TFmini（TOF）在stm32上的应用

忘是亡心i 2023-06-27 11:18 43阅读 0赞

**2020年10月5日更新**

看大家都需要头文件，其实关于TOF的应用，你只需要通过串口助手将TFmini的参数配置好，具体的配置请参阅相关的参考手册。然后在单片机这边设置串口接收并处理即可。

头文件就是一些参数的定义

#ifndef _TFmini_h_
    #define _TFmini_h_
    
    #include "sys.h"	
    #include "stdlib.h"
    #include "delay.h"
    #include "usart.h"
    
    void uart3_init(u32 bound);
    
    #define USART3_REC_LEN  	200  	//定义最大接收字节数 200
    #define EN_USART3_RX 			1		//使能（1）/禁止（0）串口3接收
    
    #define Data_Head         0X59   
    #define Data_Length       9  
    
    extern u8 USART3_RX_BUF[USART3_REC_LEN];
    extern u16 USART3_RX_STA;
    
    #endif

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我只是一条分割线

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使用TFmini是采用串口通信，与STM32F103ZET6通信，同时在LCD上显示。

通信协议使用出厂预设

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TFmini数据输出使用标准数据输出格式

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设置TFmini串口发送速率为20Hz（注意可使用串口工具修改TFmini参数，具体请参见对应操作手册）

在LCD上显示距离、强度、接收到的9bit数据以及接收速率。

**注意：在本程序中使用标准库以及正点原子的LCD驱动程序**

main.c

#include "delay.h"
    #include "sys.h"
    #include "lcd.h"
    #include "led.h"
    #include "usart.h"
    #include "timer.h"
    #include "TFmini.h"
    
    u8 flag_REC = 0;
    u8 text = 0;
    u16 Distance = 0, Strength = 0;
    u8 flag_1s = 0;
    u8 count_REC = 0;
    
    int main(void)
    {	 
    	u8 lcd_id[12];				//存放LCD ID字符串
    	u8 i;
    	delay_init();	    		//延时函数初始化	  
    	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);	 //设置NVIC中断分组2:2位抢占优先级，2位响应优先级
    	uart_init(115200);	 	//串口初始化为115200
    	uart3_init(115200);		//串口3初始化为115200Baud
    	TIM3_Int_Init(999, 71);		//定时器3定时1ms
    	LCD_Init();
    	LED_Init();
    	POINT_COLOR=RED;
    	sprintf((char*)lcd_id,"LCD ID:%04X",lcddev.id);//将LCD ID打印到lcd_id数组。 
    	while(1) 
    	{			
    		POINT_COLOR=RED;	 	//设置显示文字颜色 
    		LCD_ShowString( 30,  40, 210, 24, 24, "Xiaomo_haa"); 
    		LCD_ShowString( 30,  70, 200, 16, 16, "TFmini TEST");
    		LCD_ShowString( 30,  90, 200, 16, 16, lcd_id);				//显示LCD ID	 
    		LCD_ShowString( 30, 110, 200, 16, 16, "2020.01.05 21:45:23");	  
    		
    		if(flag_REC == 1)
    		{
    			flag_REC = 0;
    			LCD_ShowString( 30, 150, 200, 16, 16, "Distance:     cm");			//显示距离
    			LCD_ShowNum(110, 150, Distance, 4, 16);
    			LCD_ShowString( 30, 170, 200, 16, 16, "Strength:");						//显示强度
    			LCD_ShowNum(110, 170, Strength, 4, 16);
    			
    			for(i = 0; i < 9; i++)
    			{
    				LCD_ShowNum(30 + i * 20, 200, (USART3_RX_BUF[i] >> 4), 1, 16);
    				LCD_ShowNum(38 + i * 20, 200, (USART3_RX_BUF[i] & 0x0f), 1, 16);
    			}
    			LCD_ShowString( 30, 260, 200, 16, 16, "TFmini Test Successful !");
    		}
    		
    		if(flag_1s == 1)
    		{
    			flag_1s = 0;
    			LCD_ShowString( 30, 230, 200, 16, 16, "REC frequency:    Hz");						//显示接收频率
    			LCD_ShowNum(140, 230, count_REC, 3, 16);
    			count_REC = 0;
    		}
    	} 
    }

