例程下载地址
链接: https://pan.baidu.com/s/1XWNc1arILUrhXC3byKykuA 提取码: 37mk
本文档基于STM32硬件开发板测试
本例程适用北醒单点系列雷达TFluna、TFmini-S、TFmini-Plus、TF02-Pro、TF03
本例程仅适用于北醒标准通讯协议下的雷达
北醒串口标准通讯协议
硬件接线
使用USART2作为TFLidar的通讯端口，接线如下：
| TFlidar | 开发板 |
|---|---|
| 红色线(+5V) | +5V |
| 绿色线(TX) | PA3(RX) |
| 黑色线(GND) | GND |
Lidar通讯代码
各例程均使用 USART2用于连接TFLidar，采用空闲中断方式，接收数据。
具体实现步骤如下:
初始化串口
uart1_init(115200); //串口初始化为115200
uart2_init(115200); //串口初始化为115200
初始化程序
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.9
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9; //PA.9
GPIO_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;//PA10
GPIO_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3
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3; //子优先级3
NVIC_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1
USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);//开启串口接受中断
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_APB1Periph_USART2|RCC_APB2Periph_GPIOA, ENABLE); //使能USART1，GPIOA时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);//使能GPIOA时钟
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2,ENABLE);//使能USART2时钟
//USART2_TX GPIOA.2
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; //PA.2
GPIO_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
//USART2_RX GPIOA.3初始化
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;//PA3
GPIO_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3
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3; //子优先级3
NVIC_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2
USART_ITConfig(USART2, USART_IT_RXNE, ENABLE);//开启串口接受中断
USART_Cmd(USART2, ENABLE); //使能串口2
}
开启串口中断
void USART1_IRQHandler(void) //串口1中断服务程序
{
u8 Res;
#if SYSTEM_SUPPORT_OS //如果SYSTEM_SUPPORT_OS为真，则需要支持OS.
OSIntEnter();
#endif
if(USART_GetITStatus(USART1, USART_IT_RXNE) != RESET) //接收中断(接收到的数据必须是0x0d 0x0a结尾)
{
Res =USART_ReceiveData(USART1); //读取接收到的数据
if((USART_RX_STA&0x8000)==0)//接收未完成
{
if(USART_RX_STA&0x4000)//接收到了0x0d
{
if(Res!=0x0a)USART_RX_STA=0;//接收错误,重新开始
else USART_RX_STA|=0x8000; //接收完成了
}
else //还没收到0X0D
{
if(Res==0x0d)USART_RX_STA|=0x4000;
else
{
USART_RX_BUF[USART_RX_STA&0X3FFF]=Res ;
USART_RX_STA++;
if(USART_RX_STA>(USART_REC_LEN-1))USART_RX_STA=0;//接收数据错误,重新开始接收
}
}
}
}
#if SYSTEM_SUPPORT_OS //如果SYSTEM_SUPPORT_OS为真，则需要支持OS.
OSIntExit();
#endif
}
中断获取数据
void USART2_IRQHandler(void) //串口1中断服务程序
{
u8 Res;
uint8_t checksum;
#if SYSTEM_SUPPORT_OS //如果SYSTEM_SUPPORT_OS为真，则需要支持OS.
OSIntEnter();
#endif
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)
{
Res =USART_ReceiveData(USART2); //读取接收到的数据
if(USART2_RX_STA == 1 && USART2_RX_BUF[0] != 0x59)
{
USART2_RX_STA = 0;
}else if(USART2_RX_STA == 2 && USART2_RX_BUF[1] != 0x59)
{
USART2_RX_STA = 0;
}else if(USART2_RX_STA == 9)
{
USART2_RX_STA = 0;
checksum = USART2_RX_BUF[0] + USART2_RX_BUF[1] + USART2_RX_BUF[2] + USART2_RX_BUF[3] + USART2_RX_BUF[4]
+ USART2_RX_BUF[5] + USART2_RX_BUF[6] + USART2_RX_BUF[7];
if(USART2_RX_BUF[8] == checksum){
BenewakeLidar.Dist = USART2_RX_BUF[2]|(USART2_RX_BUF[3]<<8);
BenewakeLidar.AMP = USART2_RX_BUF[4]|(USART2_RX_BUF[5]<<8);
BenewakeLidar.RecieveFlag = 1;
}
}else {
USART2_RX_BUF[USART2_RX_STA]=Res ;
USART2_RX_STA++;
}
}
#if SYSTEM_SUPPORT_OS //如果SYSTEM_SUPPORT_OS为真，则需要支持OS.
OSIntExit();
#endif
}
主程序数据打印
if(BenewakeLidar.RecieveFlag == 1){
BenewakeLidar.RecieveFlag = 0;
printf("lidar:measure:%4d,threshold:%4d\r\n",
BenewakeLidar.Dist, BenewakeLidar.AMP);
USART2_RX_STA=0;
}
结果显示
