相比较VL53L0x模块，vl6180x更适合短距离测距，200mm下时误差只有1-2mm.代码也更简捷。
本次实验用 stm32f407ve + freertos +hal库开发 ，vl6180x使用 io模拟iic通信，单模块通信
VL6180x只需要接4个脚
vin -> 3.3v
gnd ->0v
sda -> iic_sda (PB9)
scl ->iic_scl (PB8)
//vl6180x模块驱动代码------------------------------------------------------
//头文件就行一些寄存器
#ifndef __VL6180X_H
#define __VL6180X_H
#include "./board_iic/myiic.h"
#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
uint8_t VL6180X_Init(void);
//距离单位毫米
uint8_t VL6180X_Read_Range(void);
#endif//.c配置文件
#include "vl6180x.h"
#include "./delay/delay.h"
/*iic驱动移植****************************/
#define I2C_Start iic_start
#define I2C_Stop iic_stop
#define I2C_Wait_Ack iic_wait_ack
#define I2C_Send_Byte iic_send_byte
#define I2C_Read_Byte iic_read_byte
/*************************************/
//写 reg寄存器 data数据
static uint8_t VL6180X_WriteByte(uint16_t reg,uint8_t 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
static uint8_t VL6180X_ReadByte(uint16_t reg)
{
uint8_t res=0;
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;
}
static uint8_t VL6180X_Read_ID(void)
{
uint8_t id=0;
id=VL6180X_ReadByte(VL6180X_REG_IDENTIFICATION_MODEL_ID);
printf("id=%#x\r\n",id);
return id;
}
static void VL6180X_IIC_Init(void)
{
iic_init();
}
/// @brief VL6180X_Init 初始化
/// @param
/// @return 1成功 0失败
uint8_t VL6180X_Init(void)
{
uint8_t ret=0;
VL6180X_IIC_Init();
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'
ret= 1;
}
if(VL6180X_ReadByte(0x016) == 1)
{
VL6180X_WriteByte(0x016, 0x00);
printf("0x016\r\n");
}
return ret;
}
static uint8_t VL6180_Poll_Range(void)
{
uint8_t status=0;
uint8_t range_status=0;
//检测状态
status = VL6180X_ReadByte(0x04f);
range_status = status & 0x07;
//等待新的测量就绪状态
while (range_status != 0x04) {
status = VL6180X_ReadByte(VL6180X_REG_RESULT_INTERRUPT_STATUS_GPIO);
range_status = status & 0x07;
// delay_ms(1); // (can be removed)
}
}
static void VL6180_Clear_Interrupts(void)
{
VL6180X_WriteByte(VL6180X_REG_SYSTEM_INTERRUPT_CLEAR,0x07);
}
//距离单位毫米
uint8_t VL6180X_Read_Range(void)
{
uint8_t range = 0;
//开启传输
VL6180X_WriteByte(VL6180X_REG_SYSRANGE_START,0x01); //单次触发模式
VL6180_Poll_Range();
range = VL6180X_ReadByte(VL6180X_REG_RESULT_RANGE_VAL);
//获取完数据，清楚中断位
VL6180_Clear_Interrupts();
return range;
}//这就是VL6180X的驱动代码了，非常简洁
代码是参考这位博主的http://t.csdnimg.cn/zXgDH，但是我全部移植代码会卡死在获取状态哪里，然后根据官网demo做了一下修改。
现在这个代码是可以用的。
//初始化VL6180X模块
void app_check_task_init(void)
{
while(VL6180X_Init() == 0)
{
delay_ms(1000);
printf("error\r\n");
}
delay_ms(1000);
}
//线程调用 1s获取一次距离
void check_task(void *pvParameters)
{
u8 distance =0;
while(1)
{
//VL53L1_single_test(&VL53L0x_dev,&VL53L0x_data);
distance=VL6180X_Read_Range();
printf("distance=%d mm\r\n",distance);
vTaskDelay(1000);
}
}打印出来的信息
200mm以下，精度很高。
/*iic驱动移植****************************/
#define I2C_Start iic_start
#define I2C_Stop iic_stop
#define I2C_Wait_Ack iic_wait_ack
#define I2C_Send_Byte iic_send_byte
#define I2C_Read_Byte iic_read_byte只需要替换一下自己iic函数名就能用了，iic驱动就不用多说了。
VL6180X模块就这样了，理论上移植换一下io口或者替换其他mcu的库,应该直接就能用了，问题不大。
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