目录

本博客将采用标准库和HAL库实现

所用设备选择

引脚说明

与单片机的接线表

标准库实现

 HAL库实现

本博客将采用标准库和HAL库实现

所用设备选择

单片机型号：STM32F103C8T6

 激光测距传感器型号：WT-VL53L0 L1

采用串口TTL电平输出，可以接USB-TTL串口到电脑，或者直接接MCU的串口，实时输出距离数据(ASCII码)。

该模块可以直接接收串口数据。

本博文任务是将数据提取出来，以便其它模块使用。

引脚说明

模块的引脚说明：

与单片机的接线表

这里选用了两个串口

串口1的作用是将数据测得数据显示在电脑端（串口助手显示）

串口2采集测得的数据，并进行处理。

标准库实现

 usart.c

void uart1_init(u32 bound){//GPIO端口设置GPIO_InitTypeDef GPIO_InitStructure;USART_InitTypeDef USART_InitStructure;NVIC_InitTypeDef NVIC_InitStructure;RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1|RCC_APB2Periph_GPIOA, ENABLE);	//使能USART1，GPIOA时钟//USART1_TX   GPIOA.9GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9; //PA.9GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;	//复用推挽输出GPIO_Init(GPIOA, &GPIO_InitStructure);//初始化GPIOA.9//USART1_RX	  GPIOA.10初始化GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;//PA10GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;//浮空输入GPIO_Init(GPIOA, &GPIO_InitStructure);//初始化GPIOA.10  //Usart1 NVIC 配置NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=3 ;//抢占优先级3NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;		//子优先级3NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;			//IRQ通道使能NVIC_Init(&NVIC_InitStructure);	//根据指定的参数初始化VIC寄存器//USART 初始化设置USART_InitStructure.USART_BaudRate = bound;//串口波特率USART_InitStructure.USART_WordLength = USART_WordLength_8b;//字长为8位数据格式USART_InitStructure.USART_StopBits = USART_StopBits_1;//一个停止位USART_InitStructure.USART_Parity = USART_Parity_No;//无奇偶校验位USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;//无硬件数据流控制USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;	//收发模式USART_Init(USART1, &USART_InitStructure); //初始化串口1USART_ITConfig(USART1, USART_IT_RXNE, DISABLE);//开启串口接受中断  串口1暂时不需要接收数据，只需要发送数据即可USART_Cmd(USART1, ENABLE);                    //使能串口1 
}void uart2_init(u32 bound){//GPIO端口设置GPIO_InitTypeDef GPIO_InitStructure;USART_InitTypeDef USART_InitStructure;NVIC_InitTypeDef NVIC_InitStructure;RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);	//使能GPIOA时钟 RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE);	//使能USART2时钟 //USART1_TX   GPIOA.2GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; //PA.2GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;	//复用推挽输出GPIO_Init(GPIOA, &GPIO_InitStructure);//初始化GPIOA.2//USART1_RX	  GPIOA.3初始化GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;//PA3GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;//浮空输入GPIO_Init(GPIOA, &GPIO_InitStructure);//初始化GPIOA.3  //Usart1 NVIC 配置NVIC_InitStructure.NVIC_IRQChannel = USART2_IRQn;NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=3 ;//抢占优先级3NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;		//子优先级3NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;			//IRQ通道使能NVIC_Init(&NVIC_InitStructure);	//根据指定的参数初始化VIC寄存器//USART 初始化设置USART_InitStructure.USART_BaudRate = bound;//串口波特率USART_InitStructure.USART_WordLength = USART_WordLength_8b;//字长为8位数据格式USART_InitStructure.USART_StopBits = USART_StopBits_1;//一个停止位USART_InitStructure.USART_Parity = USART_Parity_No;//无奇偶校验位USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;//无硬件数据流控制USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;	//收发模式USART_Init(USART2, &USART_InitStructure); //初始化串口1USART_ITConfig(USART2, USART_IT_RXNE, ENABLE);//开启串口接受中断USART_Cmd(USART2, ENABLE);                    //使能串口1 
}void USART2_IRQHandler(void)                	//串口2中断服务程序
{int i = 0;	//	循环变量int n = 0;	//	循环变量int Dis = 0;		//	距离char InStr[20]="";     //	存放整数字符串if(USART_GetITStatus(USART2, USART_IT_RXNE) != RESET)  //接收中断(接收到的数据必须是0x0d 0x0a结尾){USART_ClearITPendingBit(USART2, USART_IT_RXNE);//清除标志位aRxBuffer =USART_ReceiveData(USART2);//(USART1->DR);	//读取接收到的数据RxBuffer[Uart1_Rx_Cnt++] = aRxBuffer;			//	接收数据if( 'm' == RxBuffer[Uart1_Rx_Cnt-1] && 'm' == RxBuffer[Uart1_Rx_Cnt-2] ){USART_ITConfig(USART2, USART_IT_RXNE, DISABLE);//关闭串口接受中断  为了处理数据if(NULL != strstr(RxBuffer, "Valid"))			//	判断是否是有效数据{	
//				for(i=0;i='0'){InStr[n++] = TxBuffer[i];}}Dis = atoi(InStr);					//	距离 一个整数 可以直接使用///****调试 串口1 输出**开始**********sprintf(TxBuffer,"%d\r\n",Dis); for(i=0;i

void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{int i = 0;	//	循环变量int n = 0;	//	循环变量int Dis = 0;		//	距离char InStr[20]="";     //	存放整数字符串/* Prevent unused argument(s) compilation warning */UNUSED(huart);/* NOTE: This function Should not be modified, when the callback is needed,the HAL_UART_TxCpltCallback could be implemented in the user file*/if(aRxBuffer != 0){RxBuffer[Uart1_Rx_Cnt++] = aRxBuffer;			//	接收数据}if( 'm' == RxBuffer[Uart1_Rx_Cnt-1] && 'm' == RxBuffer[Uart1_Rx_Cnt-2] ){if(NULL != strstr(RxBuffer, "Valid"))			//	判断是否是有效数据{	
//			HAL_UART_Transmit(&huart1, (uint8_t *)RxBuffer, strlen(RxBuffer),0xFFFF); 	//将收到的信息发送出去
//			while(HAL_UART_GetState(&huart1) == HAL_UART_STATE_BUSY_TX);								//检测UART发送结束
//			HAL_UART_Transmit(&huart1, (uint8_t *)"\r\n", strlen("\r\n"),0xFFFF); 			//将收到的信息发送出去
//			while(HAL_UART_GetState(&huart1) == HAL_UART_STATE_BUSY_TX);								//检测UART发送结束		for(i = 15;i='0'){InStr[n++] = TxBuffer[i];}}Dis = atoi(InStr);					//	距离 一个整数 可以直接使用sprintf(TxBuffer,"%d\r\n",Dis); HAL_UART_Transmit(&huart1, (uint8_t *)TxBuffer, strlen(TxBuffer),0xFFFF); //将收到的信息发送出去while(HAL_UART_GetState(&huart1) == HAL_UART_STATE_BUSY_TX);//检测UART发送结束}memset(RxBuffer,0x00,sizeof(RxBuffer)); //清空数组memset(TxBuffer,0x00,sizeof(TxBuffer)); //清空数组memset(InStr,0x00,sizeof(InStr)); //清空数组Uart1_Rx_Cnt = 0;n = 0;}while(HAL_OK != HAL_UART_Receive_IT(&huart2, (uint8_t *)&aRxBuffer, 1));   //开启接收中断，并保证开启成功}