Benewake(北醒) TFmini-S\TFmini Plus\TF-Luna\TF02-Pro\TF03 串口版本雷达在STM32上的例程(标准库)

例程下载地址
链接: https://pan.baidu.com/s/1XWNc1arILUrhXC3byKykuA 提取码: 37mk

本文档基于STM32硬件开发板测试
本例程适用北醒单点系列雷达TFluna、TFmini-S、TFmini-Plus、TF02-Pro、TF03
本例程仅适用于北醒标准通讯协议下的雷达

北醒串口标准通讯协议

硬件接线

使用USART2作为TFLidar的通讯端口，接线如下：

TFlidar	开发板
红色线(+5V)	+5V
绿色线(TX)	PA3(RX)
黑色线(GND)	GND

Lidar通讯代码

各例程均使用 USART2用于连接TFLidar，采用空闲中断方式，接收数据。

具体实现步骤如下:

初始化串口

uart1_init(115200);	 //串口初始化为115200
uart2_init(115200);	 //串口初始化为115200

初始化程序

void uart1_init(u32 bound){
  //GPIO端口设置
  GPIO_InitTypeDef GPIO_InitStructure;
	USART_InitTypeDef USART_InitStructure;
	NVIC_InitTypeDef NVIC_InitStructure;
	 
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1|RCC_APB2Periph_GPIOA, ENABLE);	//使能USART1，GPIOA时钟
  
	//USART1_TX   GPIOA.9
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9; //PA.9
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;	//复用推挽输出
  GPIO_Init(GPIOA, &GPIO_InitStructure);//初始化GPIOA.9
   
  //USART1_RX	  GPIOA.10初始化
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;//PA10
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;//浮空输入
  GPIO_Init(GPIOA, &GPIO_InitStructure);//初始化GPIOA.10  

  //Usart1 NVIC 配置
  NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=3 ;//抢占优先级3
	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;		//子优先级3
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;			//IRQ通道使能
	NVIC_Init(&NVIC_InitStructure);	//根据指定的参数初始化VIC寄存器
  
   //USART 初始化设置

	USART_InitStructure.USART_BaudRate = bound;//串口波特率
	USART_InitStructure.USART_WordLength = USART_WordLength_8b;//字长为8位数据格式
	USART_InitStructure.USART_StopBits = USART_StopBits_1;//一个停止位
	USART_InitStructure.USART_Parity = USART_Parity_No;//无奇偶校验位
	USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;//无硬件数据流控制
	USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;	//收发模式

  USART_Init(USART1, &USART_InitStructure); //初始化串口1
  USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);//开启串口接受中断
  USART_Cmd(USART1, ENABLE);                    //使能串口1 

}

void uart2_init(u32 bound){
  //GPIO端口设置
  GPIO_InitTypeDef GPIO_InitStructure;
	USART_InitTypeDef USART_InitStructure;
	NVIC_InitTypeDef NVIC_InitStructure;
	 
//	RCC_APB2PeriphClockCmd(RCC_APB1Periph_USART2|RCC_APB2Periph_GPIOA, ENABLE);	//使能USART1，GPIOA时钟
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);//使能GPIOA时钟
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2,ENABLE);//使能USART2时钟
  
	//USART2_TX   GPIOA.2
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; //PA.2
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;	//复用推挽输出
  GPIO_Init(GPIOA, &GPIO_InitStructure);//初始化GPIOA.2
   
  //USART2_RX	  GPIOA.3初始化
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;//PA3
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;//浮空输入
  GPIO_Init(GPIOA, &GPIO_InitStructure);//初始化GPIOA.3  

  //Usart1 NVIC 配置
  NVIC_InitStructure.NVIC_IRQChannel = USART2_IRQn;
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=3 ;//抢占优先级3
	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;		//子优先级3
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;			//IRQ通道使能
	NVIC_Init(&NVIC_InitStructure);	//根据指定的参数初始化VIC寄存器
  
   //USART 初始化设置

	USART_InitStructure.USART_BaudRate = bound;//串口波特率
	USART_InitStructure.USART_WordLength = USART_WordLength_8b;//字长为8位数据格式
	USART_InitStructure.USART_StopBits = USART_StopBits_1;//一个停止位
	USART_InitStructure.USART_Parity = USART_Parity_No;//无奇偶校验位
	USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;//无硬件数据流控制
	USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;	//收发模式

