激光测距VL53LX1 配合STM32F103T8U6测试成功

ID:234051 · 发表于 2020-7-3 17:10

激光测距VL53LX1 配合STM32F103T8U6测试成功
感谢论坛内的一位网有人

#include "vl53l1x.h"
#include "common.h"
#include "usart.h"

VL53L1_Dev_t VL53L1_dev[2]; //device param, include I2C
//VL53L1_DeviceInfo_t VL53L1_dev_info[2];//device ID version info
uint8_t Ajusted[]={0,0};//adjusted sign, 0-not, 1-had
uint16_t Distance = 0;//保存测距数据
VL53L1_RangingMeasurementData_t VL53L1_data[2];//ranging result struct, distance, max distance,etc.

void vl531_delay_ms(uint16_t ms)
{
// delay_us(ms);
uint32_t cnt;
uint32_t i;
for(cnt=0; cnt<ms; cnt++)
{
      for(i=0; i<1; i++);
}
}

//VL53L1X mode param
//0：default, 1: high accuracy, 2: long distance, 3: high speed
mode_data Mode_data[]=
{
{(FixPoint1616_t)(16384), //its uint32_t, uint16_.uint16_t, 0.25*65536
   (FixPoint1616_t)(1179648),    //18*65536
   33000,
   14,
   10},//default

{(FixPoint1616_t)(16384), //0.25*65536
   (FixPoint1616_t)(1179648), //18*65536
   200000,
   14,
   10},//high accuracy

  {(FixPoint1616_t)(6554), //0.1*65536
   (FixPoint1616_t)(3932160), //60*65536
   33000,
   18,
   14},//long distance

  {(FixPoint1616_t)(16384), //0.25*65536
   (FixPoint1616_t)(2097152), //32*65536
   20000,
   14,
   10},//high speed
};

//config VL53L1X I2C addr
//dev: I2C param struct
//newaddr: device new I2C addr
VL53L1_Error VL53L1_addr_set(VL53L1_Dev_t *dev, uint8_t newaddr)
{
uint16_t Id;
VL53L1_Error Status = VL53L1_Error_NONE;

if(newaddr == dev->I2cDevAddr) //if new addr == old addr, exit
return VL53L1_Error_NONE;

//try to access a reg with old addr(default 0x52)
Status = VL53L1_RdWord(dev, VL53L1_IDENTIFICATION__MODEL_ID, &Id);
if(Status!=VL53L1_Error_NONE)
return Status;

if(Id == 0xEACC)
{
//set new I2C addr
Status = VL53L1_SetDeviceAddress(dev,newaddr);
if(Status!=VL53L1_Error_NONE)
return Status;

//update struct I2C addr
dev->I2cDevAddr = newaddr;
//check new I2C addr
Status = VL53L1_RdWord(dev, VL53L1_IDENTIFICATION__MODEL_ID, &Id);
}

return Status;
}

VL53L1_Error VL53L1_reset(VL53L1_Dev_t *pDev)
{
return VL53L1_init(pDev);
}

//init vl53l1x
//dev: I2C param struct
//before call this func, set:
// pDev->I2cDevAddr = DevAddr; ---VL53L1X I2C addr (default 0x52 at power on)
// pDev->comms_type = 1;         //I2C comm mode
// pDev->comms_speed_khz = 400; //I2C bps
//if resetting device, func(pDev),DevAddr=0x52
VL53L1_Error VL53L1_init(VL53L1_Dev_t *pDev)
{
VL53L1_Error Status = VL53L1_Error_NONE;
VL53L1_Dev_t *pMyDevice = pDev;
//uint8_t I2cAddr;
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
//I2cAddr=pMyDevice->I2cDevAddr;

// VL53L1_i2c_init();//init I2C bus
VL53l1_GPIO_Init();
VL53L1_I2C_Init();

XShut_Off;
vl531_delay_ms(300);
XShut_On;
vl531_delay_ms(300);

Status = VL53L1_WaitDeviceBooted(pMyDevice);
if(Status!=VL53L1_Error_NONE)
{
printf("Wait device Boot failed!\r\n");
return Status;
}

  vl531_delay_ms(2);
  Status = VL53L1_addr_set(pMyDevice, 0x52);//set provious VL53L1X I2C addr
  if(Status!=VL53L1_Error_NONE)
  {
   printf("set addr failed!\r\n");
   return Status;
  }

