lv53l0x 是st出的tof测距模块。
1.stm32移植lv53L0x模块,需要一份api驱动代码
2.替换自己的的iic驱动模块
3.按照Demo移植
下面是简单的驱动
准备好上面的代码
都是一些官方的api文件
自己准备一份iic驱动
#ifndef __VL53L0X_IIC_H
#define __VL53L0X_IIC_H
#include "stdint.h"
#include "./type/type.h"
#include "./delay/delay.h"
//Status
#define STATUS_OK 0x00
#define STATUS_FAIL 0x01
void VL53L0X_IIC_Init(void);
uint8_t VL_I2C_Read_nByte(uint8_t SlaveAddress, uint8_t REG_Address, uint8_t *buf, uint16_t len);
uint8_t VL_I2C_Write_nByte(uint8_t SlaveAddress, uint8_t REG_Address, uint8_t *buf, uint16_t len);
#endif
#include "vl53l0x_IIC.h"
#define VL_SDA_IOx GPIOB
#define VL_SDA_PIN GPIO_PIN_7
#define __HAL_RCC_VL_SDA_CLK_ENABLE __HAL_RCC_GPIOB_CLK_ENABLE
#define VL_SCL_IOx GPIOB
#define VL_SCL_PIN GPIO_PIN_6
#define __HAL_RCC_VL_SCK_CLK_ENABLE __HAL_RCC_GPIOB_CLK_ENABLE
#define VL_SDA_IN() {GPIOB->MODER &= ~(3<<(7*2)); GPIOB->MODER |= 0<<7*2;} //PB7输入模式
#define VL_SDA_OUT() {GPIOB->MODER &= ~(3<<(7*2)); GPIOB->MODER |= 1<<7*2;} //PB7输入模式
#define VL_IIC_SCL(x) HAL_GPIO_WritePin(VL_SCL_IOx, VL_SCL_PIN, x) //SCL
#define VL_IIC_SDA(x) HAL_GPIO_WritePin(VL_SDA_IOx, VL_SDA_PIN, x) //SDA
#define VL_READ_SDA HAL_GPIO_ReadPin(VL_SDA_IOx, VL_SDA_PIN) //输入SDA
void VL53L0X_IIC_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
__HAL_RCC_VL_SDA_CLK_ENABLE();
__HAL_RCC_VL_SCK_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(VL_SDA_IOx, VL_SDA_PIN, GPIO_PIN_SET);
HAL_GPIO_WritePin(VL_SCL_IOx, VL_SCL_PIN, GPIO_PIN_SET);
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = VL_SDA_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(VL_SDA_IOx, &GPIO_InitStruct);
GPIO_InitStruct.Pin = VL_SCL_PIN;
HAL_GPIO_Init(VL_SCL_IOx, &GPIO_InitStruct);
HAL_GPIO_WritePin(VL_SDA_IOx, VL_SDA_PIN, GPIO_PIN_SET);
HAL_GPIO_WritePin(VL_SCL_IOx, VL_SCL_PIN, GPIO_PIN_SET);
}
void VL_IIC_Start(void)
{
VL_SDA_OUT();//sda线输出
VL_IIC_SDA(1);
VL_IIC_SCL(1);
delay_us(4);
VL_IIC_SDA(0);//START:when CLK is high,DATA change form high to low
delay_us(4);
VL_IIC_SCL(0);//钳住I2C总线,准备发送或接收数据
}
//产生IIC停止信号
void VL_IIC_Stop(void)
{
VL_SDA_OUT();//sda线输出
VL_IIC_SCL(0);
VL_IIC_SDA(0);//STOP:when CLK is high DATA change form low to high
delay_us(4);
VL_IIC_SCL(1);
VL_IIC_SDA(1);//发送I2C总线结束信号
delay_us(4);
}
u8 VL_IIC_Wait_Ack(void)
{
u8 ucErrTime=0;
VL_SDA_IN(); //SDA设置为输入
VL_IIC_SDA(1);
delay_us(1);
VL_IIC_SCL(1);
delay_us(1);
while(VL_READ_SDA)
{
ucErrTime++;
if(ucErrTime>250)
{
VL_IIC_Stop();
return 1;
}
}
VL_IIC_SCL(0);//时钟输出0
return 0;
}
//产生ACK应答
void VL_IIC_Ack(void)
{
VL_IIC_SCL(0);
VL_SDA_OUT();
VL_IIC_SDA(0);
delay_us(2);
VL_IIC_SCL(1);
delay_us(2);
VL_IIC_SCL(0);
}
//不产生ACK应答
void VL_IIC_NAck(void)
{
VL_IIC_SCL(0);
VL_SDA_OUT();
VL_IIC_SDA(1);
delay_us(2);
VL_IIC_SCL(1);
delay_us(2);
VL_IIC_SCL(0);
}
//IIC发送一个字节
//返回从机有无应答
//1,有应答
//0,无应答
void VL_IIC_Send_Byte(u8 txd)
