TOF400F与STM32串口通信代码

以下是TOF400F与STM32串口通信的代码示例：

#include "stm32f4xx.h"
#include <string.h>

#define USARTx                           USART1
#define USARTx_CLK                       RCC_APB2Periph_USART1
#define USARTx_TX_PIN                    GPIO_Pin_9
#define USARTx_TX_GPIO_PORT              GPIOA
#define USARTx_TX_GPIO_CLK               RCC_AHB1Periph_GPIOA
#define USARTx_TX_SOURCE                 GPIO_PinSource9
#define USARTx_TX_AF                     GPIO_AF_USART1
#define USARTx_RX_PIN                    GPIO_Pin_10
#define USARTx_RX_GPIO_PORT              GPIOA
#define USARTx_RX_GPIO_CLK               RCC_AHB1Periph_GPIOA
#define USARTx_RX_SOURCE                 GPIO_PinSource10
#define USARTx_RX_AF                     GPIO_AF_USART1
#define USARTx_IRQn                      USART1_IRQn

#define TOF_BUFF_SIZE    16
uint8_t tof_buff[TOF_BUFF_SIZE];
uint8_t index = 0;

void USART_Configuration(void)
{
  USART_InitTypeDef USART_InitStructure;
  GPIO_InitTypeDef GPIO_InitStructure;
  NVIC_InitTypeDef NVIC_InitStructure;

  /* Enable GPIO clock */
  RCC_AHB1PeriphClockCmd(USARTx_TX_GPIO_CLK | USARTx_RX_GPIO_CLK, ENABLE);

  /* Enable USART clock */
  RCC_APB2PeriphClockCmd(USARTx_CLK, ENABLE);

  /* Connect USART pins to AF */
  GPIO_PinAFConfig(USARTx_TX_GPIO_PORT, USARTx_TX_SOURCE, USARTx_TX_AF);
  GPIO_PinAFConfig(USARTx_RX_GPIO_PORT, USARTx_RX_SOURCE, USARTx_RX_AF);

  /* Configure USART Tx and Rx as alternate function push-pull */
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;

  GPIO_InitStructure.GPIO_Pin = USARTx_TX_PIN;
  GPIO_Init(USARTx_TX_GPIO_PORT, &GPIO_InitStructure);

  GPIO_InitStructure.GPIO_Pin = USARTx_RX_PIN;
  GPIO_Init(USARTx_RX_GPIO_PORT, &GPIO_InitStructure);

  /* USART configuration */
  USART_InitStructure.USART_BaudRate = 115200;
  USART_InitStructure.USART_WordLength = USART_WordLength_8b;
  USART_InitStructure.USART_StopBits = USART_StopBits_1;
  USART_InitStructure.USART_Parity = USART_Parity_No;
  USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
  USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;

  USART_Init(USARTx, &USART_InitStructure);

  /* Enable USART */
  USART_Cmd(USARTx, ENABLE);

  /* Enable the USARTx Interrupt */
  NVIC_InitStructure.NVIC_IRQChannel = USARTx_IRQn;
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&NVIC_InitStructure);

  /* Enable RX interrupt */
  USART_ITConfig(USARTx, USART_IT_RXNE, ENABLE);
}

void USART_SendString(char* s)
{
  while(*s)
  {
    while(USART_GetFlagStatus(USARTx, USART_FLAG_TXE) == RESET);
    USART_SendData(USARTx, *s++);
  }
}

void USART1_IRQHandler(void)
{
  if(USART_GetITStatus(USARTx, USART_IT_RXNE) != RESET)
  {
    tof_buff[index] = USART_ReceiveData(USARTx);
    if(tof_buff[index] == '\n')
    {
      // do something with complete message
      USART_SendString("Received: ");
      USART_SendString(tof_buff);
      memset(tof_buff, 0, TOF_BUFF_SIZE);
      index = 0;
    }
    else
    {
      index++;
      if(index >= TOF_BUFF_SIZE)
      {
        index = 0;
      }
    }
  }
}

int main(void)
{
  USART_Configuration();
  while(1);
}

注意事项：
- 本示例使用的是STM32F407 Discovery板，如果您使用的是其他型号的STM32，需要更改相应的引脚定义和时钟配置。
- 本示例中串口波特率为115200，如果您需要更改波特率，请修改USART_InitStructure.USART_BaudRate的值。
- 本示例中使用了中断接收数据，如果您需要使用轮询方式接收数据，可以将USART1_IRQHandler中的代码移到主函数中进行轮询。
- 本示例中接收到换行符“\n”时认为接收到了一条完整的消息，如果您的消息格式不同，请根据需要修改代码。