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VL53L0x 是ST公司生成的 TOF激光测距传感器，得益于非常小巧的尺寸，很容易放入手机、无人机中，提供更加精准、稳定的测距方式。

本文代码，使用 STM32F4xx的 HAL库。

VL53L0x.c

#include "VL53L0x.h"#include 
   
    #include "PersonalMath.h"struct VL53L0xData  VL53L0x_Bottom;		//底部连接在IIC2的VL53L0x的数据void VL53L0x_init(I2C_HandleTypeDef *hi2c){		uint8_t VL53L0x_SendData[2] = {0x01};	uint8_t VL53L0x_RecData[5] ;	/*	//Revision ID:	HAL_I2C_Mem_Read(hi2c, VL53L0x_add, VL53L0X_REG_IDENTIFICATION_REVISION_ID, I2C_MEMADD_SIZE_8BIT, VL53L0x_RecData, 1, 10);	//Device ID:	HAL_I2C_Mem_Read(hi2c, VL53L0x_add, VL53L0X_REG_IDENTIFICATION_MODEL_ID, I2C_MEMADD_SIZE_8BIT, VL53L0x_RecData+1, 1, 10);	//PRE_RANGE_CONFIG_VCSEL_PERIOD =	HAL_I2C_Mem_Read(hi2c, VL53L0x_add, VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD, I2C_MEMADD_SIZE_8BIT, VL53L0x_RecData+2, 1, 10);	//FINAL_RANGE_CONFIG_VCSEL_PERIOD=	HAL_I2C_Mem_Read(hi2c, VL53L0x_add, VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD, I2C_MEMADD_SIZE_8BIT, VL53L0x_RecData+3, 1, 10);	*/	HAL_I2C_Mem_Write(hi2c, VL53L0x_add, VL53L0X_REG_SYSRANGE_START, I2C_MEMADD_SIZE_8BIT, VL53L0x_SendData, 1, 1);	//HAL_Delay(500);		VL53L0x_SendData[1] = 100;	while(VL53L0x_SendData[1]--)	{		HAL_Delay(1);		HAL_I2C_Mem_Read(hi2c, VL53L0x_add, VL53L0X_REG_RESULT_RANGE_STATUS, I2C_MEMADD_SIZE_8BIT, VL53L0x_RecData+4, 1, 1);			if (VL53L0x_RecData[4] & 0x01) break;	}}//检查VL53L0x是否正常//检查成功返回0//检查失败返回1uint8_t VL53L0x_Check(I2C_HandleTypeDef *hi2c){		uint8_t VL53L0x_SendData[2] = {0x01};	uint8_t VL53L0x_RecData[5] ;		//Revision ID:	HAL_I2C_Mem_Read(hi2c, VL53L0x_add, VL53L0X_REG_IDENTIFICATION_REVISION_ID, I2C_MEMADD_SIZE_8BIT, VL53L0x_RecData, 1, 1);	//Device ID:	HAL_I2C_Mem_Read(hi2c, VL53L0x_add, VL53L0X_REG_IDENTIFICATION_MODEL_ID, I2C_MEMADD_SIZE_8BIT, VL53L0x_RecData+1, 1, 1);	//PRE_RANGE_CONFIG_VCSEL_PERIOD =	HAL_I2C_Mem_Read(hi2c, VL53L0x_add, VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD, I2C_MEMADD_SIZE_8BIT, VL53L0x_RecData+2, 1, 1);	//FINAL_RANGE_CONFIG_VCSEL_PERIOD=	HAL_I2C_Mem_Read(hi2c, VL53L0x_add, VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD, I2C_MEMADD_SIZE_8BIT, VL53L0x_RecData+3, 1, 1);		HAL_I2C_Mem_Write(hi2c, VL53L0x_add, VL53L0X_REG_SYSRANGE_START, I2C_MEMADD_SIZE_8BIT, VL53L0x_SendData, 1, 1);	HAL_Delay(500);		VL53L0x_SendData[1] = 100;	while(VL53L0x_SendData[1]--)	{		HAL_Delay(10);		HAL_I2C_Mem_Read(hi2c, VL53L0x_add, VL53L0X_REG_RESULT_RANGE_STATUS, I2C_MEMADD_SIZE_8BIT, VL53L0x_RecData+4, 1, 1);			if (VL53L0x_RecData[4] & 0x01) break;	}		if (VL53L0x_RecData[4] & 0x01) 	return 0;				//检查成功返回0	else return 1;	//检查失败返回1}//VL53L0x转换一次void VL53L0x_StartConversion(I2C_HandleTypeDef *hi2c){	uint8_t VL53L0x_SendData[1] = {0x01};	HAL_I2C_Mem_Write(hi2c, VL53L0x_add, VL53L0X_REG_SYSRANGE_START, I2C_MEMADD_SIZE_8BIT, VL53L0x_SendData, 1, 1);}uint16_t makeuint16(int lsb, int msb) {    return ((msb & 0xFF) << 8) | (lsb & 0xFF);}//VL53L0x读取距离等数据反馈信息void VL53L0x_ReadDistance(I2C_HandleTypeDef *hi2c, struct VL53L0xData *VL_temp){	//记录历史有效值	VL_temp->dist_last = VL_temp->distValid;		HAL_I2C_Mem_Read(hi2c, VL53L0x_add, VL53L0X_REG_RESULT_RANGE_STATUS, I2C_MEMADD_SIZE_8BIT, VL_temp->vtemp, 12, 1);		VL_temp->acnt = makeuint16(VL_temp->vtemp[7], VL_temp->vtemp[6]);	VL_temp->scnt = makeuint16(VL_temp->vtemp[9], VL_temp->vtemp[8]);	VL_temp->dist = makeuint16(VL_temp->vtemp[11], VL_temp->vtemp[10]);	VL_temp->DeviceRangeStatusInternal = ((VL_temp->vtemp[0] & 0x78) >> 3);		//提取有效值	if(VL_temp->dist <= 0x0014)		//距离数据无效		VL_temp->distValid = VL_temp->dist_last;	else 	//有效		VL_temp->distValid = VL_temp->dist;	/*	下面的代码具体干嘛的时间长忘记了，功能是根据对地倾角求得飞机的高度，大家可以直接删掉 */		uint8_t i,j;		for(i = 14;i>0;i--)	{		VL_temp->dist_buff[i] = VL_temp->dist_buff[i-1];	}	VL_temp->dist_buff[0] = VL_temp->distValid;		i =0;	j=0;	for(i=0;i<6;i++)	{		if(VL_temp->dist_buff[i] >=2000)			j++;	}		if(j >= 2)		// 1/3的溢出率		VL_temp->distValidFinal = 2000;	else		//从数组里筛选出最近的有效值	{		i=0;		for(i=0;i<15;i++)		{			if(VL_temp->dist_buff[i] <2000)				break;		}		VL_temp->distValidFinal = VL_temp->dist_buff[i];	}		VL_temp->GroundDis_last = VL_temp->GroundDis;	VL_temp->GroundDis = (float)VL_temp->distValidFinal /1000;	VL_temp->GroundDis = VL_temp->GroundDis *cos(ABS((PostureAngle.Pitch /180 *3.14159))) *cos(ABS((PostureAngle.Roll /180 *3.14159)));}
   

