#include "vl53l0x.h"
VL53L0X_Dev_t vl53l0x_dev;//设备I2C数据参数
VL53L0X_DeviceInfo_t vl53l0x_dev_info;//设备ID版本信息
uint8_t AjustOK=0;//校准标志位
//VL53L0X各精度模式参数
//0：默认;1:高精度;2:长距离;3:高速
mode_data Mode_data[]=
{
{(FixPoint1616_t)(0.25*65536),
(FixPoint1616_t)(18*65536),
33000,
14,
10},//默认
{(FixPoint1616_t)(0.25*65536) ,
(FixPoint1616_t)(18*65536),
200000,
14,
10},//高精度
{(FixPoint1616_t)(0.1*65536) ,
(FixPoint1616_t)(60*65536),
33000,
18,
14},//长距离
{(FixPoint1616_t)(0.25*65536) ,
(FixPoint1616_t)(32*65536),
20000,
14,
10},//高速
};
//API错误信息打印
//Status：详情看VL53L0X_Error参数的定义
void print_pal_error(VL53L0X_Error Status)
{
char buf[VL53L0X_MAX_STRING_LENGTH];
VL53L0X_GetPalErrorString(Status,buf);//根据Status状态获取错误信息字符串
printf("API Status: %i : %s\r\n",Status, buf);//打印状态和错误信息
}
//模式字符串显示
//mode:0-默认;1-高精度;2-长距离;3-高速
void mode_string(u8 mode,char *buf)
{
switch(mode)
{
case Default_Mode: strcpy(buf,"Default"); break;
case HIGH_ACCURACY: strcpy(buf,"High Accuracy"); break;
case LONG_RANGE: strcpy(buf,"Long Range"); break;
case HIGH_SPEED: strcpy(buf,"High Speed"); break;
}
}
//配置VL53L0X设备I2C地址
//dev:设备I2C参数结构体
//newaddr:设备新I2C地址
VL53L0X_Error vl53l0x_Addr_set(VL53L0X_Dev_t *dev,uint8_t newaddr)
{
uint16_t Id;
uint8_t FinalAddress;
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
u8 sta=0x00;
FinalAddress = newaddr;
if(FinalAddress==dev->I2cDevAddr)//新设备I2C地址与旧地址一致,直接退出
return VL53L0X_ERROR_NONE;
//在进行第一个寄存器访问之前设置I2C标准模式(400Khz)
Status = VL53L0X_WrByte(dev,0x88,0x00);
if(Status!=VL53L0X_ERROR_NONE)
{
sta=0x01;//设置I2C标准模式出错
goto set_error;
}
//尝试使用默认的0x52地址读取一个寄存器
Status = VL53L0X_RdWord(dev, VL53L0X_REG_IDENTIFICATION_MODEL_ID, &Id);
if(Status!=VL53L0X_ERROR_NONE)
{
sta=0x02;//读取寄存器出错
goto set_error;
}
if(Id == 0xEEAA)
{
//设置设备新的I2C地址
Status = VL53L0X_SetDeviceAddress(dev,FinalAddress);
if(Status!=VL53L0X_ERROR_NONE)
{
sta=0x03;//设置I2C地址出错
goto set_error;
}
//修改参数结构体的I2C地址
dev->I2cDevAddr = FinalAddress;
//检查新的I2C地址读写是否正常
Status = VL53L0X_RdWord(dev, VL53L0X_REG_IDENTIFICATION_MODEL_ID, &Id);
if(Status!=VL53L0X_ERROR_NONE)
{
sta=0x04;//新I2C地址读写出错
goto set_error;
}
}
set_error:
if(Status!=VL53L0X_ERROR_NONE)
{
print_pal_error(Status);//打印错误信息
}
if(sta!=0)
printf("sta:0x%x\r\n",sta);
return Status;
}
//vl53l0x复位函数
//dev:设备I2C参数结构体
void vl53l0x_reset(VL53L0X_Dev_t *dev)
{
uint8_t addr;
addr = dev->I2cDevAddr;//保存设备原I2C地址
VL53L0X_Xshut=0;//失能VL53L0X
delay_ms(30);
VL53L0X_Xshut=1;//使能VL53L0X,让传感器处于工作(I2C地址会恢复默认0X52)
delay_ms(30);
dev->I2cDevAddr=0x52;
vl53l0x_Addr_set(dev,addr);//设置VL53L0X传感器原来上电前原I2C地址
VL53L0X_DataInit(dev);
}
//初始化vl53l0x
//dev:设备I2C参数结构体
VL53L0X_Error vl53l0x_init(VL53L0X_Dev_t *dev)
{
GPIO_InitTypeDef GPIO_InitStructure;
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
VL53L0X_Dev_t *pMyDevice = dev;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE); //使能AFIO时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE); //先使能外设IO PORTA时钟
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15; //端口配置
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; //推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; //IO口速度为50MHz
GPIO_Init(GPIOA, &GPIO_InitStructure); //根据设定参数初始化GPIOA
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable,ENABLE);//禁止JTAG,从而PA15可以做普通IO使用,否则PA15不能做普通IO!!!