Status = VL53L1_DataInit(pMyDevice);//device init
if(Status!=VL53L1_Error_NONE)
{
printf("datainit failed!\r\n");
return Status;
}

vl531_delay_ms(2);
//--may be delete
Status = VL53L1_StaticInit(pMyDevice);
if(Status!=VL53L1_Error_NONE)
{
printf("static init failed!\r\n");
return Status;
}

/* HAL_Delay(2);
Status = VL53L1_PerformRefSpadManagement(pMyDevice);//perform ref SPAD management
if(Status!=VL53L1_Error_NONE)
return Status;
*/
#ifdef JGCS_001
Status = VL53L1_SetDistanceMode(pMyDevice, VL53L1_DISTANCEMODE_SHORT); //short,medium,long
if(Status!=VL53L1_Error_NONE)
{
printf("set discance mode failed!\r\n");
return Status;
}
#else
Status = VL53L1_SetDistanceMode(pMyDevice, VL53L1_DISTANCEMODE_LONG); //short,medium,long
if(Status!=VL53L1_Error_NONE)
{
printf("set discance mode failed!\r\n");
return Status;
}
#endif
vl531_delay_ms(2);
/*Status = VL53L1_SetInterMeasurementPeriodMilliSeconds(pMyDevice,500);  //设置测试时间间隔
//Status = VL53L1_SetMeasurementTimingBudgetMicroSeconds(pMyDevice,50000);
if(Status!=VL53L1_Error_NONE)
{
printf("set time failed!\r\n");
return Status;
}
vl531_delay_ms(2);
Status = VL53L1_StartMeasurement(pMyDevice);
if(Status!=VL53L1_Error_NONE)
{
printf("start measurement failed!\r\n");
return Status;
}*/
//--may be finished

return Status;
}

//VL53L1X test mode config
//dev: device I2C param struct
//mode: 0:default, 1:high accuracy, 2:long distance

VL53L1_Error VL53L1_set_mode(VL53L1_Dev_t *dev, uint8_t mode)
{
VL53L1_Error status = VL53L1_Error_NONE;
//VL53L1_reset(dev);//reset vl53l1x (to avoid the distance result error due to frequently changing running mode)
//status = VL53L1_StaticInit(dev);

vl531_delay_ms(2);
status = VL53L1_PerformRefSpadManagement(dev);//perform ref SPAD management
if(status!=VL53L1_Error_NONE)
{
printf("refspad failed!\r\n");
return status;
}
vl531_delay_ms(2);
/*status = VL53L1_PerformOffsetSimpleCalibration(dev,140);
if(status!=VL53L1_Error_NONE)
{
printf("offset calibration failed!\r\n");
//return status;
}
vl531_delay_ms(2);
status = VL53L1_SetXTalkCompensationEnable(dev,1);
if(status!=VL53L1_Error_NONE)
{
printf("XTalk enable failed!\r\n");
//return status;
}
vl531_delay_ms(2);
status = VL53L1_PerformSingleTargetXTalkCalibration(dev,140);
if(status!=VL53L1_Error_NONE)
{
printf("XTalk calibration failed!\r\n");
//return status;
}*/
#ifdef JGCS_001
status = VL53L1_SetDistanceMode(dev, VL53L1_DISTANCEMODE_SHORT); //short,medium,long
if(status!=VL53L1_Error_NONE)
return status;
#else
status = VL53L1_SetDistanceMode(dev, VL53L1_DISTANCEMODE_LONG); //short,medium,long
if(status!=VL53L1_Error_NONE)
return status;
#endif

//HAL_Delay(2);
vl531_delay_ms(30);
status = VL53L1_SetLimitCheckEnable(dev,VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE,1);//sigma--standard deviation, enable SIGMA limit check
if(status!=VL53L1_Error_NONE)
return status;

//HAL_Delay(2);
vl531_delay_ms(2);
status = VL53L1_SetLimitCheckEnable(dev,VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,1);//signal--amplitude of the signal-
//-reflected. enable signal rate limit check
if(status!=VL53L1_Error_NONE)
return status;

//HAL_Delay(2);
vl531_delay_ms(2);
status = VL53L1_SetLimitCheckValue(dev,VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE,Mode_data[mode].sigmaLimit);//set SIGMA limit
if(status!=VL53L1_Error_NONE)
return status;

