GY-530是一個(gè)微小的基于940nm紅外進(jìn)行ToF測(cè)距的模塊,內(nèi)置VL53L10芯片,測(cè)量絕對(duì)范圍為2米,可用來(lái)用戶檢測(cè)、機(jī)器人避障、手勢(shì)識(shí)別、激光輔助自動(dòng)對(duì)焦等,工作電壓2.6-3.5V。網(wǎng)上用arduino來(lái)驅(qū)動(dòng)的代碼比較少,所以寫個(gè)博客記錄一下。
基于Arduino IDE,所有支持arduino編譯的MCU都可以用這個(gè)代碼
驅(qū)動(dòng)單個(gè)VL53L0
模塊的SDA、SCL對(duì)應(yīng)接到MCU的I2C引腳上就好了。
#include <Wire.h>
#define VL53L0X_REG_IDENTIFICATION_MODEL_ID 0xc0
#define VL53L0X_REG_IDENTIFICATION_REVISION_ID 0xc2
#define VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD 0x50
#define VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD 0x70
#define VL53L0X_REG_SYSRANGE_START 0x00
#define VL53L0X_REG_RESULT_INTERRUPT_STATUS 0x13
#define VL53L0X_REG_RESULT_RANGE_STATUS 0x14
//VL53L0的默認(rèn)I2C地址
#define address 0x29
byte gbuf[16];
void setup() {
// put your setup code here, to run once:
Wire.begin(25,26); // 引腳25是SDA,26是SCL,可以自己設(shè)置其他引腳
Serial.begin(115200); // start serial for output
Serial.println("VLX53LOX test started.");
}
void loop() {
//每50ms測(cè)一次距離值
test();
delay(50);
}
void test() {
write_byte_data_at(VL53L0X_REG_SYSRANGE_START, 0x01);
byte val = 0;
int cnt = 0;
while (cnt < 100) { // 1 second waiting time max
delay(10);
val = read_byte_data_at(VL53L0X_REG_RESULT_RANGE_STATUS);
if (val & 0x01) break;
cnt++;
}
read_block_data_at(0x14, 12);
uint16_t dist = makeuint16(gbuf[11], gbuf[10]);
Serial.print("distance ");
Serial.println(dist);
}
uint16_t bswap(byte b[]) {
// Big Endian unsigned short to little endian unsigned short
uint16_t val = ((b[0] << 8) & b[1]);
return val;
}
uint16_t makeuint16(int lsb, int msb) {
return ((msb & 0xFF) << 8) | (lsb & 0xFF);
}
void write_byte_data(byte data) {
Wire.beginTransmission(address);
Wire.write(data);
Wire.endTransmission();
}
void write_byte_data_at(byte reg, byte data) {
// write data word at address and register
Wire.beginTransmission(address);
Wire.write(reg);
Wire.write(data);
Wire.endTransmission();
}
void write_word_data_at(byte reg, uint16_t data) {
// write data word at address and register
byte b0 = (data &0xFF);
byte b1 = ((data >> 8) && 0xFF);
Wire.beginTransmission(address);
Wire.write(reg);
Wire.write(b0);
Wire.write(b1);
Wire.endTransmission();
}
byte read_byte_data() {
Wire.requestFrom(address, 1);
while (Wire.available() < 1) delay(1);
byte b = Wire.read();
return b;
}
byte read_byte_data_at(byte reg) {
//write_byte_data((byte)0x00);
write_byte_data(reg);
Wire.requestFrom(address, 1);
while (Wire.available() < 1) delay(1);
byte b = Wire.read();
return b;
}
uint16_t read_word_data_at(byte reg) {
write_byte_data(reg);
Wire.requestFrom(address, 2);
while (Wire.available() < 2) delay(1);
gbuf[0] = Wire.read();
gbuf[1] = Wire.read();
return bswap(gbuf);
}
void read_block_data_at(byte reg, int sz) {
int i = 0;
write_byte_data(reg);
Wire.requestFrom(address, sz);
for (i=0; i<sz; i++) {
while (Wire.available() < 1) delay(1);
gbuf[i] = Wire.read();
}
}
uint16_t VL53L0X_decode_vcsel_period(short vcsel_period_reg) {
// Converts the encoded VCSEL period register value into the real
// period in PLL clocks
uint16_t vcsel_period_pclks = (vcsel_period_reg + 1) << 1;
return vcsel_period_pclks;
}
驅(qū)動(dòng)兩個(gè)VL53L0
如果買到相同的兩個(gè)模塊,它們的I2C地址默認(rèn)都是0x29,這時(shí)無(wú)法在同一條I2C總線上通信。有一個(gè)方法是軟件修改I2C地址,但是每次斷點(diǎn)重啟,模塊的地址又變?yōu)?x29,而且每次改都要先斷開其中一個(gè),才能準(zhǔn)確修改另一個(gè)的地址,不然兩個(gè)地址會(huì)一起被改。所以最方便的方法,就是用兩條I2C總線,一般MCU都會(huì)有2個(gè)或以上的I2C資源。
//the original code by Ted Meyers
//posted here: https://groups.google.com/d/msg/diyrovers/lc7NUZYuJOg/ICPrYNJGBgAJ
#include <Wire.h>
#define VL53L0X_REG_IDENTIFICATION_MODEL_ID 0xc0
#define VL53L0X_REG_IDENTIFICATION_REVISION_ID 0xc2
#define VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD 0x50
#define VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD 0x70
#define VL53L0X_REG_SYSRANGE_START 0x00
#define VL53L0X_REG_RESULT_INTERRUPT_STATUS 0x13
#define VL53L0X_REG_RESULT_RANGE_STATUS 0x14
#define address 0x29
byte gbuf[16];
byte gbuf1[16];
void setup() {