pMyDevice->I2cDevAddr = VL53L0X_Addr;//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
VL53L0X_i2c_init();//初始化IIC总线
VL53L0X_Xshut=0;//失能VL53L0X
delay_ms(30);
VL53L0X_Xshut=1;//使能VL53L0X,让传感器处于工作
delay_ms(30);
vl53l0x_Addr_set(pMyDevice,0x54);//设置VL53L0X传感器I2C地址
if(Status!=VL53L0X_ERROR_NONE) goto error;
Status = VL53L0X_DataInit(pMyDevice);//设备初始化
if(Status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
Status = VL53L0X_GetDeviceInfo(pMyDevice,&vl53l0x_dev_info);//获取设备ID信息
if(Status!=VL53L0X_ERROR_NONE) goto error;
AT24CXX_Read(0,(u8*)&Vl53l0x_data,sizeof(_vl53l0x_adjust));//读取24c02保存的校准数据,若已校准 Vl53l0x_data.adjustok==0xAA
if(Vl53l0x_data.adjustok==0xAA)//已校准
AjustOK=1;
else //没校准
AjustOK=0;
error:
if(Status!=VL53L0X_ERROR_NONE)
{
print_pal_error(Status);//打印错误信息
return Status;
}
return Status;
}
//主菜单界面
void vl53l0x_mtest_ui(void)
{
POINT_COLOR=BLUE;//设置字体为蓝色
LCD_Fill(30,170,300,300,WHITE);
LCD_ShowString(30,170,200,16,16,"KEY_UP: Calibration mode");//校准模式
LCD_ShowString(30,190,200,16,16,"KEY1: General mode"); //普通测量模式
LCD_ShowString(30,210,200,16,16,"KEY0: Interrupt mode"); //中断测量模式
}
//VL53L0X主测试程序
void vl53l0x_test(void)
{
u8 i=0;
u8 key=0;
while(vl53l0x_init(&vl53l0x_dev))//vl53l0x初始化
{
LCD_ShowString(30,140,200,16,16,"VL53L0X Error!!!");
delay_ms(500);
LCD_ShowString(30,140,200,16,16," ");
delay_ms(500);
LED0=!LED0;//DS0闪烁
}
printf("VL53L0X OK\r\n");
LCD_ShowString(30,140,200,16,16,"VL53L0X OK");
vl53l0x_mtest_ui();//主菜单显示
while(1)
{
key = KEY_Scan(0);
if(key)
{
switch(key)
{
case WKUP_PRES: vl53l0x_calibration_test(&vl53l0x_dev); break;//校准模式
case KEY1_PRES: vl53l0x_general_test(&vl53l0x_dev); break;//普通测量模式
case KEY0_PRES: vl53l0x_interrupt_test(&vl53l0x_dev); break;//中断测量模式
}
vl53l0x_mtest_ui();
}
i++;
if(i==5)
{
i=0;
LED0=!LED0;
}
delay_ms(50);
}
}
//----------以下函数为USMART调用------------//
//获取vl53l0x传感器ID信息
void vl53l0x_info(void)
{
printf("\r\n-------vl53l0x传感器设备信息-------\r\n\r\n");
printf(" Name:%s\r\n",vl53l0x_dev_info.Name);
printf(" Addr:0x%x\r\n",vl53l0x_dev.I2cDevAddr);
printf(" ProductId:%s\r\n",vl53l0x_dev_info.ProductId);
printf(" RevisionMajor:0x%x\r\n",vl53l0x_dev_info.ProductRevisionMajor);
printf(" RevisionMinor:0x%x\r\n",vl53l0x_dev_info.ProductRevisionMinor);
printf("\r\n-----------------------------------\r\n");
}
//获取一次测量距离数据
//mode模式配置 0:默认;1:高精度;2:长距离;3:高速
void One_measurement(u8 mode)
{
vl53l0x_set_mode(&vl53l0x_dev,mode);
VL53L0X_PerformSingleRangingMeasurement(&vl53l0x_dev,&vl53l0x_data);
printf("\r\n d: %4d mm.\r\n",vl53l0x_data.RangeMilliMeter);
}
#include "vl53l0x_gen.h"
VL53L0X_RangingMeasurementData_t vl53l0x_data;//测距测量结构体
vu16 Distance_data=0;//保存测距数据
//VL53L0X 测量模式配置
//dev:设备I2C参数结构体
//mode: 0:默认;1:高精度;2:长距离;3:高速
VL53L0X_Error vl53l0x_set_mode(VL53L0X_Dev_t *dev,u8 mode)
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t VhvSettings;
uint8_t PhaseCal;
uint32_t refSpadCount;
uint8_t isApertureSpads;
vl53l0x_reset(dev);//复位vl53l0x(频繁切换工作模式容易导致采集距离数据不准，需加上这一代码)
status = VL53L0X_StaticInit(dev);
if(AjustOK!=0)//已校准好了,写入校准值
{