{
u8 t;
VL_SDA_OUT();
VL_IIC_SCL(0);//拉低时钟开始数据传输
for(t=0;t<8;t++)
{
if((txd&0x80)>>7)
VL_IIC_SDA(1);
else
VL_IIC_SDA(0);
txd<<=1;
delay_us(2);
VL_IIC_SCL(1);
delay_us(2);
VL_IIC_SCL(0);
delay_us(2);
}
}
//读1个字节,ack=1时,发送ACK,ack=0,发送nACK
u8 VL_IIC_Read_Byte(void)
{
unsigned char i,receive=0;
VL_SDA_IN();//SDA设置为输入
VL_IIC_SDA(1);
delay_us(4);
for(i=0;i<8;i++ )
{
receive<<=1;
VL_IIC_SCL(0);
delay_us(4);
VL_IIC_SCL(1);
delay_us(4);
if(VL_READ_SDA)
receive |= 0x01;
delay_us(4); //1
}
VL_IIC_SCL(0);
return receive;
}
//IIC写一个字节数据
u8 VL_IIC_Write_1Byte(u8 SlaveAddress, u8 REG_Address,u8 REG_data)
{
VL_IIC_Start();
VL_IIC_Send_Byte(SlaveAddress);
if(VL_IIC_Wait_Ack())
{
VL_IIC_Stop();//释放总线
return 1;//没应答则退出
}
VL_IIC_Send_Byte(REG_Address);
VL_IIC_Wait_Ack();
delay_us(5);
VL_IIC_Send_Byte(REG_data);
VL_IIC_Wait_Ack();
VL_IIC_Stop();
return 0;
}
//IIC读一个字节数据
u8 VL_IIC_Read_1Byte(u8 SlaveAddress, u8 REG_Address,u8 *REG_data)
{
VL_IIC_Start();
VL_IIC_Send_Byte(SlaveAddress);//发写命令
if(VL_IIC_Wait_Ack())
{
VL_IIC_Stop();//释放总线
return 1;//没应答则退出
}
VL_IIC_Send_Byte(REG_Address);
VL_IIC_Wait_Ack();
delay_us(5);
VL_IIC_Start();
VL_IIC_Send_Byte(SlaveAddress|0x01);//发读命令
VL_IIC_Wait_Ack();
*REG_data = VL_IIC_Read_Byte();
VL_IIC_Stop();
return 0;
}
//I2C读多个字节数据
uint8_t VL_I2C_Read_nByte(uint8_t SlaveAddress, uint8_t REG_Address, uint8_t *buf, uint16_t len)
{
VL_IIC_Start();
VL_IIC_Send_Byte(SlaveAddress);//发写命令
if(VL_IIC_Wait_Ack())
{
VL_IIC_Stop();//释放总线
return 1;//没应答则退出
}
VL_IIC_Send_Byte(REG_Address);
VL_IIC_Wait_Ack();
delay_us(5);
VL_IIC_Start();
VL_IIC_Send_Byte(SlaveAddress|0x01);//发读命令
VL_IIC_Wait_Ack();
while(len)
{
*buf = VL_IIC_Read_Byte();
if(1 == len)
{
VL_IIC_NAck();
}
else
{
VL_IIC_Ack();
}
buf++;
len--;
}
VL_IIC_Stop();
return STATUS_OK;
}
//I2C写多个字节数据
uint8_t VL_I2C_Write_nByte(uint8_t SlaveAddress, uint8_t REG_Address, uint8_t *buf, uint16_t len)
{
VL_IIC_Start();
VL_IIC_Send_Byte(SlaveAddress);//发写命令
if(VL_IIC_Wait_Ack())
{
VL_IIC_Stop();//释放总线
return 1;//没应答则退出
}
VL_IIC_Send_Byte(REG_Address);
VL_IIC_Wait_Ack();
while(len--)
{
VL_IIC_Send_Byte(*buf++);
VL_IIC_Wait_Ack();
}
VL_IIC_Stop();
return STATUS_OK;
}
//然后根据demo设置就好了
#include "vl53l0x.h"
VL53L0X_DeviceInfo_t vl53l0x_dev_info;
VL53L0X_Dev_t VL53L0x_dev={0};
VL53L0X_RangingMeasurementData_t VL53L0x_data={0};
#define VL_XSHUT_IOx GPIOA
#define VL_XSHUT_PIN GPIO_PIN_4
#define __HAL_RCC_VL_XSHUT_CLK_ENABLE __HAL_RCC_GPIOA_CLK_ENABLE
#define XSHUT_HIGH HAL_GPIO_WritePin(VL_XSHUT_IOx, VL_XSHUT_PIN,1)
#define XSHUT_LOW HAL_GPIO_WritePin(VL_XSHUT_IOx, VL_XSHUT_PIN,0)
void VL53l0x_XSHUT_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
__HAL_RCC_VL_XSHUT_CLK_ENABLE();
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = VL_XSHUT_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(VL_XSHUT_IOx, &GPIO_InitStruct);
