#include "vl53l1.h" int32_t distance; VL53L1_Dev_t VL53; VL53L1_RangingMeasurementData_t result_data; 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 }; VL53L1_Error VL53L1Init(VL53L1_Dev_t* pDev) { VL53L1_Error Status = VL53L1_ERROR_NONE; pDev->I2cDevAddr=0x52;//默认地址 pDev->comms_type=1;//默认通信模式 pDev->comms_speed_khz = 400;//通信速率（可到400hz） Status = VL53L1_WaitDeviceBooted(pDev); if(Status!=VL53L1_ERROR_NONE) { printf("Wait device Boot failed!\r\n"); return Status; } HAL_Delay(2); Status = VL53L1_DataInit(pDev);//device init if(Status!=VL53L1_ERROR_NONE) { printf("datainit failed!\r\n"); return Status; } HAL_Delay(2); Status = VL53L1_StaticInit(pDev); if(Status!=VL53L1_ERROR_NONE) { printf("static init failed!\r\n"); return Status; } HAL_Delay(2); Status = VL53L1_SetDistanceMode(pDev, VL53L1_DISTANCEMODE_LONG); //short,medium,long if(Status!=VL53L1_ERROR_NONE) { printf("set discance mode failed!\r\n"); return Status; } HAL_Delay(2); return Status; } /** * @brief 传感器进行一个出厂校准 * @param [in] pDev 指定传感器 * @param [in] save 结果存储地址 * @retval VL53L1_Error类型 * @par 日志 * */ VL53L1_Error VL53Cali(VL53L1_Dev_t* pDev,void * save) { VL53L1_Error Status = VL53L1_ERROR_NONE; Status = VL53L1_StopMeasurement(pDev); if(Status!=VL53L1_ERROR_NONE) return Status; Status = VL53L1_PerformRefSpadManagement(pDev);//perform ref SPAD management if(Status!=VL53L1_ERROR_NONE) return Status; /* Status = VL53L1_PerformOffsetSimpleCalibration(pDev,140);//14cm的出厂校验值 if(Status!=VL53L1_ERROR_NONE) return Status; */ Status = VL53L1_GetCalibrationData(pDev,save); if(Status!=VL53L1_ERROR_NONE) return Status; //全部完成 重新打开测量 Status = VL53L1_StartMeasurement(pDev); return Status; } VL53L1_Error VL53InitParam(VL53L1_Dev_t* pDev,uint8_t mode) { VL53L1_Error status = VL53L1_ERROR_NONE; //4个限制 status = VL53L1_SetLimitCheckEnable(pDev,VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE,1);//sigma--standard deviation, enable SIGMA limit check if(status!=VL53L1_ERROR_NONE) return status; HAL_Delay(2); status = VL53L1_SetLimitCheckEnable(pDev,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); status = VL53L1_SetLimitCheckValue(pDev,VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE,Mode_data[mode].sigmaLimit);//set SIGMA limit if(status!=VL53L1_ERROR_NONE) return status; HAL_Delay(2); status = VL53L1_SetLimitCheckValue(pDev,VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,Mode_data[mode].signalLimit);//set signal rate limit if(status!=VL53L1_ERROR_NONE) return status; //4个限制值设置完成 status = VL53L1_SetMeasurementTimingBudgetMicroSeconds(pDev,Mode_data[mode].timingBudget);//set the max interval for a whole diatance test if(status!=VL53L1_ERROR_NONE) return status; HAL_Delay(2); status = VL53L1_SetInterMeasurementPeriodMilliSeconds(pDev, 300); if(status!=VL53L1_ERROR_NONE) { printf("SetInterMeasurementPeriodMilliSeconds failed!\r\n"); return status; } HAL_Delay(2); status = VL53L1_StartMeasurement(pDev); if(status!=VL53L1_ERROR_NONE) { printf("start measurement failed!\r\n"); return status; } return status; } int32_t flag=0; VL53L1_Error getDistance(VL53L1_Dev_t* pDev) { VL53L1_Error status = VL53L1_ERROR_NONE; uint8_t isDataReady=1; status = VL53L1_WaitMeasurementDataReady(pDev); //status = VL53L1_GetMeasurementDataReady(pDev,&isDataReady); if(status!=VL53L1_ERROR_NONE) { printf("Wait too long!