status= VL53L0X_SetReferenceSpads(dev,Vl53l0x_data.refSpadCount,Vl53l0x_data.isApertureSpads);//设定Spads校准值
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status= VL53L0X_SetRefCalibration(dev,Vl53l0x_data.VhvSettings,Vl53l0x_data.PhaseCal);//设定Ref校准值
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status=VL53L0X_SetOffsetCalibrationDataMicroMeter(dev,Vl53l0x_data.OffsetMicroMeter);//设定偏移校准值
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status=VL53L0X_SetXTalkCompensationRateMegaCps(dev,Vl53l0x_data.XTalkCompensationRateMegaCps);//设定串扰校准值
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
}
else
{
status = VL53L0X_PerformRefCalibration(dev, &VhvSettings, &PhaseCal);//Ref参考校准
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_PerformRefSpadManagement(dev, &refSpadCount, &isApertureSpads);//执行参考SPAD管理
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
}
status = VL53L0X_SetDeviceMode(dev,VL53L0X_DEVICEMODE_SINGLE_RANGING);//使能单次测量模式
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetLimitCheckEnable(dev,VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,1);//使能SIGMA范围检查
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetLimitCheckEnable(dev,VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,1);//使能信号速率范围检查
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetLimitCheckValue(dev,VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,Mode_data[mode].sigmaLimit);//设定SIGMA范围
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetLimitCheckValue(dev,VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,Mode_data[mode].signalLimit);//设定信号速率范围范围
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(dev,Mode_data[mode].timingBudget);//设定完整测距最长时间
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetVcselPulsePeriod(dev, VL53L0X_VCSEL_PERIOD_PRE_RANGE, Mode_data[mode].preRangeVcselPeriod);//设定VCSEL脉冲周期
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetVcselPulsePeriod(dev, VL53L0X_VCSEL_PERIOD_FINAL_RANGE, Mode_data[mode].finalRangeVcselPeriod);//设定VCSEL脉冲周期范围
error://错误信息
if(status!=VL53L0X_ERROR_NONE)
{
print_pal_error(status);
LCD_Fill(30,140+20,300,300,WHITE);
return status;
}
return status;
}
//VL53L0X 单次距离测量函数
//dev:设备I2C参数结构体
//pdata:保存测量数据结构体
VL53L0X_Error vl53l0x_start_single_test(VL53L0X_Dev_t *dev,VL53L0X_RangingMeasurementData_t *pdata,char *buf)
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t RangeStatus;
status = VL53L0X_PerformSingleRangingMeasurement(dev, pdata);//执行单次测距并获取测距测量数据
if(status !=VL53L0X_ERROR_NONE) return status;
RangeStatus = pdata->RangeStatus;//获取当前测量状态
memset(buf,0x00,VL53L0X_MAX_STRING_LENGTH);
VL53L0X_GetRangeStatusString(RangeStatus,buf);//根据测量状态读取状态字符串
Distance_data = pdata->RangeMilliMeter;//保存最近一次测距测量数据
return status;
}
//启动普通测量
//dev：设备I2C参数结构体
//mode模式配置 0:默认;1:高精度;2:长距离
void vl53l0x_general_start(VL53L0X_Dev_t *dev,u8 mode)
{
static char buf[VL53L0X_MAX_STRING_LENGTH];//测试模式字符串字符缓冲区
VL53L0X_Error Status=VL53L0X_ERROR_NONE;//工作状态
u8 key=0;
u8 i=0;
LED0=1;
mode_string(mode,buf);//显示当前配置的模式
while(vl53l0x_set_mode(dev,mode))//配置精度模式
{
LCD_ShowString(30,140+40,200,16,16,"Mode Set Error!!!");
