GY-530是一个微小的基于940nm红外进行ToF测距的模块，内置VL53L10芯片，测量绝对范围为2米，可用来用户检测、机器人避障、手势识别、激光辅助自动对焦等，工作电压2.6-3.5V。网上用arduino来驱动的代码比较少，所以写个博客记录一下。
基于Arduino IDE，所有支持arduino编译的MCU都可以用这个代码
驱动单个VL53L0
模块的SDA、SCL对应接到MCU的I2C引脚上就好了。
#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的默认I2C地址
#define address 0x29
byte gbuf[16];
void setup() {
// put your setup code here, to run once:
Wire.begin(25,26); // 引脚25是SDA，26是SCL，可以自己设置其他引脚
Serial.begin(115200); // start serial for output
Serial.println("VLX53LOX test started.");
}
void loop() {
//每50ms测一次距离值
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;
}
驱动两个VL53L0
如果买到相同的两个模块，它们的I2C地址默认都是0x29，这时无法在同一条I2C总线上通信。有一个方法是软件修改I2C地址，但是每次断点重启，模块的地址又变为0x29，而且每次改都要先断开其中一个，才能准确修改另一个的地址，不然两个地址会一起被改。所以最方便的方法，就是用两条I2C总线，一般MCU都会有2个或以上的I2C资源。
//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;
}
也可以用一个库 Adafruit_VL53L0X 来做。