使用串口3与TFmini通信。

注意：在串口3初始化时注意串口3时钟配置，串口3是挂载在 **RCC\_APB1** 时钟树上

#include "TFmini.h"
    #include "led.h"
    
    #define USART3_REC_LEN  	200  	//定义最大接收字节数 200
    #define EN_USART3_RX 		1		//使能（1）/禁止（0）串口3接收
    
    #define Data_Head         0X59   
    #define Data_Length       9  
    
    
    #if EN_USART3_RX   //如果使能了接收 	
    u8 USART3_RX_BUF[USART3_REC_LEN];     //接收缓冲,最大USART_REC_LEN个字节.
    u16 USART3_RX_STA = 0;       //接收状态标记	 
      
    //串口3初始化
    void uart3_init(u32 bound)
    {
      //GPIO端口设置
      GPIO_InitTypeDef GPIO_InitStructure;
    	USART_InitTypeDef USART_InitStructure;
    	NVIC_InitTypeDef NVIC_InitStructure;
    	 
    	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);
    	RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3,ENABLE);
    
    	//USART3_TX   GPIOB.10
      GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10; //PB.10
      GPIO_InitStructure.GPIO_Speed = GPIO_Speed_10MHz;
      GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;	//复用推挽输出
      GPIO_Init(GPIOB, &GPIO_InitStructure);//初始化GPIOB.10
       
      //USART3_RX	  GPIOB.11初始化
      GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;//PB.11
      GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;//浮空输入
      GPIO_Init(GPIOB, &GPIO_InitStructure);//初始化GPIOB.11  
    
      //Usart1 NVIC 配置
      NVIC_InitStructure.NVIC_IRQChannel = USART3_IRQn;
    	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1 ;//抢占优先级1
    	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;		//子优先级3
    	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;			//IRQ通道使能
    	NVIC_Init(&NVIC_InitStructure);	//根据指定的参数初始化VIC寄存器
      
       //USART 初始化设置
    
    	USART_InitStructure.USART_BaudRate = bound;//串口波特率
    	USART_InitStructure.USART_WordLength = USART_WordLength_8b;//字长为8位数据格式
    	USART_InitStructure.USART_StopBits = USART_StopBits_1;//一个停止位
    	USART_InitStructure.USART_Parity = USART_Parity_No;//无奇偶校验位
    	USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;//无硬件数据流控制
    	USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;	//收发模式
    
      USART_Init(USART3, &USART_InitStructure); 			//初始化串口3
      USART_ITConfig(USART3, USART_IT_RXNE, ENABLE);	//开启串口接收中断
      USART_Cmd(USART3, ENABLE);                    	//使能串口3
    }
    
    //串口3中断服务程序
    void USART3_IRQHandler(void)
    {
    	static u8 flag_data = 0;
    	static u8 index = 0;
    	u16 CheckSum = 0;
    	u8 i;
    	
    	LED0 = ~LED0;
    	
    	if(USART_GetITStatus(USART3, USART_IT_RXNE))//接收中断
    	{				
    		if(USART_ReceiveData(USART3) == Data_Head)
    			flag_data = 1;
    		
    		if(flag_data)
    		{
    			USART3_RX_BUF[index ++] = USART_ReceiveData(USART3);
    			
    			//接收完毕进行数据校验
    			if(index == Data_Length)
    			{
    				//如果第一位和第二位是0x59
    				if((USART3_RX_BUF[0] == Data_Head) && (USART3_RX_BUF[1] == Data_Head))
    				{
    					//将接收到的数据累加
    					for(i = 0; i < (Data_Length - 1); i ++)
    					{
    						CheckSum += USART3_RX_BUF[i];
    					}
    					//进行CheckSum校验
    					if((CheckSum & 0x00ff) == USART3_RX_BUF[8])
    					{
    						//计算距离
    						Distance = USART3_RX_BUF[2] + USART3_RX_BUF[3] * 256;
    						//计算信号强度
    						Strength = USART3_RX_BUF[4] + USART3_RX_BUF[5] * 256;
    						//接收完成标志
    						flag_REC = 1;
    						count_REC ++;
    					}
    					index = 0;
    					flag_data = 0;
    				}
    			}
    		}
    		USART_ClearITPendingBit(USART3, USART_IT_RXNE);
    	}
    }
    
    
    #endif

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