Wire.begin(25,26); // join i2c bus (address optional for master)
Wire1.begin(21,22);
Serial.begin(115200); // start serial for output
Serial.println("VLX53LOX test started.");
}
void loop() {
test();
delay(100);
}
void test() {
write_byte_data_at(VL53L0X_REG_SYSRANGE_START, 0x01);
write_byte_data_at1(VL53L0X_REG_SYSRANGE_START, 0x01);
byte val = 0;
byte val1 = 0;
int cnt = 0;
int cnt1 = 0;
while (cnt < 100) { // 1 second waiting time max
delay(10);
val = read_byte_data_at(VL53L0X_REG_RESULT_RANGE_STATUS);
if (val & 0x01) break;
cnt++;
}
while (cnt1 < 100) { // 1 second waiting time max
delay(10);
val1 = read_byte_data_at1(VL53L0X_REG_RESULT_RANGE_STATUS);
if (val1 & 0x01) break;
cnt1++;
}
read_block_data_at(0x14, 12);
uint16_t dist1 = makeuint16(gbuf[11], gbuf[10]);
read_block_data_at1(0x14, 12);
uint16_t dist2 = makeuint16(gbuf1[11], gbuf1[10]);
Serial.print("distance1:");
Serial.print(dist1);
Serial.print(" distance2:");
Serial.println(dist2);
}
uint16_t bswap(byte b[]) {
uint16_t val = ((b[0] << 8) & b[1]);
return val;
}
uint16_t bswap1(byte b[]) {
uint16_t val1 = ((b[0] << 8) & b[1]);
return val1;
}
uint16_t makeuint16(int lsb, int msb) {
return ((msb & 0xFF) << 8) | (lsb & 0xFF);
}
void write_byte_data(byte data) {
Wire.beginTransmission(address);
Wire.write(data);
Wire.endTransmission();
}
void write_byte_data1(byte data) {
Wire1.beginTransmission(address);
Wire1.write(data);
Wire1.endTransmission();
}
void write_byte_data_at(byte reg, byte data) {
// write data word at address and register
Wire.beginTransmission(address);
Wire.write(reg);
Wire.write(data);
Wire.endTransmission();
}
void write_byte_data_at1(byte reg, byte data) {
// write data word at address and register
Wire1.beginTransmission(address);
Wire1.write(reg);
Wire1.write(data);
Wire1.endTransmission();
}
void write_word_data_at(byte reg, uint16_t data) {
// write data word at address and register
byte b0 = (data &0xFF);
byte b1 = ((data >> 8) && 0xFF);
Wire.beginTransmission(address);
Wire.write(reg);
Wire.write(b0);
Wire.write(b1);
Wire.endTransmission();
}
void write_word_data_at1(byte reg, uint16_t data) {
// write data word at address and register
byte b0 = (data &0xFF);
byte b1 = ((data >> 8) && 0xFF);
Wire1.beginTransmission(address);
Wire1.write(reg);
Wire1.write(b0);
Wire1.write(b1);
Wire1.endTransmission();
}
byte read_byte_data() {
Wire.requestFrom(address, 1);
while (Wire.available() < 1) delay(1);
byte b = Wire.read();
return b;
}
byte read_byte_data1() {
Wire1.requestFrom(address, 1);
while (Wire1.available() < 1) delay(1);
byte b = Wire1.read();
return b;
}
byte read_byte_data_at(byte reg) {
//write_byte_data((byte)0x00);
write_byte_data(reg);
Wire.requestFrom(address, 1);
while (Wire.available() < 1) delay(1);
byte b = Wire.read();
return b;
}
byte read_byte_data_at1(byte reg) {
//write_byte_data((byte)0x00);
write_byte_data1(reg);
Wire1.requestFrom(address, 1);
while (Wire1.available() < 1) delay(1);
byte b = Wire1.read();
return b;
}
uint16_t read_word_data_at(byte reg) {
write_byte_data(reg);
Wire.requestFrom(address, 2);
while (Wire.available() < 2) delay(1);
gbuf[0] = Wire.read();
gbuf[1] = Wire.read();
return bswap(gbuf);
}
uint16_t read_word_data_at1(byte reg) {
write_byte_data1(reg);
Wire1.requestFrom(address, 2);
while (Wire1.available() < 2) delay(1);
gbuf1[0] = Wire1.read();
gbuf1[1] = Wire1.read();
return bswap1(gbuf1);
}
void read_block_data_at(byte reg, int sz) {
int i = 0;
write_byte_data(reg);
Wire.requestFrom(address, sz);
for (i=0; i<sz; i++) {
while (Wire.available() < 1) delay(1);
gbuf[i] = Wire.read();
}
}
void read_block_data_at1(byte reg, int sz) {
int i = 0;
write_byte_data1(reg);
Wire1.requestFrom(address, sz);
for (i=0; i<sz; i++) {
while (Wire1.available() < 1) delay(1);
gbuf1[i] = Wire1.read();
}
}
uint16_t VL53L0X_decode_vcsel_period(short vcsel_period_reg) {
uint16_t vcsel_period_pclks = (vcsel_period_reg + 1) << 1;
return vcsel_period_pclks;
}
也可以用一個(gè)庫(kù) Adafruit_VL53L0X
來(lái)做。