stm32 vl53l0x激光测距程序

vl53l0x激光测距的stm32单片机源程序如下: #include "vl53l0.h" VL53L0X_Dev_t vl53l0x_dev; VL53L0X_DeviceInfo_t vl53l0x_dev_info; VL53L0X_RangingMeasurementData_t vl53l0x_data; VL53L0X_Error vl53l0x_status; /***************************************************************************************/ void print_pal_error(VL53L0X_Error Status) {     char buf[VL53L0X_MAX_STRING_LENGTH];     VL53L0X_GetPalErrorString(Status, buf);  //得到错误码与字符串     printf("API Status: %i : %s\n", Status, buf); } void print_range_status(VL53L0X_RangingMeasurementData_t* pdata) {     char buf[VL53L0X_MAX_STRING_LENGTH];     uint8_t RangeStatus;     // New Range Status: data is valid when pdata->RangeStatus = 0     RangeStatus = pdata->RangeStatus;     VL53L0X_GetRangeStatusString(RangeStatus, buf);    // printf("Range Status: %i : %s\n", RangeStatus, buf); } VL53L0X_Error vl53l0x_start_single_test(VL53L0X_Dev_t *pdev, \                             VL53L0X_RangingMeasurementData_t *pdata) {     VL53L0X_Error status = VL53L0X_ERROR_NONE;         if(vl53l0x_status != VL53L0X_ERROR_NONE)         return vl53l0x_status;     status = VL53L0X_PerformSingleRangingMeasurement(pdev, pdata);   //VL53L0X执行单一测量范围     if(status != VL53L0X_ERROR_NONE){        // printf("error:Call of VL53L0X_PerformSingleRangingMeasurement\n");         return status;     }     print_range_status(pdata);     printf("%icm\n\n", (pdata->RangeMilliMeter)/10);     return status; } VL53L0X_Error vl53l0x_measure_init(VL53L0X_Dev_t *pMyDevice) {     VL53L0X_Error Status = VL53L0X_ERROR_NONE;     //FixPoint1616_t LimitCheckCurrent;     uint32_t refSpadCount;     uint8_t isApertureSpads;     uint8_t VhvSettings;     uint8_t PhaseCal;     // Device Initialization     Status = VL53L0X_StaticInit(pMyDevice);   //基本设备初始化     if(Status != VL53L0X_ERROR_NONE){         //判断是否初始化成功 失败打印错误信息         printf ("Call of VL53L0X_StaticInit\n");         print_pal_error(Status);         return Status;     }     // Device Initialization     Status = VL53L0X_PerformRefCalibration(pMyDevice, &VhvSettings, &PhaseCal);    //执行参考校准     if(Status != VL53L0X_ERROR_NONE){        //判断是否校准成功         printf ("Call of VL53L0X_PerformRefCalibration\n");         print_pal_error(Status);         return Status;     }     // needed if a coverglass is used and no calibration has been performed     Status = VL53L0X_PerformRefSpadManagement(pMyDevice,&refSpadCount, &isApertureSpads);     if(Status != VL53L0X_ERROR_NONE){         printf ("Call of VL53L0X_PerformRefSpadManagement\n");         printf ("refSpadCount = %d, isApertureSpads = %d\n", refSpadCount, isApertureSpads);         print_pal_error(Status);         return Status;     }     // no need to do this when we use VL53L0X_PerformSingleRangingMeasurement  当我们使用VL53L0X_PerformSingleRangingMeasurement不需要     Status = VL53L0X_SetDeviceMode(pMyDevice, VL53L0X_DEVICEMODE_SINGLE_RANGING); // Setup in single ranging mode 设置单一测量模式     if(Status != VL53L0X_ERROR_NONE){         printf ("Call of VL53L0X_SetDeviceMode\n");         print_pal_error(Status);         return Status;     }     // Enable/Disable Sigma and Signal check     if(Status == VL53L0X_ERROR_NONE){         Status = VL53L0X_SetLimitCheckEnable(pMyDevice,  //启用/禁用特定限制检查                         VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, 1);     }     if(Status == VL53L0X_ERROR_NONE){         Status = VL53L0X_SetLimitCheckEnable(pMyDevice,                         VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, 1);     }                                      if(Status == VL53L0X_ERROR_NONE){         Status = VL53L0X_SetLimitCheckValue(pMyDevice,                         VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,                         (FixPoint1616_t)(0.25*65536));         }                             if(Status == VL53L0X_ERROR_NONE){         Status = VL53L0X_SetLimitCheckValue(pMyDevice,                         VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,                         (FixPoint1616_t)(18*65536));                             }     if(Status == VL53L0X_ERROR_NONE){         Status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(pMyDevice,   //设置微秒时间                         200000);     }     if(Status != VL53L0X_ERROR_NONE){         printf ("Sigma and Signal check error\n");         print_pal_error(Status);         return Status;     }     /*      *  Step  4 : Test ranging mode      */   /*  for(i=0;i<10;i++){             printf ("Call of VL53L0X_PerformSingleRangingMeasurement\n");             Status = VL53L0X_PerformSingleRangingMeasurement(pMyDevice,                             &vl53l0x_data);             print_pal_error(Status);             print_range_status(&vl53l0x_data);             VL53L0X_GetLimitCheckCurrent(pMyDevice,                             VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, &LimitCheckCurrent);             printf("RANGE IGNORE THRESHOLD: %f\n\n", (float)LimitCheckCurrent/65536.0);             if (Status != VL53L0X_ERROR_NONE) break;             printf("Measured distance: %i\n\n", vl53l0x_data.RangeMilliMeter);     } */     return Status;   //返回0 } VL53L0X_Error vl53l0x_init(void) {     VL53L0X_Error Status = VL53L0X_ERROR_NONE;   //初始值赋值为0     VL53L0X_Dev_t *pMyDevice = &vl53l0x_dev;       //得到设备地址     pMyDevice->I2cDevAddr      = 0x52;            //iic地址     pMyDevice->comms_type      =  1;              //选择IIC还是SPI    iic=1；SPI=0     pMyDevice->comms_speed_khz =  400;            //iic速率         VL53L0X_i2c_init();          //IIC配置        Status = VL53L0X_DataInit(pMyDevice); // Data initialization  //VL53L0X_DataInit：一次设备的初始化，初始化成功返回0     if(Status != VL53L0X_ERROR_NONE){     //判断如果状态不为0   打印错误信息         print_pal_error(Status);         return Status;        //  返回错误值 可通过此值DEBUG查找错误位置     }     Status = VL53L0X_GetDeviceInfo(pMyDevice, &vl53l0x_dev_info);   //读取给定设备的设备信息     if(Status != VL53L0X_ERROR_NONE){         print_pal_error(Status);         return Status;     }     printf("VL53L0X_GetDeviceInfo:\n");     printf("Device Name : %s\n", vl53l0x_dev_info.Name);     //设备名     printf("Device Type : %s\n", vl53l0x_dev_info.Type);    //产品类型VL53L0X = 1, VL53L1 = 2 …………………… …………限于本文篇幅 余下代码请从51黑下载附件………… 复制代码 所有资料51hei提供下载: vl53l0x_测距.rar (639.98 KB, 下载次数: 486) 2017-8-14 02:13 上传 点击文件名下载附件 vl53l0x测距

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