[光学传感器] [X-NUCLEO-53L4A3 TOF评估板] TouchGFX测距尺

lugl4313820 2024-11-2 15:04 楼主

【硬件】

1、STM32H7S78-DK

2、X-NUCLEO-53L4A3 TOF评估板

【软件环境】

1、STM32CubeMX6.12

2、X-CUBE-TOF

3、X-CUBE_TOUCHGFX

4、TouchGFX-Designer

5、MDK5.38

【实现步步骤】

1、使用TouchGFX-Designer生成基于STM32H7S78L-DK的TouchGFX工程，设计界面如下：

2、使用STM32CubeMX打开工程，配置X-CBUE-TOF如下：

3、生成MDK工程，由于TouchGFX已经打开了I2C1，并且53L4A3也是使用I2C1所以无需重新配置。

4、打开MDK工程，可以看到STM32CubeMX已经给生成了53L4A3的工程文件：

【用户代码实现】

1、我们添加app_tof.h/c，来实现对53L4A3的初始化以及读取任务。

app_tof.c内存如下：


/**
  ******************************************************************************
  * @File           : app_tof.c
  * @author         : IMG SW Application Team
  * @brief          : This file provides code for the configuration
  *                  of the STMicroelectronics.X-CUBE-TOF1.3.4.2 instances.
  ******************************************************************************
  *
  * @attention
  *
  * Copyright (c) 2023 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */

#ifdef __cplusplus
extern "C" {
#endif



/* Includes ------------------------------------------------------------------*/
#include "app_tof.h"
#include "main.h"
#include <stdio.h>
#include "cmsis_os2.h"

#include "53l4a3_ranging_sensor.h"

#define TIMING_BUDGET (100U) /* 10 ms < TimingBudget < 200 ms */
#define POLLING_PERIOD (250U) /* refresh rate for polling mode (ms, shall be consistent with TimingBudget value) */

/* Private variables ---------------------------------------------------------*/
static RANGING_SENSOR_Capabilities_t Cap;
static RANGING_SENSOR_ProfileConfig_t Profile;
static int32_t status = 0;

volatile uint8_t ToF_EventDetected = 0;

/* Private function prototypes -----------------------------------------------*/
static void MX_53L4A3_SimpleRanging_Init(void);
static void MX_53L4A3_SimpleRanging_Process(void);
static void print_result(RANGING_SENSOR_Result_t *Result);
static int32_t decimal_part(float_t x);


void MX_TOF_Init(void)
{
  /* USER CODE BEGIN SV */

  /* USER CODE END SV */

  /* USER CODE BEGIN TOF_Init_PreTreatment */

  /* USER CODE END TOF_Init_PreTreatment */

  /* Initialize the peripherals and the TOF components */

  MX_53L4A3_SimpleRanging_Init();

  /* USER CODE BEGIN TOF_Init_PostTreatment */

  /* USER CODE END TOF_Init_PostTreatment */
}

static void MX_53L4A3_SimpleRanging_Init(void)
{



  /* reset XSHUT (XSDN) pin */
  HAL_GPIO_WritePin(VL53L4A3_XSHUT_C_PORT, VL53L4A3_XSHUT_C_PIN, GPIO_PIN_RESET);
  HAL_Delay(2);
  HAL_GPIO_WritePin(VL53L4A3_XSHUT_C_PORT, VL53L4A3_XSHUT_C_PIN, GPIO_PIN_SET);
  HAL_Delay(2);

  printf("53L4A3 Simple Ranging demo application\n");
  status = VL53L4A3_RANGING_SENSOR_Init(VL53L4A3_DEV_CENTER);

  if (status != BSP_ERROR_NONE)
  {
    printf("VL53L4A3_RANGING_SENSOR_Init failed\n");
    while (1);
  }
}


/*
 * LM background task
 */
void MX_TOF_Process(void)
{
  /* USER CODE BEGIN TOF_Process_PreTreatment */

  /* USER CODE END TOF_Process_PreTreatment */

  MX_53L4A3_SimpleRanging_Process();

  /* USER CODE BEGIN TOF_Process_PostTreatment */

  /* USER CODE END TOF_Process_PostTreatment */
}

static void MX_53L4A3_SimpleRanging_Process(void)
{
  uint8_t i;
  uint32_t cal_distance_mm = 0; /* target distance used for offset calibration */
  uint32_t Id;

  RANGING_SENSOR_Result_t Result;

  VL53L4A3_RANGING_SENSOR_ReadID(VL53L4A3_DEV_CENTER, &Id);
  VL53L4A3_RANGING_SENSOR_GetCapabilities(VL53L4A3_DEV_CENTER, &Cap);



