STM32驱动VL6180X测距
文章目录
-
- VL6180X寄存器手册
- I2C读写
- 读取ID（无需初始化）
- 初始化代码
- 读取距离
- 读取环境光强度
- 测试代码
VL6180测距原理就是TOF,超声波也可以测距，但是这个测距是用红外光。
VL6180X集成了测距、环境光传感器、接近传感器
测距（RANGE）:0~100mm精度高，可以到200mm,但是我试过200+以上直接255了；
环境光 ambient light sensor（ALS）:测光强，不同增益等级，0-100 Lux,我的模块没有这个功能，但有代码（可能会出错）。
以下是软件I2C代码，硬件I2C没试过，可能可以用，不过时序都一样
VL6180X寄存器手册
#define VL6180X_DEFAULT_ID 0xB4
//#define I2C_DEBUG
#define VL6180X_DEFAULT_I2C_ADDR 0x29 ///< The fixed I2C addres
/*------------------VL6180X内部寄存器------------------*/
///! Device model identification number
#define VL6180X_REG_IDENTIFICATION_MODEL_ID 0x000
///! Interrupt configuration
#define VL6180X_REG_SYSTEM_INTERRUPT_CONFIG 0x014
///! Interrupt clear bits
#define VL6180X_REG_SYSTEM_INTERRUPT_CLEAR 0x015
///! Fresh out of reset bit
#define VL6180X_REG_SYSTEM_FRESH_OUT_OF_RESET 0x016
///! Trigger Ranging
#define VL6180X_REG_SYSRANGE_START 0x018
///! Trigger Lux Reading
#define VL6180X_REG_SYSALS_START 0x038
///! Lux reading gain
#define VL6180X_REG_SYSALS_ANALOGUE_GAIN 0x03F
///! Integration period for ALS mode, high byte
#define VL6180X_REG_SYSALS_INTEGRATION_PERIOD_HI 0x040
///! Integration period for ALS mode, low byte
#define VL6180X_REG_SYSALS_INTEGRATION_PERIOD_LO 0x041
///! Specific error codes
#define VL6180X_REG_RESULT_RANGE_STATUS 0x04d
///! Interrupt status
#define VL6180X_REG_RESULT_INTERRUPT_STATUS_GPIO 0x04f
///! Light reading value
#define VL6180X_REG_RESULT_ALS_VAL 0x050
///! Ranging reading value
#define VL6180X_REG_RESULT_RANGE_VAL 0x062
#define VL6180X_ALS_GAIN_1 0x06 ///< 1x gain
#define VL6180X_ALS_GAIN_1_25 0x05 ///< 1.25x gain
#define VL6180X_ALS_GAIN_1_67 0x04 ///< 1.67x gain
#define VL6180X_ALS_GAIN_2_5 0x03 ///< 2.5x gain
#define VL6180X_ALS_GAIN_5 0x02 ///< 5x gain
#define VL6180X_ALS_GAIN_10 0x01 ///< 10x gain
#define VL6180X_ALS_GAIN_20 0x00 ///< 20x gain
#define VL6180X_ALS_GAIN_40 0x07 ///< 40x gain
#define VL6180X_ERROR_NONE 0 ///< Success!
#define VL6180X_ERROR_SYSERR_1 1 ///< System error
#define VL6180X_ERROR_SYSERR_5 5 ///< Sysem error
#define VL6180X_ERROR_ECEFAIL 6 ///< Early convergence estimate fail
#define VL6180X_ERROR_NOCONVERGE 7 ///< No target detected
#define VL6180X_ERROR_RANGEIGNORE 8 ///< Ignore threshold check failed
#define VL6180X_ERROR_SNR 11 ///< Ambient conditions too high
#define VL6180X_ERROR_RAWUFLOW 12 ///< Raw range algo underflow
#define VL6180X_ERROR_RAWOFLOW 13 ///< Raw range algo overflow
#define VL6180X_ERROR_RANGEUFLOW 14 ///< Raw range algo underflow
#define VL6180X_ERROR_RANGEOFLOW 15 ///< Raw range algo overflow
没用到之前别去看寄存器，浪费时间。。
I2C读写
VL6180X的寄存器是16位的，也就是0xXXXX,切记
//写 reg寄存器 data数据
u8 VL6180X_WriteByte(u16 reg,u8 data)
{
uint8_t Index_H = (uint8_t)(reg >> 8);
uint8_t Index_L = (uint8_t)(reg & 0xFF);
I2C_Start();
I2C_Send_Byte((VL6180X_DEFAULT_I2C_ADDR<<1)|0);
if(I2C_Wait_Ack()) //等待应答
{
I2C_Stop();
return 1;
}
I2C_Send_Byte(Index_H);
I2C_Wait_Ack(); //等待ACK
I2C_Send_Byte(Index_L);