VL53L0x.h

#ifndef __VL53L0X_H#define __VL53L0X_H			    #include "stm32f4xx_hal.h"#include "i2c.h"#include "Structure.h"#include "Algorithm_filter.h"#define VL_CS1_Enable 		HAL_GPIO_WritePin(GPIOB,GPIO_PIN_2,(GPIO_PinState)1);	//左侧VL53L0X的PB2拉高使能#define VL_CS1_Disable 		HAL_GPIO_WritePin(GPIOB,GPIO_PIN_2,(GPIO_PinState)0);	//左侧VL53L0X的PB2拉低失能#define VL_CS2_Enable 		HAL_GPIO_WritePin(GPIOB,GPIO_PIN_1,(GPIO_PinState)1);	//右侧VL53L0X的PB1拉高使能#define VL_CS2_Disable 		HAL_GPIO_WritePin(GPIOB,GPIO_PIN_1,(GPIO_PinState)0);	//右侧VL53L0X的PB1拉低失能//寄存器操作函数	 #define VL53L0x_add 		0x52			//VL53L0x的IIC器件地址#define VL53L0X_REG_IDENTIFICATION_MODEL_ID         0xc0#define VL53L0X_REG_IDENTIFICATION_REVISION_ID      0xc2#define VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD   0x50#define VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD 0x70#define VL53L0X_REG_SYSRANGE_START                  0x00#define VL53L0X_REG_RESULT_INTERRUPT_STATUS         0x13#define VL53L0X_REG_RESULT_RANGE_STATUS             0x14struct VL53L0xData {	uint8_t vtemp[12];	uint16_t acnt;		//环境统计,激光光强	uint16_t scnt;		//信号数	uint16_t dist;		//距离，单位mm	最原始数据	uint8_t DeviceRangeStatusInternal;		uint16_t dist_last;		//历史有效值，用来判断		uint16_t distValid;		//原始距离值提取后的有效值	uint16_t dist_buff[15];		//测距的滑窗缓存	uint16_t distValidFinal;		float GroundDis;	float GroundDis_last;		float Speed;	float Speed_last;		uint16_t distFilted;	//卡尔曼滤波后的距离值	uint16_t distFilted_1;//卡尔曼后 + 一阶低通滤波		uint8_t Flag_OverRange;	//超出量程标志位/*	uint16_t dist_Original;	//原始距离值	uint16_t dist_OriginalValid;	//原始距离值提取后的有效值	uint16_t dist_OriginalValid_lsat;*/};extern struct VL53L0xData  VL53L0x_Bottom;		//底部连接在IIC2的VL53L0x的数据void VL53L0x_init(I2C_HandleTypeDef *hi2c);//检查VL53L0x是否正常uint8_t VL53L0x_Check(I2C_HandleTypeDef *hi2c);//VL53L0x转换一次void VL53L0x_StartConversion(I2C_HandleTypeDef *hi2c);//VL53L0x读取距离等数据反馈信息void VL53L0x_ReadDistance(I2C_HandleTypeDef *hi2c, struct VL53L0xData *VL_temp);void VL53L0x_DataFitting(void);#endif

I2C2 在 STM32CubeMX 的配置：

感慨一小下

压了三年的箱底，可算翻出来了。

当时这款传感器比较新，ST提供的驱动是linux的，CubeMX和HAL库也刚步入正轨，所以借鉴了好多。Arduino的，博客的。

以前懒得码字，可现在学东西多路总容易忘记以前的东西，拿博客当云笔记用，发表出来兴许还能帮到别人，岂不美哉。

更好的 VL53L1x 早已上市，十分好这条产品线。等测距速度提上去，再与MEMS振镜结合，这不就Mini固态激光雷达嘛。