\r\n"); return status; } if(!isDataReady) { flag++; return -7; } status = VL53L1_GetRangingMeasurementData(pDev, &result_data); distance = result_data.RangeMilliMeter; printf("========>distance:%d\r\n",distance); status = VL53L1_ClearInterruptAndStartMeasurement(pDev); return status; } //add by lwy VL53L1_Error VL53L1Init_Roi(VL53L1_Dev_t* pDev,VL53L1_DistanceModes ROI_DistanceMode) { VL53L1_Error Status = VL53L1_ERROR_NONE; pDev->I2cDevAddr=0x52;//默认地址 pDev->comms_type=1;//默认通信模式 pDev->comms_speed_khz = 400;//通信速率（可到400hz） Status = VL53L1_WaitDeviceBooted(pDev); if(Status!=VL53L1_ERROR_NONE) { printf("Wait device Boot failed!\r\n"); return Status; } HAL_Delay(2); Status = VL53L1_DataInit(pDev);//device init if(Status!=VL53L1_ERROR_NONE) { printf("datainit failed!\r\n"); return Status; } HAL_Delay(2); Status = VL53L1_StaticInit(pDev); if(Status!=VL53L1_ERROR_NONE) { printf("static init failed!\r\n"); return Status; } HAL_Delay(2); Status = VL53L1_SetDistanceMode(pDev, ROI_DistanceMode); //short,medium,long if(Status!=VL53L1_ERROR_NONE) { printf("set discance mode failed!\r\n"); return Status; } HAL_Delay(2); return Status; } /* @brief 初始化roi参数 @param pDev -[in] 指向VL53L1设备的handle @param roi_zone -[in] 设置roi区域 @return 错误代码 */ VL53L1_Error VL53InitParam_Roi(VL53L1_Dev_t* pDev,uint32_t ROI_TimingBudgetMicroSeconds, uint32_t ROI_InterMeasurementPeriodMilliSeconds, VL53L1_UserRoi_t *roi_zone) { uint8_t mode = 2; VL53L1_Error status = VL53L1_ERROR_NONE; //4个限制 status = VL53L1_SetLimitCheckEnable(pDev,VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE,1);//sigma--standard deviation, enable SIGMA limit check if(status!=VL53L1_ERROR_NONE) return status; HAL_Delay(2); status = VL53L1_SetLimitCheckEnable(pDev,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); status = VL53L1_SetLimitCheckValue(pDev,VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE,Mode_data[mode].sigmaLimit);//set SIGMA limit if(status!=VL53L1_ERROR_NONE) return status; HAL_Delay(2); status = VL53L1_SetLimitCheckValue(pDev,VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,Mode_data[mode].signalLimit);//set signal rate limit if(status!=VL53L1_ERROR_NONE) return status; //4个限制值设置完成 status = VL53L1_SetMeasurementTimingBudgetMicroSeconds(pDev,ROI_TimingBudgetMicroSeconds);//set the max interval for a whole diatance test if(status!=VL53L1_ERROR_NONE) return status; HAL_Delay(2); status = VL53L1_SetInterMeasurementPeriodMilliSeconds(pDev, ROI_InterMeasurementPeriodMilliSeconds); if(status!=VL53L1_ERROR_NONE) { printf("SetInterMeasurementPeriodMilliSeconds failed!\r\n"); return status; } HAL_Delay(2); status = VL53L1_SetUserROI(pDev,roi_zone); if(status!=VL53L1_ERROR_NONE) { printf("VL53L1_SetUserROI failed!\r\n"); return status; } HAL_Delay(2); status = VL53L1_StartMeasurement(pDev); if(status!=VL53L1_ERROR_NONE) { printf("start measurement failed!\r\n"); return status; } return status; } int32_t flag2=0; VL53L1_Error getDistanceByRoi(VL53L1_Dev_t* pDev, VL53L1_UserRoi_t *roi_zone, int32_t *return_distance) { VL53L1_Error status = VL53L1_ERROR_NONE; uint8_t isDataReady=1; //status = VL53L1_WaitMeasurementDataReady(pDev); status = VL53L1_GetMeasurementDataReady(pDev,&isDataReady); if(status!=VL53L1_ERROR_NONE) { printf("Wait too long!\r\n"); return status; } if(!isDataReady) { flag2++; return -7; } flag2 = 0; status = VL53L1_GetRangingMeasurementData(pDev, &result_data); *return_distance = result_data.RangeMilliMeter; status += VL53L1_ClearInterruptAndStartMeasurement(pDev); /*wait a couple of ms to ensure the setting of the new ROI center for the next ranging*/ status += VL53L1_SetUserROI(pDev,roi_zone); return status; }