  Profile.RangingProfile = VL53L4ED_PROFILE_CONTINUOUS;
  Profile.TimingBudget = TIMING_BUDGET;
  Profile.Frequency = 0; /* Induces intermeasurement period, NOT USED for normal ranging */
  Profile.EnableAmbient = 1; /* Enable: 1, Disable: 0 */
  Profile.EnableSignal = 1; /* Enable: 1, Disable: 0 */

  /* set the profile if different from default one */
  VL53L4A3_RANGING_SENSOR_ConfigProfile(VL53L4A3_DEV_CENTER, &Profile);



  printf("--- BEGIN OFFSET CALIBRATION ---\n");
  /* make sure that a target is placed at cal_distance_mm (100 mm is the default value in this example)
   * the application will perform some measure in order to have a log of some pre-calibration values
   */
  status = VL53L4A3_RANGING_SENSOR_Start(VL53L4A3_DEV_CENTER, RS_MODE_BLOCKING_CONTINUOUS);

	printf("--- Start testing ---\n");
  while (1)
  {
    /* interrupt mode */


      status = VL53L4A3_RANGING_SENSOR_GetDistance(VL53L4A3_DEV_CENTER, &Result);

      if (status == BSP_ERROR_NONE)
      {
        print_result(&Result);
      }
 
		osDelay(100);
  }
}


static void print_result(RANGING_SENSOR_Result_t *Result)
{
  uint8_t i;
  uint8_t j;

  for (i = 0; i < RANGING_SENSOR_MAX_NB_ZONES; i++)
  {
    printf("\nTargets = %lu", (unsigned long)Result->ZoneResult[i].NumberOfTargets);

    for (j = 0; j < Result->ZoneResult[i].NumberOfTargets; j++)
    {
      printf("\n |---> ");

      printf("Status = %ld, Distance = %5ld mm ",
             (long)Result->ZoneResult[i].Status[j],
             (long)Result->ZoneResult[i].Distance[j]);

      if (Profile.EnableAmbient)
        printf(", Ambient = %ld.%02ld kcps/spad",
               (long)Result->ZoneResult[i].Ambient[j],
               (long)decimal_part(Result->ZoneResult[i].Ambient[j]));

      if (Profile.EnableSignal)
        printf(", Signal = %ld.%02ld kcps/spad",
               (long)Result->ZoneResult[i].Signal[j],
               (long)decimal_part(Result->ZoneResult[i].Signal[j]));
    }
  }
  printf("\n");
}

static int32_t decimal_part(float_t x)
{
  int32_t int_part = (int32_t) x;
  return (int32_t)((x - int_part) * 100);
}


#ifdef __cplusplus
}
#endif

同时添加app_tof.h声明两个函数，用个Inint与任务

#ifndef __APP_TOF_H
#define __APP_TOF_H

#ifdef __cplusplus
extern "C" {
#endif

/* Includes ------------------------------------------------------------------*/

/* Exported defines ----------------------------------------------------------*/

/* Exported functions --------------------------------------------------------*/
void MX_TOF_Init(void);
void MX_TOF_Process(void);

#ifdef __cplusplus
}
#endif

#endif /* __APP_TOF_H */

3、在freertos的任务中执行初始化，并运行检测任务。

void StartDefaultTask(void *argument)
{
  /* USER CODE BEGIN StartDefaultTask */
  /* Infinite loop */
	MX_TOF_Init();
	MX_TOF_Process();
  for(;;)
  {
    osDelay(1);
  }
  /* USER CODE END StartDefaultTask */
}

使用串口助手，可以看到可以打印出测距信息：

4、为了在tochGFX中显示，我们在app_tof.c中添加一个函数，用于与TouchGFX的数据交换。

int get_distance(long * value)
{
	RANGING_SENSOR_Result_t Result;
	
	status = VL53L4A3_RANGING_SENSOR_GetDistance(VL53L4A3_DEV_CENTER, &Result);
  
	if (status == BSP_ERROR_NONE)
	{
		*value = (long)Result.ZoneResult[0].Distance[0];
		return 0;
	}
	return -1;
	
}

5、在ScreenView.hpp中添加handleTickEvent函数。

并在Screen1view.cpp中实现：

void Screen1View::handleTickEvent()
{
	static int tick;
	tick ++;
	long value;
	int ret;
	if( 0 == (tick%20))
	{
		ret = get_distance(&value);
		if(0 == ret)
		{
			Unicode::snprintf(textArea3Buffer,TEXTAREA3_SIZE,"%d",value);
			textArea3.invalidate();
		}
	}
	
}

烧录后，可以成功的实现测距：

【总结】