stm32 vl53l0x激光测距程序 -

#include "vl53l0.h"
VL53L0X_Dev_t vl53l0x_dev;
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); //得到错误码与字符串
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);
}
VL53L0X_Error vl53l0x_start_single_test(VL53L0X_Dev_t *pdev, \
VL53L0X_RangingMeasurementData_t *pdata)
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
if(vl53l0x_status != VL53L0X_ERROR_NONE)
return vl53l0x_status;
status = VL53L0X_PerformSingleRangingMeasurement(pdev, pdata); //VL53L0X执行单一测量范围
if(status != VL53L0X_ERROR_NONE){
// printf("error:Call of VL53L0X_PerformSingleRangingMeasurement\n");
return status;
}
print_range_status(pdata);
printf("%icm\n\n", (pdata->RangeMilliMeter)/10);
return status;
}
VL53L0X_Error vl53l0x_measure_init(VL53L0X_Dev_t *pMyDevice)
{
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
//FixPoint1616_t LimitCheckCurrent;
uint32_t refSpadCount;
uint8_t isApertureSpads;
uint8_t VhvSettings;
uint8_t PhaseCal;
// Device Initialization
Status = VL53L0X_StaticInit(pMyDevice); //基本设备初始化
if(Status != VL53L0X_ERROR_NONE){ //判断是否初始化成功失败打印错误信息
printf ("Call of VL53L0X_StaticInit\n");
print_pal_error(Status);
return Status;
}
// Device Initialization
Status = VL53L0X_PerformRefCalibration(pMyDevice, &VhvSettings, &PhaseCal); //执行参考校准
if(Status != VL53L0X_ERROR_NONE){ //判断是否校准成功
printf ("Call of VL53L0X_PerformRefCalibration\n");
print_pal_error(Status);
return Status;
}
// needed if a coverglass is used and no calibration has been performed
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;
}
// no need to do this when we use VL53L0X_PerformSingleRangingMeasurement 当我们使用VL53L0X_PerformSingleRangingMeasurement不需要
Status = VL53L0X_SetDeviceMode(pMyDevice, VL53L0X_DEVICEMODE_SINGLE_RANGING); // Setup in single ranging mode 设置单一测量模式
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, //启用/禁用特定限制检查
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, //设置微秒时间
200000);
}
if(Status != VL53L0X_ERROR_NONE){
printf ("Sigma and Signal check error\n");
print_pal_error(Status);
return Status;
}
/*
* Step 4 : Test ranging mode
*/
/* for(i=0;i<10;i++){
printf ("Call of VL53L0X_PerformSingleRangingMeasurement\n");
Status = VL53L0X_PerformSingleRangingMeasurement(pMyDevice,
&vl53l0x_data);
print_pal_error(Status);
print_range_status(&vl53l0x_data);
VL53L0X_GetLimitCheckCurrent(pMyDevice,
VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, &LimitCheckCurrent);
printf("RANGE IGNORE THRESHOLD: %f\n\n", (float)LimitCheckCurrent/65536.0);
if (Status != VL53L0X_ERROR_NONE) break;
printf("Measured distance: %i\n\n", vl53l0x_data.RangeMilliMeter);
}
*/
return Status; //返回0
}
VL53L0X_Error vl53l0x_init(void)
{
VL53L0X_Error Status = VL53L0X_ERROR_NONE; //初始值赋值为0
VL53L0X_Dev_t *pMyDevice = &vl53l0x_dev; //得到设备地址
pMyDevice->I2cDevAddr = 0x52; //iic地址
pMyDevice->comms_type = 1; //选择IIC还是SPI iic=1；SPI=0
pMyDevice->comms_speed_khz = 400; //iic速率
VL53L0X_i2c_init(); //IIC配置
Status = VL53L0X_DataInit(pMyDevice); // Data initialization //VL53L0X_DataInit：一次设备的初始化，初始化成功返回0
if(Status != VL53L0X_ERROR_NONE){ //判断如果状态不为0 打印错误信息
print_pal_error(Status);
return Status; // 返回错误值可通过此值DEBUG查找错误位置
}
Status = VL53L0X_GetDeviceInfo(pMyDevice, &vl53l0x_dev_info); //读取给定设备的设备信息
if(Status != VL53L0X_ERROR_NONE){
print_pal_error(Status);
return Status;
}
printf("VL53L0X_GetDeviceInfo:\n");
printf("Device Name : %s\n", vl53l0x_dev_info.Name); //设备名
printf("Device Type : %s\n", vl53l0x_dev_info.Type); //产品类型VL53L0X = 1, VL53L1 = 2
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