I2C_Wait_Ack(); //等待ACK
I2C_Send_Byte(data);
if(I2C_Wait_Ack()) //等待ACK
{
I2C_Stop();
return 1;
}
I2C_Stop();
return 0;
}
//VL6180X读取8位数据
u8 VL6180X_ReadByte(u16 reg)
{
u8 res;
uint8_t Index_H = (uint8_t)(reg >> 8);
uint8_t Index_L = (uint8_t)(reg & 0xff);
I2C_Start();
I2C_Send_Byte((VL6180X_DEFAULT_I2C_ADDR<<1)|0);//发送器件地址+写命令
I2C_Wait_Ack(); //等待应答
I2C_Send_Byte(Index_H); //写寄存器地址
I2C_Wait_Ack(); //等待应答
I2C_Send_Byte(Index_L); //写寄存器地址
I2C_Wait_Ack();
I2C_Start();
I2C_Send_Byte((VL6180X_DEFAULT_I2C_ADDR<<1)|1);//发送器件地址+读命令
I2C_Wait_Ack(); //等待应答
res=I2C_Read_Byte(0);//读取数据,发送nACK
I2C_Stop(); //产生一个停止条件
return res;
}
这里要取寄存器的高位和地位，因为这是十六位地址，I2C需要写两次
读取ID（无需初始化）
uint8_t VL6180X_Read_ID(void)
{
return VL6180X_ReadByte(VL6180X_REG_IDENTIFICATION_MODEL_ID);
}
正确地址是0xB4,拿来验证下I2C的读写是否有问题,记住寄存器地址是16位的！没用16位写入地址会一直变。。（我试过）
初始化代码
uint8_t VL6180X_Init(void)
{
if(VL6180X_Read_ID() == VL6180X_DEFAULT_ID)
{
VL6180X_WriteByte(0x0207, 0x01);
VL6180X_WriteByte(0x0208, 0x01);
VL6180X_WriteByte(0x0096, 0x00);
VL6180X_WriteByte(0x0097, 0xfd);
VL6180X_WriteByte(0x00e3, 0x00);
VL6180X_WriteByte(0x00e4, 0x04);
VL6180X_WriteByte(0x00e5, 0x02);
VL6180X_WriteByte(0x00e6, 0x01);
VL6180X_WriteByte(0x00e7, 0x03);
VL6180X_WriteByte(0x00f5, 0x02);
VL6180X_WriteByte(0x00d9, 0x05);
VL6180X_WriteByte(0x00db, 0xce);
VL6180X_WriteByte(0x00dc, 0x03);
VL6180X_WriteByte(0x00dd, 0xf8);
VL6180X_WriteByte(0x009f, 0x00);
VL6180X_WriteByte(0x00a3, 0x3c);
VL6180X_WriteByte(0x00b7, 0x00);
VL6180X_WriteByte(0x00bb, 0x3c);
VL6180X_WriteByte(0x00b2, 0x09);
VL6180X_WriteByte(0x00ca, 0x09);
VL6180X_WriteByte(0x0198, 0x01);
VL6180X_WriteByte(0x01b0, 0x17);
VL6180X_WriteByte(0x01ad, 0x00);
VL6180X_WriteByte(0x00ff, 0x05);
VL6180X_WriteByte(0x0100, 0x05);
VL6180X_WriteByte(0x0199, 0x05);
VL6180X_WriteByte(0x01a6, 0x1b);
VL6180X_WriteByte(0x01ac, 0x3e);
VL6180X_WriteByte(0x01a7, 0x1f);
VL6180X_WriteByte(0x0030, 0x00);
// Recommended : Public registers - See data sheet for more detail
VL6180X_WriteByte(0x0011, 0x10); // Enables polling for 'New Sample ready'
// when measurement completes
VL6180X_WriteByte(0x010a, 0x30); // Set the averaging sample period
// (compromise between lower noise and
// increased execution time)
VL6180X_WriteByte(0x003f, 0x46); // Sets the light and dark gain (upper
// nibble). Dark gain should not be
// changed. !上半字节要写入0x4 默认增益是1.0
VL6180X_WriteByte(0x0031, 0xFF); // sets the # of range measurements after
// which auto calibration of system is
// performed
VL6180X_WriteByte(0x0040, 0x63); // Set ALS integration time to 100ms
VL6180X_WriteByte(0x002e, 0x01); // perform a single temperature calibration
// of the ranging sensor
// Optional: Public registers - See data sheet for more detail
VL6180X_WriteByte(0x001b, 0x09); //测量间隔 轮询模式
// period to 100ms 每步10ms->0-10ms
VL6180X_WriteByte(0x003e, 0x31); //测量周期 ALS模式
// to 500ms
VL6180X_WriteByte(0x0014, 0x24); // Configures interrupt on 'New Sample
// Ready threshold event'