delay_ms(500);
LCD_ShowString(30,140+40,200,16,16," ");
delay_ms(500);
i++;
if(i==2) return;
}
LCD_Fill(30,140+20,300,300,WHITE);
LCD_ShowString(30,140+30,200,16,16,"KEY_UP: Exit the test ");
LCD_ShowString(30,140+50,200,16,16,"Mode: ");
LCD_ShowString(80,140+50,200,16,16,(u8*)buf);
LCD_ShowString(30,140+70,200,16,16,"State:");//显示测量状态
LCD_ShowString(30,140+90,200,16,16,"Distance: 0 mm");//显示测量距离
while(1)
{
key = KEY_Scan(0);
if(key == WKUP_PRES)
{
LED1=1;
break;//返回上一菜单
}
if(Status==VL53L0X_ERROR_NONE)
{
Status = vl53l0x_start_single_test(dev,&vl53l0x_data,buf);//执行一次测量
LCD_ShowString(85,140+70,200,16,16,(u8*)buf);
LCD_ShowxNum(110,140+90,Distance_data,4,16,0);
//printf("State;%i , %s\r\n",vl53l0x_data.RangeStatus,buf);//打印测量状态
printf("d: %4imm\r\n",Distance_data);//打印测量距离
}
i++;
if(i==5)
{
i=0;
LED1=!LED1;
}
delay_ms(50);
}
}
//vl53l0x普通测量模式UI
void general_ui(void)
{
LCD_Fill(30,140+20,300,300,WHITE);
POINT_COLOR=RED; //设置字体为红色
LCD_ShowString(30,140+30,300,16,16,"General Mode ");
LCD_ShowString(30,140+55,300,16,16,"KEY1: Switch working mode ");
POINT_COLOR=BLUE; //设置字体为蓝色
LCD_ShowString(30,140+75,300,16,16, "KEY_UP: Return menu ");
LCD_ShowString(30,140+95,300,16,16, "KEY0: Default ");
}
//vl53l0x普通测量模式测试
//dev:设备I2C参数结构体
void vl53l0x_general_test(VL53L0X_Dev_t *dev)
{
u8 key=0;
u8 i=0;
u8 mode=0;
LED1=1;
general_ui();//显示普通测量模式UI
while(1)
{
key = KEY_Scan(0);
if(key==WKUP_PRES) break;//返回主菜单
else if(key==KEY1_PRES)//选择工作模式
{
mode++;
if(mode==4) mode=0;
switch(mode)
{
case Default_Mode: LCD_ShowString(95,140+95,300,16,16, "Default "); break;//默认
case HIGH_ACCURACY: LCD_ShowString(95,140+95,300,16,16, "High Accuracy "); break;//高精度
case LONG_RANGE: LCD_ShowString(95,140+95,300,16,16, "Long Range "); break;//长距离
case HIGH_SPEED: LCD_ShowString(95,140+95,300,16,16, "High Speed "); break;//高速
}
}
else if(key==KEY0_PRES)//启动测量
{
vl53l0x_general_start(dev,mode);
general_ui();
mode=0;
}
i++;
if(i==5)
{
i=0;
LED0=!LED0;
}
delay_ms(50);
}
}
复制代码
#include "vl53l0x_it.h"
//上下限距离值 单位:mm
#define Thresh_Low 60
#define Thresh_High 150
//中断模式参数结构体
typedef struct
{
const int VL53L0X_Mode;//模式
uint32_t ThreshLow; //下限值
uint32_t ThreshHigh; //上限值
}AlrmMode_t;
AlrmMode_t AlarmModes ={
VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT,// value < thresh_low OR value > thresh_high
Thresh_Low<<16,
Thresh_High<<16
};
//中断配置初始化
static void exti_init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
EXTI_InitTypeDef EXTI_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);//使能PORTA时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE); //使能复用功能时钟
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; //设置成上拉输入
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_EXTILineConfig(GPIO_PortSourceGPIOA,GPIO_PinSource4);
EXTI_InitStructure.EXTI_Line = EXTI_Line4;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;//下降沿触发
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure); //根据EXTI_InitStruct中指定的参数初始化外设EXTI寄存器
NVIC_InitStructure.NVIC_IRQChannel = EXTI4_IRQn; //使能按键WK_UP所在的外部中断通道
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x02; //抢占优先级2，
