測距程序（含校準）CPU小白

ID:689247 · 發表于 2021-11-29 13:23

一、XL53L0簡介激光測距，有效距離2米，多種測距模式（單次，連續，時間間隔），多種工作模式（默認，快速，高精度，長距離）。
二、XL53L0硬件介紹

如下圖：
除去供電引腳剩余的引腳作用分別如下
1.SDA,SCL兩腳為I2C通信引腳，兩個引腳上拉。
2.GPIO為中斷引腳，數據測完向外部發射一脈沖，不用時上拉。
3.XSHUT類似復位引腳，低電平有效，不用時上拉。

STM32單片機源程序如下:

#include "main.h"
int main(void)
{
Led_Init(); //led引腳初始化
Adc_Init();
SystemInit(); //初始化
Systick_Init(); //滴答時鐘初始化
Uart1_Init(9600); //串口初始化
USB_Port_Set(0); //斷開usb
Delay_Ms(20); //延時
USB_Port_Set(1); //連接USB
Set_USBClock(); //使能USB時鐘
USB_Interrupts_Config(); //USB中斷配置
USB_Init(); //USB初始化
Host_Value_Init(); //主機參數初始化
vl53l0x_Init(); //VL53L0初始化
vl53l0x_Calibration_Init(); //VL53L0設備參數設置
while(1)
{
Vl53l0x_Get_Distance(3); //獲取高度數據
Get_Adc_Average(5); //獲取角度值
Dispose_Usb_Data(); //處理USB的數據
}
}

復制代碼

#include "vl53l0.h"
VL53L0X_Dev_t vl53l0x_dev0;
VL53L0X_Dev_t vl53l0x_dev1;
VL53L0X_Dev_t vl53l0x_dev2;
VL53L0X_Dev_t vl53l0x_dev3;
VL53L0X_DeviceInfo_t vl53l0x_dev_info;
VL53L0X_RangingMeasurementData_t vl53l0x_data;
VL53L0X_Error vl53l0x_status;
void print_pal_error(VL53L0X_Error Status)
{
char buf[VL53L0X_MAX_STRING_LENGTH];
VL53L0X_GetPalErrorString(Status, buf); //得到錯誤碼與字符串
printf("API Status: %i : %s\n", Status, buf);
}
void print_range_status(VL53L0X_RangingMeasurementData_t* pdata)
{
char buf[VL53L0X_MAX_STRING_LENGTH];
uint8_t RangeStatus;
// New Range Status: data is valid when pdata->RangeStatus = 0
RangeStatus = pdata->RangeStatus;
VL53L0X_GetRangeStatusString(RangeStatus, buf);
printf("Range Status: %i : %s\n", RangeStatus, buf);
}
uint16_t vl53l0x_start_single_test(VL53L0X_Dev_t *pdev,
VL53L0X_RangingMeasurementData_t *pdata)
{
int i=0,sum=0;
VL53L0X_Error status = VL53L0X_ERROR_NONE;
if(vl53l0x_status != VL53L0X_ERROR_NONE)
return vl53l0x_status;
status = VL53L0X_PerformSingleRangingMeasurement(pdev, pdata); //VL53L0X執行單一測量范圍
if(status != VL53L0X_ERROR_NONE){
printf("error:Call of VL53L0X_PerformSingleRangingMeasurement\n");
return status;
}
for(i=0;i<5;i++)
sum+=pdata->RangeMilliMeter;
pdata->RangeMilliMeter=sum/5;
return pdata->RangeMilliMeter;
}
/******************************************************************
函數功能：配置VL53L0X設備I2C地址
入口參數：dev:設備I2C參數結構體
newaddr:設備新I2C地址
返回值：錯誤狀態
******************************************************************/
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;
}
/******************************************************************
函數功能：VL53L0初始化
入口參數：VL53L0X_Dev_t *pMyDevice ,u8 vl53l0_x_id
設備結構體設備ID
返回值：錯誤狀態
******************************************************************/
VL53L0X_Error vl53l0x_InitX(VL53L0X_Dev_t *pMyDevice ,u8 vl53l0_x_id)
{
VL53L0X_Error Status = VL53L0X_ERROR_NONE; //初始值賦值為0
pMyDevice->I2cDevAddr = 0x52; //iic地址 0x52是默認地址,要初始化必須先寫0x52,才能初始化，之后再通過軟件修改
pMyDevice->comms_type = 1; //選擇IIC還是SPI iic=1；SPI=0
pMyDevice->comms_speed_khz = 400; //iic速率
//正點原子的VL53L0用戶手冊上寫明了再次使能時地址會恢復為0x52,所以只能使能一次，設置好地址即可，這里是核心
switch(vl53l0_x_id)
{
case 0:
I2C_X0_HIGH();
Delay_Ms(1);
vl53l0x_Addr_set(pMyDevice,0x54);//設置第一個VL53L0X傳感器I2C地址
break;
case 1:
I2C_X1_HIGH();
Delay_Ms(1);
vl53l0x_Addr_set(pMyDevice,0x56);//設置第二個VL53L0X傳感器I2C地址
break;
case 2:
