背景:该激光模块属于精度比较高的激光测距模块,使用方便。
代码地址:yutian_sundry_zip/TFMini_Driver.zip at master · W-yt/yutian_sundry_zip (github.com)
平台:
硬件:STM32F103C8T6
通信:串口3与激光模块通信;串口1用于输出距离信息(到串口助手)
硬件连接:
串口配置:(采用串口接收中断 尝试DMA接收时发现无法进入串口空闲中断)
void vUart3Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
USART_InitTypeDef USART_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
DMA_InitTypeDef DMA_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
//USART3_RX GPIOB.11 (using)
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOB, &GPIO_InitStructure);
//USART3_TX GPIOB.10
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOB, &GPIO_InitStructure);
USART_InitStructure.USART_BaudRate = 115200;
USART_InitStructure.USART_WordLength = USART_WordLength_8b;
USART_InitStructure.USART_StopBits = USART_StopBits_1;
USART_InitStructure.USART_Parity = USART_Parity_No;
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
USART_Init(USART3, &USART_InitStructure);
USART_ITConfig(USART3, USART_IT_RXNE, ENABLE);
USART_Cmd(USART3, ENABLE);
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
NVIC_InitStructure.NVIC_IRQChannel = USART3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
// //DMA——RX
// USART_DMACmd(USART3,USART_DMAReq_Rx,ENABLE);
//
// DMA_DeInit(DMA1_Channel3);
// DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)(&(USART3->DR));
// DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)USART3_DMA_rece_buffer;
// DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralSRC;
// DMA_InitStructure.DMA_BufferSize = USART3_DMA_rece_buffersize;
// DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
// DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
// DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
// DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
// DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
// DMA_InitStructure.DMA_Priority = DMA_Priority_VeryHigh;
// DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
// DMA_Init(DMA1_Channel3,&DMA_InitStructure);
// NVIC_InitStructure.NVIC_IRQChannel = DMA1_Channel3_IRQn;
// NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
// NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
// NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
// NVIC_Init(&NVIC_InitStructure);
//
// DMA_ITConfig(DMA1_Channel3,DMA_IT_TC,ENABLE);
//
// DMA_Cmd(DMA1_Channel3,ENABLE);
}
串口中断:
uint8_t temp_data = 0;
uint8_t TFmini_low,TFmini_high = 0;
uint8_t flag = 0;
void USART3_IRQHandler(void)
{
if(USART_GetITStatus(USART3,USART_IT_RXNE) != RESET)
{
temp_data = USART_ReceiveData(USART3);
if((temp_data == 0x59) && (flag == 0))
{
flag = 1;
}
else if((temp_data == 0x59) && (flag == 1))
{
flag = 2;
}
else if(flag == 2)
{
TFmini_low = temp_data;
flag = 3;
}
else if(flag == 3)
{
TFmini_high = temp_data;
distance = ((uint16_t)TFmini_high<<8) | ((uint16_t)TFmini_low);
printf("receive once: %d cm \r\n",distance);
flag = 0;
}
}
}
——cloudos
——2020/3/31