//HAL_Delay(2);
vl531_delay_ms(2);
status = VL53L1_SetLimitCheckValue(dev,VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,Mode_data[mode].signalLimit);//set signal rate limit
if(status!=VL53L1_Error_NONE)
return status;

//---maybe need, and add a item to Mode_data
//HAL_Delay(2);
//status = VL53L1_SetLimitCheckValue(dev,VL53L1_CHECKENABLE_RANGE_IGNORE_THRESHOLD,Mode_data[mode].ignoreThres);//set signal rate limit
//if(status!=VL53L1_Error_NONE)
// return status;

//HAL_Delay(2);
//vl531_delay_ms(30);
status = VL53L1_SetMeasurementTimingBudgetMicroSeconds(dev,Mode_data[mode].timingBudget);//set the max interval for a whole diatance test
if(status!=VL53L1_Error_NONE)
return status;

//HAL_Delay(2);
vl531_delay_ms(2);
status = VL53L1_SetInterMeasurementPeriodMilliSeconds(dev, 100); //SHW 500
if(status!=VL53L1_Error_NONE)
{
printf("SetInterMeasurementPeriodMilliSeconds failed!\r\n");
return status;
}
vl531_delay_ms(2);
status = VL53L1_StartMeasurement(dev);
if(status!=VL53L1_Error_NONE)
{
printf("start measurement failed!\r\n");
return status;
}
/*status = VL53L1_SetInterMeasurementPeriodMilliSeconds(dev, 500); //the delay between two ranging operations,0.5ms
// if(status!=VL53L1_Error_NONE)
// return status;*/

// HAL_Delay(2);
// status = VL53L1_SetVcselPulsePeriod(dev, VL53L1_VCSEL_PERIOD_PRE_RANGE, Mode_data[mode].preRangeVcselPeriod);//set VCSEL pluse cycle
// if(status!=VL53L1_Error_NONE)
// return status;

// HAL_Delay(2);
// status = VL53L1_SetVcselPulsePeriod(dev, VL53L1_VCSEL_PERIOD_FINAL_RANGE, Mode_data[mode].finalRangeVcselPeriod);//set VCSEL pluse cycle period

return status;
}

//VL53L1X single ranging
//dev: device I2C param struct
//pdata: result struct
VL53L1_Error VL53L1_single_test(VL53L1_Dev_t *dev,VL53L1_RangingMeasurementData_t *pdata)
{
VL53L1_Error Status = VL53L1_Error_NONE;
u8 isDataReady = 0;
/*Status = VL53L1_StartMeasurement(dev);
if(Status != VL53L1_Error_NONE)
return Status;*/

// Status = VL53L1_poll_for_range_completion(dev, VL53L1_RANGE_COMPLETION_POLLING_TIMEOUT_MS);
Status = VL53L1_GetMeasurementDataReady(dev,&isDataReady);
//Status = VL53L1_WaitMeasurementDataReady(dev);
if(Status != VL53L1_Error_NONE)
return Status;
if(1 == isDataReady)
{
Status = VL53L1_GetRangingMeasurementData(dev, pdata);
Distance = pdata->RangeMilliMeter;
}
Status = VL53L1_ClearInterruptAndStartMeasurement(dev);
return Status;
}

// Distance_data = pdata->RangeMilliMeter;//output the final distance data

//start general test. repeatly. not used
//dev:device I2C param struct
//mode0:default, 1:high accuracy, 2:long distance
void VL53L1_general_start(VL53L1_Dev_t *dev,uint8_t mode)
{
VL53L1_Error Status=VL53L1_Error_NONE;
uint8_t i=0;

while(VL53L1_set_mode(dev,mode)) //config test mode
{
i++;
if(i==2)
return;
}

while(Status==VL53L1_Error_NONE)
{
Status = VL53L1_single_test(dev,&VL53L1_data[0]);//perform a test
// Distance_data=VL53L1_data[0].RangeMilliMeter;
}
//HAL_Delay(50);
vl531_delay_ms(50);
}

ID:328014 · 发表于 2020-7-3 17:18

好东东能分享下原理图吗?

ID:830793 · 发表于 2020-10-28 22:57

能否分享一下原理图

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激光测距VL53LX1 配合STM32F103T8U6测试成功

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