feat: 增加vl53l0x驱动

2024-05-11 19:51:10 +08:00
parent c3c1a7e7f0
commit 7c7e401665
46 changed files with 18455 additions and 112 deletions
--- a/3rd-part/Simple_VL53L0X/VL53l0x_i2c_dev.c
+++ b/3rd-part/Simple_VL53L0X/VL53l0x_i2c_dev.c
@@ -0,0 +1,120 @@
+/**
+ * @brief        移植用的适配 STM32 的 HAL 库的驱动文件 非官方 自己适配的
+ * @author      WMD
+ * @date     2018 年 4 月 22 日 21:20:32
+ * @version
+ * @par Copyright (c):
+ *       WMD
+ * @par 日志
+ */
+#include "ST_I2C.h"
+#include "vl53l0x_api.h"
+
+#include "by_debug.h"
+// #include "cmsis_os.h"
+
+/**
+ * @name 自定义移植接口函数
+ * @{
+ */
+VL53L0X_Error VL53L0X_WriteMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count)
+{
+  return ST_IICwriteBytes(Dev->I2cDevAddr, index, count, pdata);
+}
+VL53L0X_Error VL53L0X_ReadMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count)
+{
+  return ST_IICreadBytes(Dev->I2cDevAddr, index, count, pdata);
+}
+VL53L0X_Error VL53L0X_WrByte(VL53L0X_DEV Dev, uint8_t index, uint8_t data)
+{
+  return ST_IICwriteByte(Dev->I2cDevAddr, index, data);
+}
+VL53L0X_Error VL53L0X_RdByte(VL53L0X_DEV Dev, uint8_t index, uint8_t *data)
+{
+  return VL53L0X_ReadMulti(Dev, index, data, 1);
+}
+/// 注意以下这些函数有可能会导致大小端不对
+VL53L0X_Error VL53L0X_WrWord(VL53L0X_DEV Dev, uint8_t index, uint16_t data)
+{
+  uint8_t tmp[2] = {((uint16_t)(data & 0xff00) >> 8), ((uint16_t)data & 0x00ff)};
+  return ST_IICwriteBytes(Dev->I2cDevAddr, index, 2, tmp);
+}
+VL53L0X_Error VL53L0X_WrDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t data)
+{
+  uint8_t tmp[4] = {((data & 0xff000000) >> 24), ((data & 0x00ff0000) >> 16), ((data & 0x0000ff00) >> 8), ((data & 0x000000ff))};
+  return ST_IICwriteBytes(Dev->I2cDevAddr, index, 4, tmp);
+}
+VL53L0X_Error VL53L0X_RdWord(VL53L0X_DEV Dev, uint8_t index, uint16_t *data)
+{
+  uint8_t tmp[2];
+  uint8_t *p = (uint8_t *)data;
+  ST_IICreadBytes(Dev->I2cDevAddr, index, 2, tmp);
+  p[0] = tmp[1];
+  p[1] = tmp[0];
+  return 0;
+}
+VL53L0X_Error VL53L0X_RdDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t *data)
+{
+  uint8_t tmp[4];
+  uint8_t *p = (uint8_t *)data;
+  ST_IICreadBytes(Dev->I2cDevAddr, index, 4, tmp);
+  p[0] = tmp[3];
+  p[1] = tmp[2];
+  p[2] = tmp[1];
+  p[3] = tmp[0];
+  return 0;
+}
+
+VL53L0X_Error VL53L0X_UpdateByte(VL53L0X_DEV Dev, uint8_t index, uint8_t AndData, uint8_t OrData)
+{
+  uint8_t tmp;
+  ST_IICreadBytes(Dev->I2cDevAddr, index, 1, &tmp);
+  tmp = (tmp & AndData) | OrData;
+  return ST_IICwriteByte(Dev->I2cDevAddr, index, tmp);
+}
+//! 该函数是等待用函数 要改成对应环境的 Delay
+VL53L0X_Error VL53L0X_PollingDelay(VL53L0X_DEV Dev)
+{
+  // osDelay(5);
+  delay_ms(5);
+
+  return 0;
+}
+/** @} */
+// 接下来是要引出的简化 API 函数
+//! 激光传感器的结构体
+static VL53L0X_Dev_t TestDev_s;
+static VL53L0X_DEV TestDev = &TestDev_s;
+static VL53L0X_RangingMeasurementData_t TestData_s;
+static VL53L0X_RangingMeasurementData_t *TestData = &TestData_s;
+
+/**
+ * @brief  激光传感器初始化
+ * @param void
+ * @retval  void
+ * @par 日志
+ *
+ */
+void VL53L0X_Init(void)
+{
+  TestDev->I2cDevAddr = 0x52;
+  VL53L0X_SetDeviceAddress(TestDev, 0x52);                               // 设置地址
+  VL53L0X_SetPowerMode(TestDev, VL53L0X_POWERMODE_STANDBY_LEVEL2);       // 设定最不省电模式
+  VL53L0X_SetDeviceMode(TestDev, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING); // 设定连续读取模式
+  VL53L0X_SetInterMeasurementPeriodMilliSeconds(TestDev, 10);            // 设定采样时间
+  VL53L0X_DataInit(TestDev);
+}
+/**
+ * @brief  获得激光传感器的距离
+ * @param void
+ * @retval  uint16_t 距离 (单位 mm)
+ * @note 如果不在任务中使用的话记得修改延时函数
+ * @par 日志
+ *
+ */
+uint16_t VL53L0X_GetValue(void)
+{
+  VL53L0X_PerformSingleMeasurement(TestDev); // 简单测量
+  VL53L0X_GetRangingMeasurementData(TestDev, TestData);
+  return TestData->RangeMilliMeter;
+}