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標(biāo)題: VL53L0x激光測(cè)距STM32源程序 [打印本頁(yè)]

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作者: glory_gm    時(shí)間: 2020-2-17 20:28
標(biāo)題: VL53L0x激光測(cè)距STM32源程序
激光測(cè)距資料，移植參考的資料

單片機(jī)源程序如下:

1. #include "vl53l0.h"
   
2. #include "usart.h"       
   
3. 
   
4. u8 sendbuff[6]={0,0,0,0,0,0};
   
5. 
   
6. 
   
7. VL53L0X_Dev_t vl53l0x_dev;
   
8. VL53L0X_DeviceInfo_t vl53l0x_dev_info;
   
9. VL53L0X_RangingMeasurementData_t vl53l0x_data;
   
10. VL53L0X_Error vl53l0x_status;
    
11. 
    
12. /***************************************************************************************/
    
13. 
    
14. void print_pal_error(VL53L0X_Error Status)
    
15. {
    
16.     char buf[VL53L0X_MAX_STRING_LENGTH];
    
17.     VL53L0X_GetPalErrorString(Status, buf);  //得到錯(cuò)誤碼與字符串
    
18.     printf("API Status: %i : %s\n", Status, buf);
    
19. }
    
20. 
    
21. void print_range_status(VL53L0X_RangingMeasurementData_t* pdata)
    
22. {
    
23.     char buf[VL53L0X_MAX_STRING_LENGTH];
    
24.     uint8_t RangeStatus;
    
25.     // New Range Status: data is valid when pdata->RangeStatus = 0
    
26.     RangeStatus = pdata->RangeStatus;
    
27. 
    
28.     VL53L0X_GetRangeStatusString(RangeStatus, buf);
    
29.     printf("Range Status: %i : %s\n", RangeStatus, buf);
    
30. }
    
31. 
    
32. VL53L0X_Error vl53l0x_start_single_test(VL53L0X_Dev_t *pdev, \
    
33.                             VL53L0X_RangingMeasurementData_t *pdata)
    
34. {
    
35.                 int i=0,j=0,sum=0;
    
36.     VL53L0X_Error status = VL53L0X_ERROR_NONE;
    
37.    
    
38.     if(vl53l0x_status != VL53L0X_ERROR_NONE)
    
39.         return vl53l0x_status;
    
40. 
    
41.     status = VL53L0X_PerformSingleRangingMeasurement(pdev, pdata);   //VL53L0X執(zhí)行單一測(cè)量范圍
    
42.     if(status != VL53L0X_ERROR_NONE){
    
43.         printf("error:Call of VL53L0X_PerformSingleRangingMeasurement\n");
    
44.         return status;
    
45.     }
    
46.     print_range_status(pdata);
    
47.                 for(i=0;i<5;i++)
    
48.                         sum+=pdata->RangeMilliMeter;
    
49.                 pdata->RangeMilliMeter=sum/5;
    
50.     printf("Measured distance: %i\n\n", pdata->RangeMilliMeter);
    
51.                
    
52.                 sendbuff[0]=200;
    
53.                 sendbuff[1]=201;
    
54.                 sendbuff[2]=pdata->RangeMilliMeter%100;
    
55.                 sendbuff[3]=pdata->RangeMilliMeter/100;
    
56.                 sendbuff[4]=data1;
    
57.                 sendbuff[5]=data2;
    
58.                
    
59.                 for(j=0;j<6;j++)
    
60.                 {
    
61.                         USART1->DR = sendbuff[j];
    
62.                         while((USART1->SR&0X40)==0);//循環(huán)發(fā)送,直到發(fā)送完畢
    
63.                 }
    
64.     return status;
    
65. }
    
66. 
    
67. 
    
68. VL53L0X_Error vl53l0x_measure_init(VL53L0X_Dev_t *pMyDevice)
    
69. {
    
70.     VL53L0X_Error Status = VL53L0X_ERROR_NONE;
    
71. 
    