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x03; //子优先级3
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //使能外部中断通道
NVIC_Init(&NVIC_InitStructure);
}
//警报标志位 alarm_flag
//1:有警报
//0：无
u8 alarm_flag=0;
//外部中断服务函数
void EXTI4_IRQHandler(void)
{
alarm_flag=1;//标志
EXTI_ClearITPendingBit(EXTI_Line4); //清除LINE4上的中断标志位
}
extern uint8_t AjustOK;
extern mode_data Mode_data[];
//vl53l0x中断测量模式测试
//dev:设备I2C参数结构体
//mode: 0:默认;1:高精度;2:长距离;3:高速
void vl53l0x_interrupt_start(VL53L0X_Dev_t *dev,uint8_t mode)
{
uint8_t VhvSettings;
uint8_t PhaseCal;
uint32_t refSpadCount;
uint8_t isApertureSpads;
VL53L0X_RangingMeasurementData_t RangingMeasurementData;
static char buf[VL53L0X_MAX_STRING_LENGTH];//测试模式字符串字符缓冲区
VL53L0X_Error status=VL53L0X_ERROR_NONE;//工作状态
u8 key;
exti_init();//中断初始化
LED0=1;
mode_string(mode,buf);//显示当前配置的模式
LCD_Fill(30,170,300,300,WHITE);
POINT_COLOR=RED; //设置字体为红色
LCD_ShowString(30,140+30,300,16,16,"Interrupt Mode ");
POINT_COLOR=BLUE; //设置字体为蓝色
LCD_ShowString(30,140+50,200,16,16,"KEY_UP: Exit the test ");
LCD_ShowString(30,140+70,200,16,16,"Mode: ");
LCD_ShowString(80,140+70,200,16,16,(u8*)buf);
sprintf((char*)buf,"Thresh Low: %d mm ",Thresh_Low);
LCD_ShowString(30,140+90,300,16,16,(u8*)buf);
sprintf((char*)buf,"Thresh High: %d mm",Thresh_High);
LCD_ShowString(30,140+110,300,16,16,(u8*)buf);
LCD_ShowString(30,140+130,300,16,16,"Now value: mm");
vl53l0x_reset(dev);//复位vl53l0x(频繁切换工作模式容易导致采集距离数据不准，需加上这一代码)
status = VL53L0X_StaticInit(dev);
if(status!=VL53L0X_ERROR_NONE) goto error;
if(AjustOK!=0)//已校准好了,写入校准值
{
status= VL53L0X_SetReferenceSpads(dev,Vl53l0x_data.refSpadCount,Vl53l0x_data.isApertureSpads);//设定Spads校准值
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status= VL53L0X_SetRefCalibration(dev,Vl53l0x_data.VhvSettings,Vl53l0x_data.PhaseCal);//设定Ref校准值
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status=VL53L0X_SetOffsetCalibrationDataMicroMeter(dev,Vl53l0x_data.OffsetMicroMeter);//设定偏移校准值
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status=VL53L0X_SetXTalkCompensationRateMegaCps(dev,Vl53l0x_data.XTalkCompensationRateMegaCps);//设定串扰校准值
if(status!=VL53L0X_ERROR_NONE) goto error;
}else
{
status = VL53L0X_PerformRefCalibration(dev, &VhvSettings, &PhaseCal);//Ref参考校准
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_PerformRefSpadManagement(dev, &refSpadCount, &isApertureSpads);//执行参考SPAD管理
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
}
status = VL53L0X_SetDeviceMode(dev,VL53L0X_DEVICEMODE_CONTINUOUS_RANGING);//使能连续测量模式
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetInterMeasurementPeriodMilliSeconds(dev,Mode_data[mode].timingBudget);//设置内部周期测量时间
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetLimitCheckEnable(dev,VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,1);//使能SIGMA范围检查
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetLimitCheckEnable(dev,VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,1);//使能信号速率范围检查
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetLimitCheckValue(dev,VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,Mode_data[mode].sigmaLimit);//设定SIGMA范围
