工程师经验：STM32F4驱动4路VL53L0测距你把握不住

#ifndef _VL53L0X_I2C_H#define _VL53L0X_I2C_H
#include "stm32f10x.h"#include "stm32f10x_i2c.h"
//四个VL53L0挂载在同一个IIC总线下，所以使用四个片选信号--2019/10/30//!!!!!!!注意：重新使能设备后，设备iic的地址会恢复为默认值0x52--2019/10/30//VL53L0 0#define I2C_SCL_GPIO               GPIOB#define        I2C_PIN_SCL               GPIO_Pin_8#define I2C_SCL_HIGH()      GPIO_SetBits(I2C_SCL_GPIO,I2C_PIN_SCL) #define I2C_SCL_LOW()              GPIO_ResetBits(I2C_SCL_GPIO,I2C_PIN_SCL)
#define I2C_SDA_GPIO               GPIOB#define        I2C_PIN_SDA               GPIO_Pin_9#define I2C_SDA_HIGH()      GPIO_SetBits(I2C_SDA_GPIO,I2C_PIN_SDA) #define I2C_SDA_LOW()              GPIO_ResetBits(I2C_SDA_GPIO,I2C_PIN_SDA)#define I2C_SDA_STATE       GPIO_ReadInputDataBit(I2C_SDA_GPIO,I2C_PIN_SDA)
//片选使能--2019/10/30#define I2C_X_GPIO               GPIOB#define        I2C_PIN_X0               GPIO_Pin_12#define I2C_X0_HIGH()       GPIO_SetBits(I2C_X_GPIO,I2C_PIN_X0) #define I2C_X0_LOW()              GPIO_ResetBits(I2C_X_GPIO,I2C_PIN_X0)
#define        I2C_PIN_X1               GPIO_Pin_13#define I2C_X1_HIGH()       GPIO_SetBits(I2C_X_GPIO,I2C_PIN_X1) #define I2C_X1_LOW()              GPIO_ResetBits(I2C_X_GPIO,I2C_PIN_X1)
#define        I2C_PIN_X2               GPIO_Pin_14#define I2C_X2_HIGH()       GPIO_SetBits(I2C_X_GPIO,I2C_PIN_X2) #define I2C_X2_LOW()              GPIO_ResetBits(I2C_X_GPIO,I2C_PIN_X2)
#define        I2C_PIN_X3               GPIO_Pin_15#define I2C_X3_HIGH()       GPIO_SetBits(I2C_X_GPIO,I2C_PIN_X3) #define I2C_X3_LOW()              GPIO_ResetBits(I2C_X_GPIO,I2C_PIN_X3)
void i2c_init(void);uint8_t i2c_write(uint8_t addr, uint8_t reg, uint32_t len, uint8_t * data);uint8_t i2c_read(uint8_t addr, uint8_t reg, uint32_t len, uint8_t *buf);

#endif

VL53L0X_Error vl53l0x_init(void){
    VL53L0X_Error Status = VL53L0X_ERROR_NONE;   //初始值赋值为0
         //初始化一定按照这个顺序执行，否则不成功         VL53L0X_i2c_init();      vl53l0x_initX(&vl53l0x_dev0,0);         vl53l0x_initX(&vl53l0x_dev1,1);         vl53l0x_initX(&vl53l0x_dev2,2);         vl53l0x_initX(&vl53l0x_dev3,3);
    return Status;           //返回0}

//单个VL53L0初始化VL53L0X_Error vl53l0x_initX( VL53L0X_Dev_t *pMyDevice ,u8 vl53l0_x_id){        VL53L0X_Error Status = VL53L0X_ERROR_NONE;   //初始值赋值为0
        pMyDevice->I2cDevAddr      = 0x52;            //iic地址  0x52是默认地址,要初始化必须先写0x52,才能初始化，之后再通过软件修改    pMyDevice->comms_type      =  1;              //选择IIC还是SPI    iic=1；SPI=0    pMyDevice->comms_speed_khz =  400;            //iic速率   

        //正点原子的VL53L0用户手册上写明了再次使能时地址会恢复为0x52,所以只能使能一次，设置好地址即可，这里是核心        switch(vl53l0_x_id)          {                case 0:                     I2C_X0_HIGH();                    delay_ms(20);                   vl53l0x_Addr_set(pMyDevice,0x60);//设置第一个VL53L0X传感器I2C地址                   break;                case 1:                                      I2C_X1_HIGH();                  delay_ms(20);                   vl53l0x_Addr_set(pMyDevice,0x62);//设置第一个VL53L0X传感器I2C地址                   break;                case 2:                          I2C_X2_HIGH();                     delay_ms(20);                    vl53l0x_Addr_set(pMyDevice,0x64);                        break;                case 3:                          I2C_X3_HIGH();                     delay_ms(20);                    vl53l0x_Addr_set(pMyDevice,0x66);                        break;          }
    Status = VL53L0X_DataInit(pMyDevice); // Data initialization  //VL53L0X_DataInit：一次设备的初始化，初始化成功返回0    if(Status != VL53L0X_ERROR_NONE){     //判断如果状态不为0   打印错误信息        print_pal_error(Status);        return Status;        //  返回错误值 可通过此值DEBUG查找错误位置    }
    Status = VL53L0X_GetDeviceInfo(pMyDevice, &vl53l0x_dev_info);   //读取给定设备的设备信息    if(Status != VL53L0X_ERROR_NONE){        print_pal_error(Status);        return Status;    }    printf("VL53L0X_GetDeviceInfo:\n");    printf("Device Name : %s\n", vl53l0x_dev_info.Name);     //设备名    printf("Device Type : %s\n", vl53l0x_dev_info.Type);    //产品类型VL53L0X = 1, VL53L1 = 2     printf("Device ID : %s\n", vl53l0x_dev_info.ProductId);   // 设备ID    printf("ProductRevisionMajor : %d\n", vl53l0x_dev_info.ProductRevisionMajor);    printf("ProductRevisionMinor : %d\n", vl53l0x_dev_info.ProductRevisionMinor);
    if ((vl53l0x_dev_info.ProductRevisionMajor != 1) && (vl53l0x_dev_info.ProductRevisionMinor != 1)){        printf("Error expected cut 1.1 but found cut %d.%d\n",        vl53l0x_dev_info.ProductRevisionMajor, vl53l0x_dev_info.ProductRevisionMinor);        Status = VL53L0X_ERROR_NOT_SUPPORTED;        print_pal_error(Status);        return Status;    }
    Status = vl53l0x_measure_init(pMyDevice);   //测量配置    vl53l0x_status = Status;    if(Status != VL53L0X_ERROR_NONE){    //判断如果不为0打印错误信息        print_pal_error(Status);        return Status;    }                }

VL53L0X_Error vl53l0x_start_single_test(VL53L0X_Dev_t *pdev, \                            VL53L0X_RangingMeasurementData_t *pdata){        int i=0,j=0,sum=0;    VL53L0X_Error status = VL53L0X_ERROR_NONE;
    if(vl53l0x_status != VL53L0X_ERROR_NONE)        return vl53l0x_status;
    status = VL53L0X_PerformSingleRangingMeasurement(pdev, pdata);   ////执行单次测距并获取测距测量数据    if(status != VL53L0X_ERROR_NONE){        printf("error:Call of VL53L0X_PerformSingleRangingMeasurement\n");        return status;    }
                for(i=0;i<5;i++)                        sum+=pdata->RangeMilliMeter;                pdata->RangeMilliMeter=sum/5;        printf("%d\r\n",pdata->RangeMilliMeter);    return status;}