8x8模式最大可以跑到50Hz，但是要改一下寄存器。 int example17(void) { // / VL53L5CX ranging variables / // uint8_t status, isAlive, isReady, i, j; uint16_t loop; VL53L5CX_Configuration Dev; / Sensor configuration / uint16_t distance[VL53L5CX_RESOLUTION_8X8]; / Array of 64 zones which returns the data / uint32_t timestamp = 0; // / Customer platform / // /* Fill the platform structure with customer's implementation. For this example, only the I2C address is used. */ Dev.platform.address = VL53L5CX_DEFAULT_I2C_ADDRESS; / (Optional) Reset sensor toggling PINs (see platform, not in API) / //Reset_Sensor(&(Dev.platform)); /* (Optional) Set a new I2C address if the wanted address is different from the default one (filled with 0x20 for this example). */ //status = vl53l5cx_set_i2c_address(&Dev, 0x20); // / Power on sensor and init / // / (Optional) Check if there is a VL53L5CX sensor connected / status = vl53l5cx_is_alive(&Dev, &isAlive); if(!isAlive || status) { printf("VL53L5CX not detected at requested address\n"); return status; } / (Mandatory) Init VL53L5CX sensor / status = vl53l5cx_init(&Dev); if(status) { printf("VL53L5CX ULD Loading failed\n"); return status; } printf("VL53L5CX ULD ready ! (Version : %s)\n", VL53L5CX_API_REVISION); // / Set some params / // / Program continuous mode (best one for speed) / status = vl53l5cx_set_ranging_mode(&Dev, VL53L5CX_RANGING_MODE_CONTINUOUS); / Change resolution. Use 8x8 for this example, but 4x4 is also supported / //status = vl53l5cx_set_resolution(&Dev, VL53L5CX_RESOLUTION_8x8); status = vl53l5cx_set_resolution(&Dev, VL53L5CX_RESOLUTION_8X8); / Reduce sharpener. This is mandatory as the signal strength is very low / status = vl53l5cx_set_sharpener_percent(&Dev, 0); / Increase max frequency. Dedicated function to be created in the future / uint8_t frequency_hz = 50; // Max 4x4: 150 fps / max 8x8: 50 fps status = vl53l5cx_dci_replace_data(&Dev, Dev.temp_buffer, VL53L5CX_DCI_FREQ_HZ, 4,(uint8_t*)&frequency_hz, 1, 0x01); // / Ranging loop / // / Use dedicated start ranging function in “plugin_fast_ranging” / status = vl53l5cx_start_fast_ranging(&Dev); loop = 0; while(loop < 1000) { /* Use polling function to know when a new measurement is ready. Another way can be to wait for HW interrupt raised on PIN A3 (GPIO 1) when a new measurement is ready */ status = vl53l5cx_check_data_ready(&Dev, &isReady); if(isReady) { /* Get all the distances and decompress them */ status = vl53l5cx_get_fast_ranging_data(&Dev, distance); /* Print 8x8 zones */ for(i = 0; i < 8; i++){ for(j = 0; j < 8; j++){ /* Check if distance is valid. Max distance has been limited to 2047 mm in the * firmware. When a target status is flagged as invalid, the distance is set to 2048. It * allows to easily detect invalid data. */ if(distance == VL53L5CX_FAST_RANGING_INVALID_STATUS) { printf("xxxx, "); } else { printf("%4u, ", distance); } } printf("\n"); } printf("\n"); /* For STM32 only: print the time elapsed since last frame */ printf("Time %d ms\n",(int)(HAL_GetTick() - timestamp)); timestamp = HAL_GetTick(); // loop++; } /* Wait a few ms to avoid too high polling (function in platform * file, not in API) */ //WaitMs(&(Dev.platform), 5); } / Stop the sensor: use dedicated stop ranging function in “plugin_fast_ranging” / status = vl53l5cx_stop_fast_ranging(&Dev); printf("End of ULD demo\n"); return status; }
根据楼主的分析。我觉得这位仁兄的分析是对的。 第一, 你是不是在某个高优先级的ISR里面卡死了。 第二，你是不是在某个地方关了总中断（比如临界区），没有恢复总中断。
微信公众号
手机版
.png)