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetLimitCheckValue(dev,VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,Mode_data[mode].signalLimit);//设定信号速率范围范围
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(dev,Mode_data[mode].timingBudget);//设定完整测距最长时间
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetVcselPulsePeriod(dev, VL53L0X_VCSEL_PERIOD_PRE_RANGE, Mode_data[mode].preRangeVcselPeriod);//设定VCSEL脉冲周期
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetVcselPulsePeriod(dev, VL53L0X_VCSEL_PERIOD_FINAL_RANGE, Mode_data[mode].finalRangeVcselPeriod);//设定VCSEL脉冲周期范围
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_StopMeasurement(dev);//停止测量
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetInterruptThresholds(dev,VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,AlarmModes.ThreshLow, AlarmModes.ThreshHigh);//设定触发中断上、下限值
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetGpioConfig(dev,0,VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,AlarmModes.VL53L0X_Mode,VL53L0X_INTERRUPTPOLARITY_LOW);//设定触发中断模式 下降沿
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_ClearInterruptMask(dev,0);//清除VL53L0X中断标志位
error://错误信息
if(status!=VL53L0X_ERROR_NONE)
{
print_pal_error(status);
return ;
}
alarm_flag = 0;
VL53L0X_StartMeasurement(dev);//启动测量
while(1)
{
key = KEY_Scan(0);
if(key==WKUP_PRES)
{
VL53L0X_ClearInterruptMask(dev,0);//清除VL53L0X中断标志位
status = VL53L0X_StopMeasurement(dev); //停止测量
LED1=1;
break;//返回上一菜单
}
if(alarm_flag==1)//触发中断
{
alarm_flag=0;
VL53L0X_GetRangingMeasurementData(dev,&RangingMeasurementData);//获取测量距离,并且显示距离
printf("d: %3d mm\r\n",RangingMeasurementData.RangeMilliMeter);
LCD_ShowxNum(110,140+130,RangingMeasurementData.RangeMilliMeter,4,16,0);
delay_ms(70);
VL53L0X_ClearInterruptMask(dev,0);//清除VL53L0X中断标志位
}
delay_ms(30);
LED1=!LED1;
}
}
//vl53l0x中断测量模式UI
void interrupt_ui(void)
{
LCD_Fill(30,140+20,300,300,WHITE);
POINT_COLOR=RED; //设置字体为红色
LCD_ShowString(30,140+30,300,16,16,"Interrupt Mode ");
LCD_ShowString(30,140+55,300,16,16,"KEY1: Switch working mode ");
POINT_COLOR=BLUE; //设置字体为蓝色
LCD_ShowString(30,140+75,300,16,16, "KEY_UP: Return menu ");
LCD_ShowString(30,140+95,300,16,16, "KEY0: Default ");
}
//vl53l0x中断测量模式测试
//dev:设备I2C参数结构体
void vl53l0x_interrupt_test(VL53L0X_Dev_t *dev)
{
u8 key=0;
u8 i=0;
u8 mode=0;
LED1=1;
interrupt_ui();//显示中断测量模式UI
while(1)
{
key = KEY_Scan(0);
if(key==WKUP_PRES) break;//返回主菜单
else if(key==KEY1_PRES)//选择工作模式
{
mode++;
if(mode==4) mode=0;
switch(mode)
{
case Default_Mode: LCD_ShowString(95,140+95,300,16,16, "Default "); break;//默认
case HIGH_ACCURACY: LCD_ShowString(95,140+95,300,16,16, "High Accuracy "); break;//高精度
case LONG_RANGE: LCD_ShowString(95,140+95,300,16,16, "Long Range "); break;//长距离
case HIGH_SPEED: LCD_ShowString(95,140+95,300,16,16, "High Speed "); break;//高速
}
}
else if(key==KEY0_PRES)//启动测量
{
vl53l0x_interrupt_start(dev,mode);
interrupt_ui();
mode=0;
}
i++;
if(i==5)
{
i=0;
LED0=!LED0;
}
delay_ms(50);
}
}
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