RCWL0801是一款可3.3V-5Ｖ供电，采用优质激光测距传感器VL53L0X的测距模块。模块采用高性能MCU，内部集成VL53L0X的运算滤波算法，可直接串口输出测量距离。
RCWL_0801.c
1 /** 2 * @file RCWL_0801.c 3 * @brief 4 * @version 0.1 5 * @date 2019-06-28 6 * 7 * @copyright Copyright (c) 2019 Chipintelli Technology Co., Ltd. 8 * 9 */ 10 /*----------------------------------------------------------------------------- 11 include 12 -----------------------------------------------------------------------------*/ 13 #include "RCWL_0801.h" 14 #include "ci_log.h" 15 #include "ci110x_uart.h" 16 17 /*----------------------------------------------------------------------------- 18 define 19 -----------------------------------------------------------------------------*/ 20 #define RCWL_0801_RECEIVE_DATA_UART (UART1)/*!< 接收数据串口 */ 21 22 #define RCWL_0801_INIT_CMD (0xA1)/*!< 初始化整个模块 */ 23 #define RCWL_0801_OPEN_CMD (0xD0)/*!< 打开VL53L0X模块 */ 24 #define RCWL_0801_CLOSE_CMD (0xD1)/*!< 关闭VL53L0X模块 */ 25 26 #define RCWL_0801_READ_DATA_CMD (0xA0)/*!< 读取测量数据 */ 27 #define RCWL_0801_READ_STATE_CMD (0xF0)/*!< 读取当前状态 */ 28 29 #define RCWL_0801_SET_RATE_9600_CMD (0xB0)/*!< 波特率9600 */ 30 #define RCWL_0801_SET_RATE_19200_CMD (0xB1)/*!< 波特率19200 */ 31 #define RCWL_0801_SET_RATE_115200_CMD (0x02)/*!< 波特率115200 */ 32 33 #define RCWL_0801_SET_MODE_DISTANCE_MODE_CMD (0xC0)/*!< 长距离模式 */ 34 #define RCWL_0801_SET_MODE_SPEED_MODE_CMD (0xC1)/*!< 高速模式 */ 35 #define RCWL_0801_SET_MODE_PRECISION_MODE_CMD (0xC2)/*!< 高精度模式 */ 36 37 /*----------------------------------------------------------------------------- 38 extern 39 -----------------------------------------------------------------------------*/ 40 41 /*----------------------------------------------------------------------------- 42 struct / enum / union 43 -----------------------------------------------------------------------------*/ 44 45 /*----------------------------------------------------------------------------- 46 global 47 -----------------------------------------------------------------------------*/ 48 static uint8_t data_h,data_l; 49 static uint16_t rcwl_data = 0; 50 51 /*----------------------------------------------------------------------------- 52 declare 53 -----------------------------------------------------------------------------*/ 54 55 /*----------------------------------------------------------------------------- 56 function 57 -----------------------------------------------------------------------------*/ 58 59 /** 60 * @brief rcwl_0801测试数据更新 61 * 62 */ 63 void rcwl_0801_update(void) 64 { 65 static uint8_t data_flag = 1; 66 if(data_flag) 67 { 68 data_h = UART_RXDATA(RCWL_0801_RECEIVE_DATA_UART); 69 data_flag = 0; 70 } 71 else 72 { 73 data_l = UART_RXDATA(RCWL_0801_RECEIVE_DATA_UART); 74 rcwl_data = ((data_h << 8) + data_l); 75 data_flag = 1; 76 } 77 } 78 79 /** 80 * @brief RCWL_0801传感器初始化 81 * 82 * @param irq_callback 中断回调 83 * @retval RETURN_OK 84 * @retval RETURN_ERR 85 */ 86 int32_t rcwl_0801_open(void) 87 { 88 UARTPollingConfig(RCWL_0801_RECEIVE_DATA_UART); 89 /* init */ 90 UartPollingSenddata(RCWL_0801_RECEIVE_DATA_UART,RCWL_0801_INIT_CMD); 91 UartPollingSenddone(RCWL_0801_RECEIVE_DATA_UART); 92 UARTInterruptConfig(RCWL_0801_RECEIVE_DATA_UART,UART_BaudRate9600); 93 return RETURN_OK; 94 } 95 96 /** 97 * @brief RCWL_0801传感器读数据 98 * 99 * @param data 读到的数据 100 * @retval RETURN_OK 101 * @retval RETURN_ERR 102 */ 103 int32_t rcwl_0801_read(sensor_data_t *data) 104 { 105 sensor_data_inform(SENSOR_TYPE_LASER_FINDER); 106 data->laser_finder = rcwl_data; 107 mprintf("RCWL-0801 测量结果 %d ",rcwl_data); 108 return RETURN_OK; 109 } 110 111 /** 112 * @brief RCWL_0801传感器ops 113 * 114 */ 115 sensor_ops_t rcwl_0801_ops = 116 { 117 rcwl_0801_open, 118 rcwl_0801_read, 119 }; 120 121 /*----------------------------------------------------------------------------- 122 end of the file 123 -----------------------------------------------------------------------------*/
RCWL_0801.h
1 /** 2 * @file RCWL_0801.h 3 * @brief RCWL_0801传感器的头文件 4 * @version 0.1 5 * @date 2019-07-02 6 * 7 * @copyright Copyright (c) 2019 Chipintelli Technology Co., Ltd. 8 * 9 */ 10 11 #ifndef __RCWL_0801_H__ 12 #define __RCWL_0801_H__ 13 14 /** 15 * @ingroup third_device_driver 16 * @defgroup RCWL0801 17 * @brief RCWL0801传感器驱动 18 * @{ 19 */ 20 21 #ifdef __cplusplus 22 extern "C" { 23 #endif 24 25 /*----------------------------------------------------------------------------- 26 include 27 -----------------------------------------------------------------------------*/ 28 #include "ci_sensor.h" 29 30 /*----------------------------------------------------------------------------- 31 define 32 -----------------------------------------------------------------------------*/ 33 34 /*----------------------------------------------------------------------------- 35 extern 36 -----------------------------------------------------------------------------*/ 37 extern sensor_ops_t rcwl_0801_ops; 38 39 /*----------------------------------------------------------------------------- 40 struct / enum / union 41 -----------------------------------------------------------------------------*/ 42 43 /*----------------------------------------------------------------------------- 44 global 45 -----------------------------------------------------------------------------*/ 46 47 /*----------------------------------------------------------------------------- 48 function declare 49 -----------------------------------------------------------------------------*/ 50 void rcwl_0801_update(void); 51 52 #ifdef __cplusplus 53 } 54 #endif 55 56 /** 57 * @} 58 */ 59 60 #endif 61 62 /*----------------------------------------------------------------------------- 63 end of the file 64 -----------------------------------------------------------------------------*/