I2C_X2_HIGH();
Delay_Ms(1);
vl53l0x_Addr_set(pMyDevice,0x58);
break;
case 3:
I2C_X3_HIGH();
Delay_Ms(1);
vl53l0x_Addr_set(pMyDevice,0x5a);
break;
}
Status = VL53L0X_DataInit(pMyDevice); //設備的初始化，賦默認值
if(Status != VL53L0X_ERROR_NONE){ //判斷如果狀態不為0 打印錯誤信息
print_pal_error(Status);
return Status; //返回錯誤值可通過此值DEBUG查找錯誤位置
}
Status = VL53L0X_GetDeviceInfo(pMyDevice, &vl53l0x_dev_info); //讀取給定設備的設備信息
if(Status != VL53L0X_ERROR_NONE){
print_pal_error(Status);
return Status;
}
/*
printf("VL53L0X_GetDeviceInfo:\n");
printf("Device Name : %s\n", vl53l0x_dev_info.Name); //設備名
printf("Device Type : %s\n", vl53l0x_dev_info.Type); //產品類型VL53L0X = 1, VL53L1 = 2
printf("Device ID : %s\n", vl53l0x_dev_info.ProductId); // 設備ID
printf("ProductRevisionMajor : %d\n", vl53l0x_dev_info.ProductRevisionMajor);
printf("ProductRevisionMinor : %d\n", vl53l0x_dev_info.ProductRevisionMinor);
if ((vl53l0x_dev_info.ProductRevisionMajor != 1) && (vl53l0x_dev_info.ProductRevisionMinor != 1)){
printf("Error expected cut 1.1 but found cut %d.%d\n",
vl53l0x_dev_info.ProductRevisionMajor, vl53l0x_dev_info.ProductRevisionMinor);
Status = VL53L0X_ERROR_NOT_SUPPORTED;
print_pal_error(Status);
return Status;
} */
// Device Initialization
Status = VL53L0X_StaticInit(pMyDevice); //基本設備初始化
if(Status != VL53L0X_ERROR_NONE){ //判斷是否初始化成功失敗打印錯誤信息
printf ("Call of VL53L0X_StaticInit\n");
print_pal_error(Status);
return Status;
}
return Status;
}
/******************************************************************
函數功能：sPANS參考校準
入口參數：VL53L0X_Dev_t *pMyDevice ,Device_Message *pDev
設備結構體設備信息
返回值：錯誤狀態
******************************************************************/
VL53L0X_Error PerformRefSpad_CalibrationX(VL53L0X_Dev_t *pMyDevice,Device_Message *pDev)
{
uint32_t refSpadCount;
uint8_t isApertureSpads;
VL53L0X_Error Status = VL53L0X_ERROR_NONE; //執行sPANS參考校準
Status = VL53L0X_PerformRefSpadManagement(pMyDevice,&refSpadCount, &isApertureSpads);
if(Status != VL53L0X_ERROR_NONE){
printf ("Call of VL53L0X_PerformRefSpadManagement\n");
printf ("refSpadCount = %d, isApertureSpads = %d\n", refSpadCount, isApertureSpads);
print_pal_error(Status);
return Status;
}
pDev->refSpadCount = refSpadCount;
pDev->isApertureSpads = isApertureSpads;
return Status;
}
/******************************************************************
函數功能：Ref校準
入口參數：VL53L0X_Dev_t *pMyDevice ,Device_Message *pDev
設備結構體設備信息
返回值：錯誤狀態
******************************************************************/
VL53L0X_Error PerformRef_CalibrationX(VL53L0X_Dev_t *pMyDevice,Device_Message *pDev)
{
uint8_t VhvSettings;
uint8_t PhaseCal;
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
// Device Initialization //執行溫度參考校準
Status = VL53L0X_PerformRefCalibration(pMyDevice, &VhvSettings,&PhaseCal);
if(Status != VL53L0X_ERROR_NONE){
printf ("Call of VL53L0X_PerformRefCalibration\n");
print_pal_error(Status);
return Status;
}
pDev->VhvSettings = VhvSettings; //更新結構體
pDev->PhaseCal = PhaseCal;
return Status;
}
/******************************************************************
函數功能：Offset校準
入口參數：VL53L0X_Dev_t *pMyDevice ,Device_Message *pDev
設備結構體設備信息
返回值：錯誤狀態
