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GY-530 VL53L0X的ARDUINO源程序和原理图 可实现激光测距

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ID:242296 发表于 2017-10-24 00:20 | 显示全部楼层 |阅读模式
GY-530 VL53L0X
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模块原理图：
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ARDUINO源程序：

  2. #include <Wire.h>

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

  13. byte gbuf[16];

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

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

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

  34.   val1 = read_byte_data_at(VL53L0X_REG_IDENTIFICATION_MODEL_ID);
  35.   Serial.print("Device ID: "); Serial.println(val1);

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

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

  45.   write_byte_data_at(VL53L0X_REG_SYSRANGE_START, 0x01);

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

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

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

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

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

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

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

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

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

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

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

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


  141. uint16_t VL53L0X_decode_vcsel_period(short vcsel_period_reg) {
  142.   // Converts the encoded VCSEL period register value into the real
  143.   // period in PLL clocks
  144.   uint16_t vcsel_period_pclks = (vcsel_period_reg + 1) << 1;
  145.   return vcsel_period_pclks;
  146. }
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GY-530 VL53L0X激光测距传感器模块 ToF测距 飞行时间测距传感器 (2).rar (1.01 MB, 下载次数: 78)
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