VL53L0 STM32源码下载 - - Powered by Discuz!

#include "vl53l0x.h"
VL53L0X_Dev_t vl53l0x_dev;//设备I2C数据参数
VL53L0X_DeviceInfo_t vl53l0x_dev_info;//设备ID版本信息
uint8_t AjustOK=0;//校准标志位
//VL53L0X各测量模式参数
//0：默认;1:高精度;2:长距离;3:高速
mode_data Mode_data[]=
{
{(FixPoint1616_t)(0.25*65536),
(FixPoint1616_t)(18*65536),
33000,
14,
10},//默认
{(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},//长距离
{(FixPoint1616_t)(0.25*65536) ,
(FixPoint1616_t)(32*65536),
20000,
14,
10},//高速
};
//API错误信息打印
//Status：详情看VL53L0X_Error参数的定义
void print_pal_error(VL53L0X_Error Status)
{
char buf[VL53L0X_MAX_STRING_LENGTH];
VL53L0X_GetPalErrorString(Status,buf);//根据Status状态获取错误信息字符串
printf("API Status: %i : %s\r\n",Status, buf);//打印状态和错误信息
}
//模式字符串显示
//mode:0-默认;1-高精度;2-长距离;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设备I2C地址
//dev:设备I2C参数结构体
//newaddr:设备新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)//新设备I2C地址与旧地址一致,直接退出
return VL53L0X_ERROR_NONE;
//在进行第一个寄存器访问之前设置I2C标准模式(400Khz)
Status = VL53L0X_WrByte(dev,0x88,0x00);
if(Status!=VL53L0X_ERROR_NONE)
{
sta=0x01;//设置I2C标准模式出错
goto set_error;
}
//尝试使用默认的0x52地址读取一个寄存器
Status = VL53L0X_RdWord(dev, VL53L0X_REG_IDENTIFICATION_MODEL_ID, &Id);
if(Status!=VL53L0X_ERROR_NONE)
{
sta=0x02;//读取寄存器出错
goto set_error;
}
if(Id == 0xEEAA)
{
//设置设备新的I2C地址
Status = VL53L0X_SetDeviceAddress(dev,FinalAddress);
if(Status!=VL53L0X_ERROR_NONE)
{
sta=0x03;//设置I2C地址出错
goto set_error;
}
//修改参数结构体的I2C地址
dev->I2cDevAddr = FinalAddress;
//检查新的I2C地址读写是否正常
Status = VL53L0X_RdWord(dev, VL53L0X_REG_IDENTIFICATION_MODEL_ID, &Id);
if(Status!=VL53L0X_ERROR_NONE)
{
sta=0x04;//新I2C地址读写出错
goto set_error;
}
}
set_error:
if(Status!=VL53L0X_ERROR_NONE)
{
print_pal_error(Status);//打印错误信息
}
if(sta!=0)
printf("sta:0x%x\r\n",sta);
return Status;
}
//vl53l0x复位函数
//dev:设备I2C参数结构体
void vl53l0x_reset(VL53L0X_Dev_t *dev)
{
uint8_t addr;
addr = dev->I2cDevAddr;//保存设备原I2C地址
VL53L0X_Xshut=0;//失能VL53L0X
delay_ms(30);
VL53L0X_Xshut=1;//使能VL53L0X,让传感器处于工作(I2C地址会恢复默认0X52)
delay_ms(30);
dev->I2cDevAddr=0x52;
vl53l0x_Addr_set(dev,addr);//设置VL53L0X传感器原来上电前原I2C地址
VL53L0X_DataInit(dev);
}
//初始化vl53l0x
//dev:设备I2C参数结构体
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_GPIOA,ENABLE); //先使能外设IO PORTA时钟
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5; // 端口配置
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; //推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; //IO口速度为50MHz
GPIO_Init(GPIOA, &GPIO_InitStructure); //根据设定参数初始化GPIOA
pMyDevice->I2cDevAddr = VL53L0X_Addr;//I2C地址(上电默认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总线
VL53L0X_Xshut=0;//失能VL53L0X
delay_ms(30);
VL53L0X_Xshut=1;//使能VL53L0X,让传感器处于工作
delay_ms(30);
vl53l0x_Addr_set(pMyDevice,0x54);//设置VL53L0X传感器I2C地址
if(Status!=VL53L0X_ERROR_NONE) goto error;
Status = VL53L0X_DataInit(pMyDevice);//设备初始化
if(Status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
Status = VL53L0X_GetDeviceInfo(pMyDevice,&vl53l0x_dev_info);//获取设备ID信息
if(Status!=VL53L0X_ERROR_NONE) goto error;
AT24CXX_Read(0,(u8*)&Vl53l0x_data,sizeof(_vl53l0x_adjust));//读取24c02保存的校准数据,若已校准 Vl53l0x_data.adjustok==0xAA
if(Vl53l0x_data.adjustok==0xAA)//已校准
AjustOK=1;
else //没校准
AjustOK=0;
error:
if(Status!=VL53L0X_ERROR_NONE)
{
print_pal_error(Status);//打印错误信息
return Status;
}
return Status;
}
//主菜单界面
void vl53l0x_mtest_ui(void)
{
POINT_COLOR=BLUE;//设置字体为蓝色
LCD_Fill(30,170,300,300,WHITE);
LCD_ShowString(30,170,200,16,16,"KEY_UP: Calibration mode");//校准模式
LCD_ShowString(30,190,200,16,16,"KEY1: General mode"); //普通测量模式
LCD_ShowString(30,210,200,16,16,"KEY0: Interrupt mode"); //中断测量模式
}
//VL53L0X主测试程序
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闪烁
}
printf("VL53L0X OK\r\n");
LCD_ShowString(30,140,200,16,16,"VL53L0X OK");
vl53l0x_mtest_ui();//主菜单显示
while(1)
{
key = KEY_Scan(0);
if(key)
{
switch(key)
{
case WKUP_PRES: vl53l0x_calibration_test(&vl53l0x_dev); break;//校准模式
case KEY1_PRES: vl53l0x_general_test(&vl53l0x_dev); break;//普通测量模式
case KEY0_PRES: vl53l0x_interrupt_test(&vl53l0x_dev); break;//中断测量模式
}
vl53l0x_mtest_ui();
}
i++;
if(i==5)
{
i=0;
LED0=!LED0;
}
delay_ms(50);
}
}
//----------以下函数为USMART调用------------//
//获取vl53l0x传感器ID信息
void vl53l0x_info(void)
{
printf("\r\n-------vl53l0x传感器设备信息-------\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");
}
//获取一次测量距离数据
//mode模式配置 0:默认;1:高精度;2:长距离;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);
}

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