******************************************************************/
VL53L0X_Error Offset_CalibrationX(VL53L0X_Dev_t *pMyDevice,Device_Message *pDev)
{
int32_t OffsetMicroMeter;
VL53L0X_Error Status = VL53L0X_ERROR_NONE; //初始值賦值為0
Status=VL53L0X_PerformOffsetCalibration(pMyDevice,100<<16,&OffsetMicroMeter); //偏移校準，把白色物體放在100mm處進行，輸出偏移校準值
if(Status != VL53L0X_ERROR_NONE)
{
print_pal_error(Status);
return Status;
}
pDev->OffsetMicroMeter = OffsetMicroMeter;
return Status;
}
/******************************************************************
函數功能：XTalk校準
入口參數：VL53L0X_Dev_t *pMyDevice ,u8 vl53l0_x_id
設備結構體設備ID
返回值：錯誤狀態
******************************************************************/
VL53L0X_Error XTalk_CalibrationX(VL53L0X_Dev_t *pMyDevice,Device_Message *pDev)
{
FixPoint1616_t XTalkCompensation;
VL53L0X_Error Status = VL53L0X_ERROR_NONE; //初始值賦值為0
Status=VL53L0X_PerformXTalkCalibration(pMyDevice,250<<16,&XTalkCompensation); //偏移校準，把白色物體放在100mm處進行，輸出偏移校準值
if(Status != VL53L0X_ERROR_NONE)
{
print_pal_error(Status);
return Status;
}
pDev->XTalkCompensation = XTalkCompensation;
return Status;
}
//校準參數設置
VL53L0X_Error vl53l0x_Set_InitX(VL53L0X_Dev_t *pMyDevice,Device_Message *pDev)
{
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
//SPAD校準參數設置
Status = VL53L0X_SetReferenceSpads(pMyDevice,pDev->refSpadCount,pDev->isApertureSpads);
if(Status!=VL53L0X_ERROR_NONE) { return Status; }
//溫度校準參數設置
Status = VL53L0X_SetRefCalibration(pMyDevice,pDev->VhvSettings,pDev->PhaseCal);
if(Status!=VL53L0X_ERROR_NONE) { return Status; }
//偏移校準參數設置
Status = VL53L0X_SetOffsetCalibrationDataMicroMeter(pMyDevice,pDev->OffsetMicroMeter);
if(Status!=VL53L0X_ERROR_NONE) { return Status; }
//蓋玻片校準參數設置
Status = VL53L0X_SetXTalkCompensationRateMegaCps(pMyDevice,pDev->XTalkCompensation);
if(Status!=VL53L0X_ERROR_NONE) { return Status; }
//使能串擾校準
Status = VL53L0X_SetXTalkCompensationEnable(pMyDevice,ENABLE);
if(Status!=VL53L0X_ERROR_NONE) { return Status; }
return Status;
}
VL53L0X_Error vl53l0x_Set_ModeX(VL53L0X_Dev_t *pMyDevice)
{
// no need to do this when we use VL53L0X_PerformSingleRangingMeasurement
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
Status = VL53L0X_SetDeviceMode(pMyDevice, VL53L0X_DEVICEMODE_SINGLE_RANGING); // Setup in single ranging mode 設置單一測量模式
if(Status != VL53L0X_ERROR_NONE){
printf ("Call of VL53L0X_SetDeviceMode\n");
print_pal_error(Status);
return Status;
}
// Enable/Disable Sigma and Signal check
if(Status == VL53L0X_ERROR_NONE){Status = VL53L0X_SetLimitCheckEnable(pMyDevice, //啟用/禁用特定限制檢查
VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, 1);
}
if(Status == VL53L0X_ERROR_NONE){Status = VL53L0X_SetLimitCheckEnable(pMyDevice,
VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, 1);
}
if(Status == VL53L0X_ERROR_NONE){ Status = VL53L0X_SetLimitCheckValue(pMyDevice,
VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
(FixPoint1616_t)(0.25*65536));
}
if(Status == VL53L0X_ERROR_NONE){ Status = VL53L0X_SetLimitCheckValue(pMyDevice,
VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
(FixPoint1616_t)(18*65536));
}
