VL53L1x TOF激光测距的 stm32IIC HAL库驱动代码

对于VL53L1x TOF激光测距模块，可以使用STM32的I2C总线进行控制和通信。下面是基于HAL库的VL53L1x驱动代码：

#include "vl53l1x.h"

// 初始化VL53L1x模块
VL53L1_Error VL53L1x_Init(VL53L1_Dev_t *dev) {
    VL53L1_Error status = VL53L1_ERROR_NONE;
    uint8_t sensor_state = 0;
    uint32_t refSpadCount;
    uint8_t isApertureSpads;
    uint8_t VhvSettings;
    uint8_t PhaseCal;
    uint32_t sequence_config_timeout_us;

    // 打开I2C总线
    HAL_I2C_MspInit(dev->I2cHandle);

    // 软复位
    status = VL53L1_software_reset(dev);
    if (status != VL53L1_ERROR_NONE) {
        return status;
    }

    // 等待传感器初始化完成
    while (sensor_state == 0) {
        status = VL53L1_RdByte(dev, 0x010F, &sensor_state);
        if (status != VL53L1_ERROR_NONE) {
            return status;
        }
    }

    // 设备版本号
    uint8_t version[3];
    status = VL53L1_GetVersion(dev, version);
    if (status != VL53L1_ERROR_NONE) {
        return status;
    }

    // 设备参数配置
    status = VL53L1_DataInit(dev);
    if (status != VL53L1_ERROR_NONE) {
        return status;
    }

    status = VL53L1_StaticInit(dev);
    if (status != VL53L1_ERROR_NONE) {
        return status;
    }

    // 设备校准
    status = VL53L1_PerformRefSpadManagement(dev, &refSpadCount, &isApertureSpads);
    if (status != VL53L1_ERROR_NONE) {
        return status;
    }

    status = VL53L1_PerformRefCalibration(dev, &VhvSettings, &PhaseCal);
    if (status != VL53L1_ERROR_NONE) {
        return status;
    }

    // 设备配置
    status = VL53L1_SetXTalkCompensationEnable(dev, 0);
    if (status != VL53L1_ERROR_NONE) {
        return status;
    }

    status = VL53L1_SetOffsetCalibrationDataMicroMeter(dev, 0);
    if (status != VL53L1_ERROR_NONE) {
        return status;
    }

    // 设备开始测距
    status = VL53L1_SetDistanceMode(dev, VL53L1_DISTANCEMODE_LONG);
    if (status != VL53L1_ERROR_NONE) {
        return status;
    }

    status = VL53L1_SetMeasurementTimingBudgetMicroSeconds(dev, 50000);
    if (status != VL53L1_ERROR_NONE) {
        return status;
    }

    sequence_config_timeout_us = (uint32_t)VL53L1_calc_timeout_us(dev, 2000);

    status = VL53L1_SetSequenceStepTimeout(dev, VL53L1_SEQUENCESTEP_TCC, sequence_config_timeout_us);
    if (status != VL53L1_ERROR_NONE) {
        return status;
    }

    status = VL53L1_SetSequenceStepTimeout(dev, VL53L1_SEQUENCESTEP_DSS, sequence_config_timeout_us);
    if (status != VL53L1_ERROR_NONE) {
        return status;
    }

    status = VL53L1_SetSequenceStepTimeout(dev, VL53L1_SEQUENCESTEP_MSRC, sequence_config_timeout_us);
    if (status != VL53L1_ERROR_NONE) {
        return status;
    }

    status = VL53L1_SetSequenceStepTimeout(dev, VL53L1_SEQUENCESTEP_PRE_RANGE, sequence_config_timeout_us);
    if (status != VL53L1_ERROR_NONE) {
        return status;
    }

    status = VL53L1_SetSequenceStepTimeout(dev, VL53L1_SEQUENCESTEP_FINAL_RANGE, sequence_config_timeout_us);
    if (status != VL53L1_ERROR_NONE) {
        return status;
    }

    status = VL53L1_SetInterMeasurementPeriodMilliSeconds(dev, 100);
    if (status != VL53L1_ERROR_NONE) {
        return status;
    }

    status = VL53L1_SetGPIOConfig(dev, 0, VL53L1_GPIOFUNCTIONALITY_NEW_MEASURE_READY, VL53L1_INTERRUPTPOLARITY_LOW);
    if (status != VL53L1_ERROR_NONE) {
        return status;
    }

    return status;
}

// 触发一次测量
VL53L1_Error VL53L1x_StartMeasurement(VL53L1_Dev_t *dev) {
    VL53L1_Error status = VL53L1_ERROR_NONE;
    uint8_t measurement_mode;
    uint8_t system_health;
    uint8_t measurement_device_ready;

    // 获取测量模式
    status = VL53L1_GetMeasurementMode(dev, &measurement_mode);
    if (status != VL53L1_ERROR_NONE) {
        return status;
    }

    // 如果设备未准备好，则等待
    if (measurement_mode == VL53L1_DEVICEREADY_WAIT_FOR_MEASURE_VALID) {
        status = VL53L1_WaitDeviceBooted(dev);
        if (status != VL53L1_ERROR_NONE) {
            return status;
        }
    }

    // 触发测量
    status = VL53L1_StartMeasurement(dev);
    if (status != VL53L1_ERROR_NONE) {
        return status;
    }

    // 等待测量完成
    do {
        status = VL53L1_GetMeasurementDataReady(dev, &measurement_device_ready);
        if (status != VL53L1_ERROR_NONE) {
            return status;
        }
        status = VL53L1_GetSystemHealth(dev, &system_health);
        if (status != VL53L1_ERROR_NONE) {
            return status;
        }
    } while ((measurement_device_ready == 0) && (system_health == 0));

    return VL53L1_ERROR_NONE;
}

// 读取测量距离
VL53L1_Error VL53L1x_ReadMeasurement(VL53L1_Dev_t *dev, uint16_t *distance) {
    VL53L1_Error status = VL53L1_ERROR_NONE;
    VL53L1_RangingMeasurementData_t ranging_data;

    // 读取测量数据
    status = VL53L1_GetRangingMeasurementData(dev, &ranging_data);
    if (status != VL53L1_ERROR_NONE) {
        return status;
    }

    // 检查数据是否有效
    if (ranging_data.RangeStatus != 0) {
        return VL53L1_ERROR_RANGE_ERROR;
    }

    // 保存测量距离
    *distance = ranging_data.RangeMilliMeter;

    return VL53L1_ERROR_NONE;
}

使用时，可以调用VL53L1x_Init()函数初始化设备，然后使用VL53L1x_StartMeasurement()函数触发一次测量，最后使用VL53L1x_ReadMeasurement()函数读取测量距离。需要注意的是，VL53L1x模块的I2C地址为0x29，可以在VL53L1x_Init()函数中进行配置。