stm32f407驱动LV53L0X模块

最新推荐文章于 2024-06-06 13:39:31 发布

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最新推荐文章于 2024-06-06 13:39:31 发布

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文章标签： stm32 嵌入式硬件单片机

本文链接：https://blog.csdn.net/fqm0_0/article/details/138196892

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文章介绍了如何将STM32平台与VL53L0x测距模块进行I2C通信，并提供了详细的I2C驱动初始化代码，以及如何在主程序中调用测距功能。作者提到在普通模式下测距存在较大误差，建议尝试高精度模式或使用LV6180x模块进行短距离测量。

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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。

芯芯点灯

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stm32f407驱动LV53L0X模块

数据出来，但是误差有点大20cm误差有2-3cm，。1.stm32移植lv53L0x模块，需要一份api驱动代码。短距离高精度的话还是用lv6180x模块好一点。lv53l0x 是st出的tof测距模块。2.替换自己的的iic驱动模块。//然后根据demo设置就好了。设置成高精度模式可能会好一点。都是一些官方的api文件。自己准备一份iic驱动。3.按照Demo移植。
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