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VL53L0X激光测距 飞行时间测距传感器程序pdf规格书下载

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ID:478817发表于 2019-2-21 11:59|只看该作者|只看大图回帖奖励
VL53L0X距感规格书

电路原理图如下：



Arduino源程序如下:
  1. #include< Wire.h>

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

  12. byte gbuf[16];

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

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

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

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

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

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

  44.   write_byte_data_at(VL53L0X_REG_SYSRANGE_START, 0x01);

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

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

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

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

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

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

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

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

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

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

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

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


  140. uint16_t VL53L0X_decode_vcsel_period(short vcsel_period_reg) {
  141.   // Converts the encoded VCSEL period register value into the real
  142.   // period in PLL clocks
  143.   uint16_t vcsel_period_pclks = (vcsel_period_reg + 1)<< 1;
  144.   return vcsel_period_pclks;
  145. }
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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: 20)


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