Introduction of TOF250

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TOF250 is a single-point ranging radar based on TOF principle, using 940nm infrared light source, providing accurate and repeatable
long-distance measurement for high-speed autofocus (AF). The innovative TOF time-of-flight technology makes this sensor The performance is independent of the reflectivity of the target object. TOF (time-of-flight) measurement technology is realized by SPAD (single photon avalanche diode) of low-cost CMOS process, which makes the measurement result accurate and has higher anti-interference to ambient light sex. Support UART and I2C communication.

I2C communication protocol

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I2C register address

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Note: The host should delay at least 30uS to prepare data for the module after sending the register address, otherwise I2C will be abnormal.

TOF250 pin description and STM32 wiring

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Wiring with STM32

TOF250	STM32
5V	5V
GND	GND
SDA	PB7
SCL	PB6

illustrate:

This test only uses the analog IIC, to facilitate the understanding of
the USB printing results, the TX of the serial port 1 is required.

program

main.c

int main(void)
{
    
    
    //unsigned char y;
    __I2C_Status_TypeDef i2CStatus;
//    u16 len;                           //检测每次接收到的长度，方便字符串转整数的时候进行处理
    User_I2C_Init(); //IIC初始化
    delay_init();
    // NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); //设置NVIC中断分组2:2位抢占优先级，2位响应优先级

    /**************************************************************
    **TOF250串口通信协议：
    **波特率 ： 9600
    **数据位 ： 8
    **校验   ： 无
    **停止位 ： 1
    ****************************************************************/
    uart_init(9600);	 //串口初始化为115200
    while(1)
    {
    
    
        i2CStatus = I2C_RecvBytes(TOF250_ID,TOF250_DIST_H, &RxData[0], 2,100);    //通过IIC读取TOF250距离值信息
        if(i2CStatus == I2C_OK) {
    
    
            Tof250_dist = RxData[1] + RxData[0]*256;
            printf("%u cm\n",Tof250_dist);
        }
        delay_ms(100);                                      //延时100ms,TOF250默认更新速度10HZ
    }
}

myiic.h

#define USER_I2C_SCL_PIN  GPIO_Pin_6
#define USER_I2C_SDA_PIN  GPIO_Pin_7
#define USER_I2C_GPIO     GPIOB

//IO方向设置
 
#define SDA_IN()  {
      
      GPIOB->CRL&=0X0FFFFFFF;GPIOB->CRL|=(u32)8<<28;}
#define SDA_OUT() {
      
      GPIOB->CRL&=0X0FFFFFFF;GPIOB->CRL|=(u32)3<<28;}

//IO操作函数	 
#define IIC_SCL    PBout(6) //SCL
#define IIC_SDA    PBout(7) //SDA	 
#define READ_SDA   PBin(7)  //输入SDA

Experimental results

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5% accuracy

Summarize

If you need a specific routine, you can leave a comment and get it by email. The official CSDN of TOF250 is: https://blog.csdn.net/HCJ_Application/article/details/124058266
The program is a reference to the official routine

STM32F103ZET6 drives TOF250 laser ranging sensor

STM32 drives TOF250 laser ranging sensor