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：https://github.com/W-yt/YuTian_Pro/tree/master/TFMini_Driver

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.10
  GPIO_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