}
VL53L0X_Error VL53L0x_Init(VL53L0X_Dev_t *pDev)
{
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
VL53L0X_Dev_t *pMyDevice = pDev;
uint8_t VhvSettings;
uint8_t PhaseCal;
uint32_t refSpadCount;
uint8_t isApertureSpads;
pMyDevice->I2cDevAddr = 0x52; //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_XSHUT_GPIO_Init();
VL53L0X_IIC_Init();
XSHUT_LOW;
delay_ms(30);
XSHUT_HIGH;
delay_ms(30);
Status = VL53L0X_DataInit(pMyDevice);//device init
if(Status!=VL53L0X_ERROR_NONE)
{
printf("datainit failed! \r\n");
return Status;
}
Status = VL53L0X_StaticInit(pMyDevice);
if(Status!=VL53L0X_ERROR_NONE)
{
printf("static init failed!\r\n");
return Status;
}
Status = VL53L0X_PerformRefCalibration(pMyDevice, &VhvSettings, &PhaseCal);
if(Status!=VL53L0X_ERROR_NONE)
{
printf("static init failed!\r\n");
return Status;
}
Status = VL53L0X_PerformRefSpadManagement(pMyDevice, &refSpadCount, &isApertureSpads);
if(Status!=VL53L0X_ERROR_NONE)
{
printf("static init failed!\r\n");
return Status;
}
Status = VL53L0X_SetDeviceMode(pMyDevice,VL53L0X_DEVICEMODE_SINGLE_RANGING);
if(Status!=VL53L0X_ERROR_NONE)
{
printf("SetDeviceMode failed!\r\n");
return Status;
}
printf("VL53L0x_Init\r\n");
return Status;
}
//VL53L1X single ranging
//dev: device I2C param struct
//pdata: result struct
VL53L0X_Error VL53L1_single_test(VL53L0X_Dev_t *dev,VL53L0X_RangingMeasurementData_t *pdata)
{
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
u8 isDataReady = 0;
u16 Distance=0;
uint32_t LoopNb=0;
Status = VL53L0X_StartMeasurement(dev);
if(Status != VL53L0X_ERROR_NONE)
return Status;
do {
Status = VL53L0X_GetMeasurementDataReady(dev, &isDataReady);
if (Status != 0)
break; /* the error is set */
if (isDataReady == 1)
break; /* done note that status == 0 */
LoopNb++;
if (LoopNb >= VL53L0X_DEFAULT_MAX_LOOP) {
Status = VL53L0X_ERROR_TIME_OUT;
break;
}
VL53L0X_PollingDelay(dev);
} while (1);
if(isDataReady == 1)
{
Status = VL53L0X_GetRangingMeasurementData(dev, pdata);
Distance = pdata->RangeMilliMeter;
printf("lv53l0_Distance=%d\r\n",Distance);
}
Status = VL53L0X_ClearInterruptMask(dev,0);
return Status;
}
然后在main调用
初始化
uint8_t Status = VL53L0X_ERROR_NONE;
#if 1
Status=VL53L0x_Init(&VL53L0x_dev);
if(Status == VL53L0X_ERROR_NONE)
{
printf("VL53L0 Init OK\r\n");
}
else
{
printf("VL53L0 Init error!\r\n");
}
#endif
调用 测距函数
u8 distance_1 =0;
u8 distance_2 =0;
while(1)
{
VL53L1_single_test(&VL53L0x_dev,&VL53L0x_data);
// distance_1=VL6180X_Read_Range(LV6180x_MODULE_1);
// distance_2=VL6180X_Read_Range(LV6180x_MODULE_2);
// printf("LV6180x_MODULE_1 ->distance_1=%d mm\r\n",distance_1);
// printf("LV6180x_MODULE_2 ->distance_2=%d mm\r\n",distance_2);
vTaskDelay(1000);
}
看下效果
数据出来,但是误差有点大20cm误差有2-3cm,。。。。。。
这个是普通模式
设置成高精度模式可能会好一点。
短距离高精度的话还是用lv6180x模块好一点。