if(Status == VL53L0X_ERROR_NONE){ Status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(pMyDevice, //設置微秒時間
200000);
}
if(Status != VL53L0X_ERROR_NONE){
printf ("Sigma and Signal check error\n");
print_pal_error(Status);
return Status;
}
return Status; //返回0
}
/******************************************************************
函數功能：設備初始化·
入口參數：無
返回值：錯誤參數
******************************************************************/
VL53L0X_Error vl53l0x_Init(void)
{
VL53L0X_Error Status = VL53L0X_ERROR_NONE; //初始值賦值為0
//初始化一定按照這個順序執行，否則不成功
VL53L0X_i2c_init();
vl53l0x_InitX(&vl53l0x_dev0,0);
vl53l0x_InitX(&vl53l0x_dev1,1);
vl53l0x_InitX(&vl53l0x_dev2,2);
vl53l0x_InitX(&vl53l0x_dev3,3);
return Status; //返回0
}
/******************************************************************
函數功能：參數賦值程序
入口參數：無
返回值：錯誤參數
******************************************************************/
VL53L0X_Error vl53l0x_Set_Init(void)
{
VL53L0X_Error Status = VL53L0X_ERROR_NONE; //初始值賦值為0
vl53l0x_Set_InitX(&vl53l0x_dev0,&Device0_Calibration_Message);
vl53l0x_Set_InitX(&vl53l0x_dev1,&Device1_Calibration_Message);
vl53l0x_Set_InitX(&vl53l0x_dev2,&Device2_Calibration_Message);
vl53l0x_Set_InitX(&vl53l0x_dev3,&Device3_Calibration_Message);
if(Status != VL53L0X_ERROR_NONE)
{
print_pal_error(Status);
return Status;
}
return Status;
}
/******************************************************************
函數功能：設置模式
入口參數：無
返回值：錯誤參數
******************************************************************/
VL53L0X_Error vl53l0x_Set_Mode(void)
{
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
Status = vl53l0x_Set_ModeX(&vl53l0x_dev0);
Status = vl53l0x_Set_ModeX(&vl53l0x_dev1);
Status = vl53l0x_Set_ModeX(&vl53l0x_dev2);
Status = vl53l0x_Set_ModeX(&vl53l0x_dev3);
if(Status != VL53L0X_ERROR_NONE){
printf ("Call of VL53L0X_SetDeviceMode\n");
print_pal_error(Status);
return Status;
}
return Status;
}
/******************************************************************
函數功能：校準程序
入口參數：無
返回值：錯誤參數
******************************************************************/
VL53L0X_Error vl53l0x_Calibration_Init(void)
{
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
if(Host_Configuration.calibration_marker == 0xaa)
{
Status = vl53l0x_Set_Init();
USB_USART_SendData(Host_Configuration.calibration_marker); //設備數據設定
}
else
{ usb_printf("等待偏移校準！");
while(1){Dispose_Usb_Data();
if(Host_Configuration.calibration_marker == 0x0a){break;}}; //等待偏移校準
Status = PerformRefSpad_Calibration();
if(Status!=VL53L0X_ERROR_NONE) { return Status; }
Status = PerformRef_Calibration();
if(Status!=VL53L0X_ERROR_NONE) { return Status; }
Status = Offset_Calibration();
if(Status!=VL53L0X_ERROR_NONE) { return Status; }
usb_printf("等待載玻片校準！");
while(1){Dispose_Usb_Data();
if(Host_Configuration.calibration_marker == 0xaa){break;}}; //等待載玻片校準
Status = XTalk_Calibration();
if(Status!=VL53L0X_ERROR_NONE) { return Status; }
usb_printf("校準成功！");
Save_Device_Data_To_Flash(&Device0_Calibration_Message,0); //保存校準后參數
Save_Device_Data_To_Flash(&Device1_Calibration_Message,1);
Save_Device_Data_To_Flash(&Device2_Calibration_Message,2);
Save_Device_Data_To_Flash(&Device3_Calibration_Message,3);
}
vl53l0x_Set_Mode();