return 0;
}
else return 1;
}
初始化就是设置一些寄存器，这是官方提供的，需要设置自己的模式自己改寄存器就行了。
读取距离
//单位毫米
uint8_t VL6180X_Read_Range(void)
{
uint8_t range = 0;
//开启传输
while(!(VL6180X_ReadByte(VL6180X_REG_RESULT_RANGE_STATUS) & 0x01));
VL6180X_WriteByte(VL6180X_REG_SYSRANGE_START,0x01); //单次触发模式
//等待新样本就绪阈值事件(New Sample Ready threshold event)
while(!(VL6180X_ReadByte(VL6180X_REG_RESULT_INTERRUPT_STATUS_GPIO) & 0x04));
range = VL6180X_ReadByte(VL6180X_REG_RESULT_RANGE_VAL);
//获取完数据，清楚中断位
VL6180X_WriteByte(VL6180X_REG_SYSTEM_INTERRUPT_CLEAR,0x07); //0111b 清除了三种中断标志
return range;
}
有注释，我写的很清楚，大致是读取一些寄存器的状态，设置寄存器启动转化。最后做好处理用于下次测量。
范围是0~200mm,超了的话会直接255。
读取环境光强度
float VL6180X_Read_Lux(uint8_t Gain)
{
float lux;
uint8_t reg;
reg = VL6180X_ReadByte(VL6180X_REG_SYSTEM_INTERRUPT_CONFIG);
reg &= ~0x38; //[5:3]清0
reg |= (0x4<<3); //开启转换New sample ready 开启转换
VL6180X_WriteByte(VL6180X_REG_SYSALS_INTEGRATION_PERIOD_HI,0);
VL6180X_WriteByte(VL6180X_REG_SYSALS_INTEGRATION_PERIOD_LO,100); //101ms
if (Gain > VL6180X_ALS_GAIN_40)
{
Gain = VL6180X_ALS_GAIN_40;
}
VL6180X_WriteByte(VL6180X_REG_SYSALS_ANALOGUE_GAIN, 0x40 | Gain);
VL6180X_WriteByte(VL6180X_REG_SYSALS_START, 0x1); //连续模式
// New Sample Ready threshold event 新样本就绪
while (4 != ((VL6180X_ReadByte(VL6180X_REG_RESULT_INTERRUPT_STATUS_GPIO) >> 3) & 0x7));
lux = VL6180X_Read_HalfWold(VL6180X_REG_RESULT_ALS_VAL);
VL6180X_WriteByte(VL6180X_REG_SYSTEM_INTERRUPT_CLEAR,0x07); //0111b 清除了三种中断标志
//矫正增益算法
lux *= 0.32f; // calibrated count/lux
switch(Gain) {
case VL6180X_ALS_GAIN_1:
break;
case VL6180X_ALS_GAIN_1_25:
lux /= 1.25f;
break;
case VL6180X_ALS_GAIN_1_67:
lux /= 1.76f;
break;
case VL6180X_ALS_GAIN_2_5:
lux /= 2.5f;
break;
case VL6180X_ALS_GAIN_5:
lux /= 5;
break;
case VL6180X_ALS_GAIN_10:
lux /= 10;
break;
case VL6180X_ALS_GAIN_20:
lux /= 20;
break;
case VL6180X_ALS_GAIN_40:
lux /= 20;
break;
}
lux *= 100;
lux /= 100; // integration time in ms
return lux;
}
需要读取两个字节
//VL6180X读取16位数据
u8 VL6180X_Read_HalfWold(u16 reg)
{
u16 res;
uint8_t Index_H = (uint8_t)(reg >> 8);
uint8_t Index_L = (uint8_t)(reg & 0xff);
I2C_Start();
I2C_Send_Byte((VL6180X_DEFAULT_I2C_ADDR<<1)|0);//发送器件地址+写命令
I2C_Wait_Ack(); //等待应答
I2C_Send_Byte(Index_H); //写寄存器地址
I2C_Wait_Ack(); //等待应答
I2C_Send_Byte(Index_L); //写寄存器地址
I2C_Wait_Ack();
I2C_Start();
I2C_Send_Byte((VL6180X_DEFAULT_I2C_ADDR<<1)|1);//发送器件地址+读命令
I2C_Wait_Ack(); //等待应答
res = I2C_Read_Byte(1);//读取数据,发送ACK
res <<= 8;
res |= I2C_Read_Byte(0);//读取数据,发送nACK
I2C_Stop(); //产生一个停止条件
return res;
}
光强的我没试过，这些代码都是一直Arduino的驱动到STM32，我看了寄存器大概知道什么意思。这个代码要是能用可以说一句，让大家放心。
测试代码
int main()
{
/*Parameter Configuration*/
u8 ex_Range = 0;
/*Init*/
delay_init(168);
USART_Config();
MY_I2C_GPIO_Config(); //I2C初始化
/*Configuration Operation*/
printf("\r\nVL6180X测距实验\r\n");
if(VL6180X_Init() == 0) printf("\r\nVL6180X初始化成功！\r\n");
delay_ms(2000);
/*LOOP*/
while(1)
{
ex_Range = VL6180X_Read_Range();
printf("\r\n Current Range:%d mm",ex_Range);
delay_ms(100);
}
}