  USART_Init(USART2, &USART_InitStructure); //初始化串口2
  USART_ITConfig(USART2, USART_IT_RXNE, ENABLE);//开启串口接受中断
  USART_Cmd(USART2, ENABLE);                    //使能串口2 

}

开启串口中断

void USART1_IRQHandler(void)                	//串口1中断服务程序
	{
	u8 Res;
#if SYSTEM_SUPPORT_OS 		//如果SYSTEM_SUPPORT_OS为真，则需要支持OS.
	OSIntEnter();    
#endif
	if(USART_GetITStatus(USART1, USART_IT_RXNE) != RESET)  //接收中断(接收到的数据必须是0x0d 0x0a结尾)
		{
		Res =USART_ReceiveData(USART1);	//读取接收到的数据
		
		if((USART_RX_STA&0x8000)==0)//接收未完成
			{
			if(USART_RX_STA&0x4000)//接收到了0x0d
				{
				if(Res!=0x0a)USART_RX_STA=0;//接收错误,重新开始
				else USART_RX_STA|=0x8000;	//接收完成了 
				}
			else //还没收到0X0D
				{	
				if(Res==0x0d)USART_RX_STA|=0x4000;
				else
					{
					USART_RX_BUF[USART_RX_STA&0X3FFF]=Res ;
					USART_RX_STA++;
					if(USART_RX_STA>(USART_REC_LEN-1))USART_RX_STA=0;//接收数据错误,重新开始接收	  
					}		 
				}
			}   		 
     } 
#if SYSTEM_SUPPORT_OS 	//如果SYSTEM_SUPPORT_OS为真，则需要支持OS.
	OSIntExit();  											 
#endif
} 

中断获取数据

 void USART2_IRQHandler(void)                	//串口1中断服务程序
	{
	u8 Res;
		uint8_t checksum;
#if SYSTEM_SUPPORT_OS 		//如果SYSTEM_SUPPORT_OS为真，则需要支持OS.
	OSIntEnter();    
#endif
	if(USART_GetITStatus(USART2, USART_IT_RXNE) != RESET)  //接收中断(接收到的数据必须是0x0d 0x0a结尾)
		{
		Res =USART_ReceiveData(USART2);	//读取接收到的数据
			
			if(USART2_RX_STA == 1 && USART2_RX_BUF[0] != 0x59)
			{
				USART2_RX_STA = 0;
			}else if(USART2_RX_STA == 2 && USART2_RX_BUF[1] != 0x59)
			{
				USART2_RX_STA = 0;
			}else if(USART2_RX_STA  == 9)
			{
				USART2_RX_STA = 0;
				checksum = USART2_RX_BUF[0] + USART2_RX_BUF[1] + USART2_RX_BUF[2] + USART2_RX_BUF[3] + USART2_RX_BUF[4]
				+ USART2_RX_BUF[5] + USART2_RX_BUF[6] + USART2_RX_BUF[7];
				if(USART2_RX_BUF[8] == checksum){
					BenewakeLidar.Dist = USART2_RX_BUF[2]|(USART2_RX_BUF[3]<<8);
					BenewakeLidar.AMP  = USART2_RX_BUF[4]|(USART2_RX_BUF[5]<<8);
					BenewakeLidar.RecieveFlag = 1;
				}
			}else {
				USART2_RX_BUF[USART2_RX_STA]=Res ;
				USART2_RX_STA++;
			}
		
  		 
     } 
#if SYSTEM_SUPPORT_OS 	//如果SYSTEM_SUPPORT_OS为真，则需要支持OS.
	OSIntExit();  											 
#endif
} 

主程序数据打印

if(BenewakeLidar.RecieveFlag == 1){
	BenewakeLidar.RecieveFlag = 0;
	printf("lidar:measure:%4d,threshold:%4d\r\n", 
				BenewakeLidar.Dist, BenewakeLidar.AMP);
	USART2_RX_STA=0;
}

结果显示