usb_printf("設備啟動！");
return Status;
}
//SPAD校準程序
VL53L0X_Error PerformRefSpad_Calibration(void)
{
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
//SPAD校準
PerformRefSpad_CalibrationX(&vl53l0x_dev0,&Device0_Calibration_Message);
PerformRefSpad_CalibrationX(&vl53l0x_dev1,&Device1_Calibration_Message);
PerformRefSpad_CalibrationX(&vl53l0x_dev2,&Device2_Calibration_Message);
PerformRefSpad_CalibrationX(&vl53l0x_dev3,&Device3_Calibration_Message);
if(Status != VL53L0X_ERROR_NONE)
{
print_pal_error(Status);
return Status;
}
return Status;
}
//溫度校準程序
VL53L0X_Error PerformRef_Calibration(void)
{
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
//溫度校準
PerformRef_CalibrationX(&vl53l0x_dev0,&Device0_Calibration_Message);
PerformRef_CalibrationX(&vl53l0x_dev1,&Device1_Calibration_Message);
PerformRef_CalibrationX(&vl53l0x_dev2,&Device2_Calibration_Message);
PerformRef_CalibrationX(&vl53l0x_dev3,&Device3_Calibration_Message);
if(Status != VL53L0X_ERROR_NONE)
{
print_pal_error(Status);
return Status;
}
return Status;
}
//偏移校準程序
VL53L0X_Error Offset_Calibration(void)
{
VL53L0X_Error Status = VL53L0X_ERROR_NONE; //初始值賦值為0
//偏移校準
Offset_CalibrationX(&vl53l0x_dev0,&Device0_Calibration_Message);
Offset_CalibrationX(&vl53l0x_dev1,&Device1_Calibration_Message);
Offset_CalibrationX(&vl53l0x_dev2,&Device2_Calibration_Message);
Offset_CalibrationX(&vl53l0x_dev3,&Device3_Calibration_Message);
if(Status != VL53L0X_ERROR_NONE)
{
print_pal_error(Status);
return Status;
}
return Status;
}
//串擾校準程序
VL53L0X_Error XTalk_Calibration(void)
{
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
//串擾校準
XTalk_CalibrationX(&vl53l0x_dev0,&Device0_Calibration_Message);
XTalk_CalibrationX(&vl53l0x_dev1,&Device1_Calibration_Message);
XTalk_CalibrationX(&vl53l0x_dev2,&Device2_Calibration_Message);
XTalk_CalibrationX(&vl53l0x_dev3,&Device3_Calibration_Message);
if(Status != VL53L0X_ERROR_NONE)
{
print_pal_error(Status);
return Status;
}
return Status;
}
/******************************************************************
函數功能：獲取四個傳感器測量的高度
入口參數：times ：濾波次數
返回值：無
******************************************************************/
void Vl53l0x_Get_Distance(u8 times) //times不易過大為好
{
static u8 m=0;
Data_Mover(vl5310_1_value_filter,LEFT,times);
Data_Mover(vl5310_2_value_filter,LEFT,times);
Data_Mover(vl5310_3_value_filter,LEFT,times);
Data_Mover(vl5310_4_value_filter,LEFT,times);
for(;m<times;m++) //讀取距離數據
{
vl5310_1_value_filter[m]= vl53l0x_start_single_test(&vl53l0x_dev0, &vl53l0x_data);
vl5310_2_value_filter[m]= vl53l0x_start_single_test(&vl53l0x_dev1, &vl53l0x_data);
vl5310_3_value_filter[m]= vl53l0x_start_single_test(&vl53l0x_dev2, &vl53l0x_data);
vl5310_4_value_filter[m]= vl53l0x_start_single_test(&vl53l0x_dev3, &vl53l0x_data);
}
m--; //下次執行此函數時只用讀取一次即可
Send_Information.first_vl53l0_value = Buf_Add(vl5310_1_value_filter,times)/times; //更新傳感器的值
Send_Information.second_vl53l0_value= Buf_Add(vl5310_2_value_filter,times)/times;
Send_Information.third_vl53l0_value = Buf_Add(vl5310_3_value_filter,times)/times;
Send_Information.fourth_vl53l0_value= Buf_Add(vl5310_4_value_filter,times)/times;
}