TOF050C VL6180X基于arduino修改测距范围

NayyyyyyLLL

于 2025-02-28 23:18:33 发布

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文章标签： java 服务器前端

本文链接：https://blog.csdn.net/m0_62195223/article/details/145939986

版权

下载VL6180X和Adafruit_VL6180X这两个库

在arduino的library路径下，分别打开这两个库对应的cpp和h文件

把VL6180X.cpp里面的setScaling函数和其内部包含的writeReg16Bit、writeReg、readReg一同打包到Adafruit_VL6180X.cpp下

在.h里面定义好所有参数地址，库文件就基本搞定了。

//----------------------------------------------------------------------------------------------------------
//                                       设置范围
//----------------------------------------------------------------------------------------------------------

void Adafruit_VL6180X::writeReg16Bit(uint16_t reg, uint16_t value)
{
  _i2c->beginTransmission(_i2caddr);
  _i2c->write((uint8_t)(reg >> 8)); // reg high byte
  _i2c->write((uint8_t)(reg >> 0)); // reg low byte
  _i2c->write((uint8_t)(value >> 8)); // value high byte
  _i2c->write((uint8_t)(value >> 0)); // value low byte
  last_status = _i2c->endTransmission();
}

void Adafruit_VL6180X::writeReg(uint16_t reg, uint8_t value)
{
  _i2c->beginTransmission(_i2caddr);
  _i2c->write((uint8_t)(reg >> 8)); // reg high byte
  _i2c->write((uint8_t)(reg >> 0)); // reg low byte
  _i2c->write(value);
  last_status = _i2c->endTransmission();
}

uint8_t Adafruit_VL6180X::readReg(uint16_t reg)
{
  uint8_t value;

  _i2c->beginTransmission(_i2caddr);
  _i2c->write((uint8_t)(reg >> 8)); // reg high byte
  _i2c->write((uint8_t)(reg >> 0)); // reg low byte
  last_status = _i2c->endTransmission();

  _i2c->requestFrom(_i2caddr, (uint8_t)1);
  value = _i2c->read();

  return value;
}

void Adafruit_VL6180X::setScaling(uint8_t new_scaling)
{
  uint16_t const ScalerValues[] = {0, 253, 127, 84};
  uint8_t const DefaultCrosstalkValidHeight = 20; // default value of SYSRANGE__CROSSTALK_VALID_HEIGHT

  // do nothing if scaling value is invalid
  if (new_scaling < 1 || new_scaling > 3) { return; }

  scaling = new_scaling;
  writeReg16Bit(RANGE_SCALER, ScalerValues[scaling]);

  uint8_t ptp_offset = read8(VL6180X_REG_SYSRANGE_PART_TO_PART_RANGE_OFFSET);

  // apply scaling on part-to-part offset
  writeReg(VL6180X_REG_SYSRANGE_PART_TO_PART_RANGE_OFFSET, ptp_offset / scaling);

  // apply scaling on CrossTalkValidHeight
  writeReg(SYSRANGE_CROSSTALK_VALID_HEIGHT, DefaultCrosstalkValidHeight / scaling);

  // This function does not apply scaling to RANGE_IGNORE_VALID_HEIGHT.

  // enable early convergence estimate only at 1x scaling
  uint8_t rce = readReg(SYSRANGE_RANGE_CHECK_ENABLES);
  writeReg(SYSRANGE_RANGE_CHECK_ENABLES, (rce & 0xFE) | (scaling == 1));
}

arduino正常引用Adafruit_VL6180X.h，setup里面加上setscaling和readrange的结果记得 * 3

#include "esp_system.h"
#include "esp_task_wdt.h"
#include <SPI.h>

#include <Adafruit_VL6180X.h>

#define SCALINE 3

#define LOX1_ADDRESS 0x30

#define SHT_LOX1 25

// objects for the VL6180X
Adafruit_VL6180X lox1 = Adafruit_VL6180X();

Adafruit_VL6180X *sensors[] = {&lox1};

unsigned long lastPrintTime = 0;
const unsigned long printInterval = 500; // 100ms

void setID() {
  digitalWrite(SHT_LOX1, HIGH);

  // initing LOX1
  if (!lox1.begin()) {
    Serial.println(F("Failed to boot first VL6180X"));
    while (1);
  }
  lox1.setAddress(LOX1_ADDRESS);
  delay(10);
}

void readSensor(Adafruit_VL6180X &vl) {
  uint8_t addr = vl.getAddress();
  Serial.print(" ");
  Serial.print(addr);

  Serial.print("-");
  uint8_t range = vl.readRange();
  uint8_t status = vl.readRangeStatus();
  if (status == VL6180X_ERROR_NONE) {
    Serial.print(range * 3);
  }

  if  ((status >= VL6180X_ERROR_SYSERR_1) && (status <= VL6180X_ERROR_SYSERR_5)) {
    Serial.print("(System error)");
  }
  else if (status == VL6180X_ERROR_ECEFAIL) {
    Serial.print("(ECE failure)");
  }
  else if (status == VL6180X_ERROR_NOCONVERGE) {
    Serial.print("(No convergence)");
  }
  else if (status == VL6180X_ERROR_RANGEIGNORE) {
    Serial.print("(Ignoring range)");
  }
  else if (status == VL6180X_ERROR_SNR) {
    Serial.print("Signal/Noise error");
  }
  else if (status == VL6180X_ERROR_RAWUFLOW) {
    Serial.print("Raw reading underflow");
  }
  else if (status == VL6180X_ERROR_RAWOFLOW) {
    Serial.print("Raw reading overflow");
  }
  else if (status == VL6180X_ERROR_RANGEUFLOW) {
    Serial.print("Range reading underflow");
  }
  else if (status == VL6180X_ERROR_RANGEOFLOW) {
    Serial.print("Range reading overflow");
  }
}

void read_sensors() {
  Serial.print("Addr-Range");
  readSensor(lox1);
  Serial.println();
}

void setup() {
  Serial.begin(115200);
  
  pinMode(SHT_LOX1, OUTPUT);
  digitalWrite(SHT_LOX1, LOW);
  
  setID();
  Serial.println("System initialized.");
  lox1.setScaling(3);
}


void loop() {
  if (millis() - lastPrintTime > printInterval) {
    lastPrintTime = millis();
    read_sensors();
  }
}

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