72.     //FixPoint1616_t LimitCheckCurrent;
    
73.     uint32_t refSpadCount;
    
74.     uint8_t isApertureSpads;
    
75.     uint8_t VhvSettings;
    
76.     uint8_t PhaseCal;
    
77.     // Device Initialization
    
78.     Status = VL53L0X_StaticInit(pMyDevice);   //基本設(shè)備初始化
    
79.     if(Status != VL53L0X_ERROR_NONE){         //判斷是否初始化成功 失敗打印錯(cuò)誤信息
    
80.         printf ("Call of VL53L0X_StaticInit\n");
    
81.         print_pal_error(Status);
    
82.         return Status;
    
83.     }
    
84.     // Device Initialization
    
85.     Status = VL53L0X_PerformRefCalibration(pMyDevice, &VhvSettings, &PhaseCal);    //執(zhí)行參考校準(zhǔn)
    
86.     if(Status != VL53L0X_ERROR_NONE){        //判斷是否校準(zhǔn)成功
    
87.         printf ("Call of VL53L0X_PerformRefCalibration\n");
    
88.         print_pal_error(Status);
    
89.         return Status;
    
90.     }
    
91. 
    
92.     // needed if a coverglass is used and no calibration has been performed
    
93.     Status = VL53L0X_PerformRefSpadManagement(pMyDevice,&refSpadCount, &isApertureSpads);
    
94.     if(Status != VL53L0X_ERROR_NONE){
    
95.         printf ("Call of VL53L0X_PerformRefSpadManagement\n");
    
96.         printf ("refSpadCount = %d, isApertureSpads = %d\n", refSpadCount, isApertureSpads);
    
97.         print_pal_error(Status);
    
98.         return Status;
    
99.     }
    
100. 
     
101.     // no need to do this when we use VL53L0X_PerformSingleRangingMeasurement  當(dāng)我們使用VL53L0X_PerformSingleRangingMeasurement不需要
     
102.     Status = VL53L0X_SetDeviceMode(pMyDevice, VL53L0X_DEVICEMODE_SINGLE_RANGING); // Setup in single ranging mode 設(shè)置單一測(cè)量模式
     
103.     if(Status != VL53L0X_ERROR_NONE){
     
104.         printf ("Call of VL53L0X_SetDeviceMode\n");
     
105.         print_pal_error(Status);
     
106.         return Status;
     
107.     }
     
108. 
     
109.     // Enable/Disable Sigma and Signal check
     
110.     if(Status == VL53L0X_ERROR_NONE){
     
111.         Status = VL53L0X_SetLimitCheckEnable(pMyDevice,  //啟用/禁用特定限制檢查
     
112.                         VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, 1);
     
113.     }
     
114.     if(Status == VL53L0X_ERROR_NONE){
     
115.         Status = VL53L0X_SetLimitCheckEnable(pMyDevice,
     
116.                         VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, 1);
     
117.     }
     
118.                                
     
119.     if(Status == VL53L0X_ERROR_NONE){
     
120.         Status = VL53L0X_SetLimitCheckValue(pMyDevice,
     
121.                         VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
     
122.                         (FixPoint1616_t)(0.25*65536));
     
123.         }                       
     
124.     if(Status == VL53L0X_ERROR_NONE){
     
125.         Status = VL53L0X_SetLimitCheckValue(pMyDevice,
     
126.                         VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
     
127.                         (FixPoint1616_t)(18*65536));                       
     
128.     }
     
129.     if(Status == VL53L0X_ERROR_NONE){
     
130.         Status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(pMyDevice,   //設(shè)置微秒時(shí)間
     
131.                         200000);
     
132.     }
     
133.     if(Status != VL53L0X_ERROR_NONE){
     
134.         printf ("Sigma and Signal check error\n");
     
135.         print_pal_error(Status);
     
136.         return Status;
     
137.     }
     
138.     /*
     
139.      *  Step  4 : Test ranging mode
     
140.      */
     
141.   /*  for(i=0;i<10;i++){
     
142.             printf ("Call of VL53L0X_PerformSingleRangingMeasurement\n");
     
143.             Status = VL53L0X_PerformSingleRangingMeasurement(pMyDevice,
     
144.                             &vl53l0x_data);
     
145. 
     
146.             print_pal_error(Status);
     
147.             print_range_status(&vl53l0x_data);
     
148. 
     
149.             VL53L0X_GetLimitCheckCurrent(pMyDevice,
     
150.                             VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, &LimitCheckCurrent);
     
151. 
     
