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VL53L0X激光测距的ARDUINO源码与资料下载

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ID:381728 发表于 2018-8-1 15:42 | 显示全部楼层 |阅读模式
请问有使用过VL53L0X这个模块的吗？
0.png
单片机源程序如下:
  1. //the original code by Ted Meyers
  2. //posted here: https://groups.google.com/d/msg/diyrovers/lc7NUZYuJOg/ICPrYNJGBgAJ

  4. #include <Wire.h>

  6. #define VL53L0X_REG_IDENTIFICATION_MODEL_ID         0xc0
  7. #define VL53L0X_REG_IDENTIFICATION_REVISION_ID      0xc2
  8. #define VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD   0x50
  9. #define VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD 0x70
  10. #define VL53L0X_REG_SYSRANGE_START                  0x00
  11. #define VL53L0X_REG_RESULT_INTERRUPT_STATUS         0x13
  12. #define VL53L0X_REG_RESULT_RANGE_STATUS             0x14
  13. #define address 0x29

  15. byte gbuf[16];

  17. void setup() {
  18.   // put your setup code here, to run once:
  19.   Wire.begin();        // join i2c bus (address optional for master)
  20.   Serial.begin(9600);  // start serial for output
  21.   Serial.println("VLX53LOX test started.");
  22. }

  24. void loop() {
  25.   Serial.println("----- START TEST ----");
  26.   test();
  27.   Serial.println("----- END TEST ----");
  28.   Serial.println("");
  29.   delay(1000);
  30. }

  32. void test() {
  33.   byte val1 = read_byte_data_at(VL53L0X_REG_IDENTIFICATION_REVISION_ID);
  34.   Serial.print("Revision ID: "); Serial.println(val1);

  36.   val1 = read_byte_data_at(VL53L0X_REG_IDENTIFICATION_MODEL_ID);
  37.   Serial.print("Device ID: "); Serial.println(val1);

  39.   val1 = read_byte_data_at(VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD);
  40.   Serial.print("PRE_RANGE_CONFIG_VCSEL_PERIOD="); Serial.println(val1);
  41.   Serial.print(" decode: "); Serial.println(VL53L0X_decode_vcsel_period(val1));

  43.   val1 = read_byte_data_at(VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD);
  44.   Serial.print("FINAL_RANGE_CONFIG_VCSEL_PERIOD="); Serial.println(val1);
  45.   Serial.print(" decode: "); Serial.println(VL53L0X_decode_vcsel_period(val1));

  47.   write_byte_data_at(VL53L0X_REG_SYSRANGE_START, 0x01);

  49.   byte val = 0;
  50.   int cnt = 0;
  51.   while (cnt < 100) { // 1 second waiting time max
  52.     delay(10);
  53.     val = read_byte_data_at(VL53L0X_REG_RESULT_RANGE_STATUS);
  54.     if (val & 0x01) break;
  55.     cnt++;
  56.   }
  57.   if (val & 0x01) Serial.println("ready"); else Serial.println("not ready");

  59.   read_block_data_at(0x14, 12);
  60.   uint16_t acnt = makeuint16(gbuf[7], gbuf[6]);
  61.   uint16_t scnt = makeuint16(gbuf[9], gbuf[8]);
  62.   uint16_t dist = makeuint16(gbuf[11], gbuf[10]);
  63.   byte DeviceRangeStatusInternal = ((gbuf[0] & 0x78) >> 3);

  65.   Serial.print("ambient count: "); Serial.println(acnt);
  66.   Serial.print("signal count: ");  Serial.println(scnt);
  67.   Serial.print("distance ");       Serial.println(dist);
  68.   Serial.print("status: ");        Serial.println(DeviceRangeStatusInternal);
  69. }

  71. uint16_t bswap(byte b[]) {
  72.   // Big Endian unsigned short to little endian unsigned short
  73.   uint16_t val = ((b[0] << 8) & b[1]);
  74.   return val;
  75. }

  77. uint16_t makeuint16(int lsb, int msb) {
  78.     return ((msb & 0xFF) << 8) | (lsb & 0xFF);
  79. }

  81. void write_byte_data(byte data) {
  82.   Wire.beginTransmission(address);
  83.   Wire.write(data);
  84.   Wire.endTransmission();
  85. }

  87. void write_byte_data_at(byte reg, byte data) {
  88.   // write data word at address and register
  89.   Wire.beginTransmission(address);
  90.   Wire.write(reg);
  91.   Wire.write(data);
  92.   Wire.endTransmission();
  93. }

  95. void write_word_data_at(byte reg, uint16_t data) {
  96.   // write data word at address and register
  97.   byte b0 = (data &0xFF);
  98.   byte b1 = ((data >> 8) && 0xFF);
  99.    
  100.   Wire.beginTransmission(address);
  101.   Wire.write(reg);
  102.   Wire.write(b0);
  103.   Wire.write(b1);
  104.   Wire.endTransmission();
  105. }

  107. byte read_byte_data() {
  108.   Wire.requestFrom(address, 1);
  109.   while (Wire.available() < 1) delay(1);
  110.   byte b = Wire.read();
  111.   return b;
  112. }

  114. byte read_byte_data_at(byte reg) {
  115.   //write_byte_data((byte)0x00);
  116.   write_byte_data(reg);
  117.   Wire.requestFrom(address, 1);
  118.   while (Wire.available() < 1) delay(1);
  119.   byte b = Wire.read();
  120.   return b;
  121. }

  123. uint16_t read_word_data_at(byte reg) {
  124.   write_byte_data(reg);
  125.   Wire.requestFrom(address, 2);
  126.   while (Wire.available() < 2) delay(1);
  127.   gbuf[0] = Wire.read();
  128.   gbuf[1] = Wire.read();
  129.   return bswap(gbuf);
  130. }

  132. void read_block_data_at(byte reg, int sz) {
  133.   int i = 0;
  134.   write_byte_data(reg);
  135.   Wire.requestFrom(address, sz);
  136.   for (i=0; i<sz; i++) {
  137.     while (Wire.available() < 1) delay(1);
  138.     gbuf[i] = Wire.read();
  139.   }
  140. }


  143. uint16_t VL53L0X_decode_vcsel_period(short vcsel_period_reg) {
  144.   // Converts the encoded VCSEL period register value into the real
  145.   // period in PLL clocks
  146.   uint16_t vcsel_period_pclks = (vcsel_period_reg + 1) << 1;
  147.   return vcsel_period_pclks;
  148. }
复制代码

所有资料51hei提供下载:
GY-530 VL53L0X激光测距传感器模块 ToF测距 飞行时间测距传感器.rar (1.01 MB, 下载次数: 29)

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