北醒激光模块TFmini——STM32驱动程序（STM32F103C8T6）

背景：该激光模块属于精度比较高的激光测距模块，使用方便。

代码地址：yutian_sundry_zip/TFMini_Driver.zip at master · W-yt/yutian_sundry_zip (github.com)

平台：

硬件：STM32F103C8T6

通信：串口3与激光模块通信；串口1用于输出距离信息（到串口助手）

硬件连接：

串口配置：（采用串口接收中断尝试DMA接收时发现无法进入串口空闲中断）

void vUart3Config(void)
{  GPIO_InitTypeDef 	GPIO_InitStructure;USART_InitTypeDef USART_InitStructure;NVIC_InitTypeDef 	NVIC_InitStructure;DMA_InitTypeDef		DMA_InitStructure;RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE);RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);//USART3_RX	  GPIOB.11		(using)GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;GPIO_Init(GPIOB, &GPIO_InitStructure);  //USART3_TX   GPIOB.10GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;GPIO_Init(GPIOB, &GPIO_InitStructure);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(USART3, &USART_InitStructure);USART_ITConfig(USART3, USART_IT_RXNE, ENABLE);USART_Cmd(USART3, ENABLE); NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);  NVIC_InitStructure.NVIC_IRQChannel = USART3_IRQn;NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3;NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;NVIC_Init(&NVIC_InitStructure);//	//DMA——RX
//	USART_DMACmd(USART3,USART_DMAReq_Rx,ENABLE);
//	
//	DMA_DeInit(DMA1_Channel3);
//	DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)(&(USART3->DR));
//	DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)USART3_DMA_rece_buffer;
//	DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralSRC;
//	DMA_InitStructure.DMA_BufferSize = USART3_DMA_rece_buffersize;
//	DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
//	DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
//	DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
//	DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
//	DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
//	DMA_InitStructure.DMA_Priority = DMA_Priority_VeryHigh;
//	DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
//	DMA_Init(DMA1_Channel3,&DMA_InitStructure);//	NVIC_InitStructure.NVIC_IRQChannel = DMA1_Channel3_IRQn;           
//	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;          
//	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1; 
//	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
//	NVIC_Init(&NVIC_InitStructure);
//	
//	DMA_ITConfig(DMA1_Channel3,DMA_IT_TC,ENABLE);
//	
//	DMA_Cmd(DMA1_Channel3,ENABLE);
}

串口中断：

uint8_t temp_data = 0;
uint8_t TFmini_low,TFmini_high = 0;
uint8_t flag = 0;
void USART3_IRQHandler(void)
{if(USART_GetITStatus(USART3,USART_IT_RXNE) != RESET){temp_data = USART_ReceiveData(USART3);if((temp_data == 0x59) && (flag == 0)){flag = 1;}else if((temp_data == 0x59) && (flag == 1)){flag = 2;}else if(flag == 2){TFmini_low = temp_data;flag = 3;}else if(flag == 3){TFmini_high = temp_data;distance = ((uint16_t)TFmini_high<<8) | ((uint16_t)TFmini_low);printf("receive once：  %d cm \r\n",distance);flag = 0;}}
}

——cloudos

——2020/3/31