152.             printf("RANGE IGNORE THRESHOLD: %f\n\n", (float)LimitCheckCurrent/65536.0);
     
153. 
     
154. 
     
155.             if (Status != VL53L0X_ERROR_NONE) break;
     
156. 
     
157.             printf("Measured distance: %i\n\n", vl53l0x_data.RangeMilliMeter);
     
158. 
     
159.     }
     
160. */
     
161.     return Status;   //返回0
     
162. }
     
163. 
     
164. VL53L0X_Error vl53l0x_init(void)
     
165. {
     
166.     VL53L0X_Error Status = VL53L0X_ERROR_NONE;   //初始值賦值為0
     
167. 
     
168.     VL53L0X_Dev_t *pMyDevice = &vl53l0x_dev;       //得到設(shè)備地址
     
169. 
     
170.     pMyDevice->I2cDevAddr      = 0x52;            //iic地址
     
171.     pMyDevice->comms_type      =  1;              //選擇IIC還是SPI    iic=1；SPI=0
     
172.     pMyDevice->comms_speed_khz =  400;            //iic速率
     
173.    
     
174.     VL53L0X_i2c_init();          //IIC配置   
     
175. 
     
176.     Status = VL53L0X_DataInit(pMyDevice); // Data initialization  //VL53L0X_DataInit：一次設(shè)備的初始化，初始化成功返回0
     
177.     if(Status != VL53L0X_ERROR_NONE){     //判斷如果狀態(tài)不為0   打印錯(cuò)誤信息
     
178.         print_pal_error(Status);
     
179.         return Status;        //  返回錯(cuò)誤值 可通過此值DEBUG查找錯(cuò)誤位置
     
180.     }
     
181. 
     
182.     Status = VL53L0X_GetDeviceInfo(pMyDevice, &vl53l0x_dev_info);   //讀取給定設(shè)備的設(shè)備信息
     
183.     if(Status != VL53L0X_ERROR_NONE){
     
184.         print_pal_error(Status);
     
185.         return Status;
     
186.     }
     
187.     printf("VL53L0X_GetDeviceInfo:\n");
     
188.     printf("Device Name : %s\n", vl53l0x_dev_info.Name);     //設(shè)備名
     
189.     printf("Device Type : %s\n", vl53l0x_dev_info.Type);    //產(chǎn)品類型VL53L0X = 1, VL53L1 = 2
     
190.     printf("Device ID : %s\n", vl53l0x_dev_info.ProductId);   // 設(shè)備ID
     
191.     printf("ProductRevisionMajor : %d\n", vl53l0x_dev_info.ProductRevisionMajor);
     
192.     printf("ProductRevisionMinor : %d\n", vl53l0x_dev_info.ProductRevisionMinor);
     
193. 
     
194.     if ((vl53l0x_dev_info.ProductRevisionMajor != 1) && (vl53l0x_dev_info.ProductRevisionMinor != 1)){
     
195.         printf("Error expected cut 1.1 but found cut %d.%d\n",
     
196.         vl53l0x_dev_info.ProductRevisionMajor, vl53l0x_dev_info.ProductRevisionMinor);
     
197.         Status = VL53L0X_ERROR_NOT_SUPPORTED;
     
198.         print_pal_error(Status);
     
199.         return Status;
     
200.     }
     
201. 
     
202.     Status = vl53l0x_measure_init(pMyDevice);   //測(cè)量配置
     
203.     vl53l0x_status = Status;
     
204.     if(Status != VL53L0X_ERROR_NONE){    //判斷如果不為0打印錯(cuò)誤信息
     
205.         print_pal_error(Status);
     
206.         return Status;
     
207.     }
     
208. 
     
209.     return Status;           //返回0
     
210. }
     

復(fù)制代碼

全部資料51hei下載地址：
VL53L0X激光測(cè)距傳感器.7z (449.71 KB, 下載次數(shù): 76)

2020-2-21 00:02 上傳

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作者: 苦味單片機(jī)    時(shí)間: 2020-3-1 21:21
謝謝大佬，請(qǐng)問有sstm32f4的激光測(cè)距程序嗎

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作者: 做夢(mèng)的孩子    時(shí)間: 2023-4-6 16:17
他這個(gè)現(xiàn)象是什么

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