概述

VL53L0X是新一代飛行時(shí)間（ToF）激光測(cè)距模塊（不同于傳統(tǒng)技術(shù)），采用目前市場(chǎng)上最小的封裝，無論目標(biāo)反射率如何，都能提供精確的距離測(cè)量。它可以測(cè)量2m的絕對(duì)距離，為測(cè)距性能等級(jí)設(shè)定了新的基準(zhǔn)，為各種新應(yīng)用打開了大門。
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VL53L0X集成了一個(gè)領(lǐng)先的SPAD陣列（單光子雪崩二極管），并內(nèi)嵌ST的第二代FlightSense?專利技術(shù)。
VL53L0X的940nm VCSEL發(fā)射器（垂直腔面發(fā)射激光器）完全不為人眼所見，加上內(nèi)置的物理紅外濾光片，使其測(cè)距距離更長(zhǎng)，對(duì)環(huán)境光的免疫性更強(qiáng)，對(duì)蓋片的光學(xué)串?dāng)_具有更好的穩(wěn)定性。

![最近在弄ST的課程，需要樣片的可以加群申請(qǐng)：615061293 。]

視頻教學(xué)

[https://www.bilibili.com/video/BV1dH4y1D7Px/]

樣品申請(qǐng)

[https://www.wjx.top/vm/OhcKxJk.aspx#]

源碼下載

[https://download.csdn.net/download/qq_24312945/88332771](

所有功能

● 完全集成的小型化模塊
○ 940 nm 激光器 VCSEL
○ VCSEL驅(qū)動(dòng)器
○ 測(cè)距傳感器，內(nèi)嵌高級(jí)微控制器
○ 4.4 x 2.4 x 1.0 mm
● 快速，精確測(cè)距
○ 測(cè)量的絕對(duì)距離達(dá)到2m
○ 報(bào)告的距離與目標(biāo)反射率無關(guān)
○ 先進(jìn)的嵌入式光學(xué)串?dāng)_補(bǔ)償，簡(jiǎn)化蓋片的選擇
● 人眼安全
○ 1類激光器件，符合最新標(biāo)準(zhǔn)IEC 60825-1:2014（第3版）要求
● 方便集成
○ 單回流焊元件
○ 無附加光學(xué)元件
○ 單電源
○ 用于器件控制和數(shù)據(jù)傳輸?shù)?a href="http://wenjunhu.com/tags/i2c/" target="_blank">I2C接口
○ Xshutdown（復(fù)位）和中斷 GPIO
○ 可編程I2C地址
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技術(shù)規(guī)范

該模塊的供電要求為2.8V，適合于低電壓應(yīng)用場(chǎng)景。它通過I2C接口進(jìn)行主機(jī)控制和數(shù)據(jù)通信，方便與其他設(shè)備的集成。支持最大快速模式速率，達(dá)到400k，確保高效的數(shù)據(jù)傳輸。
最后，VL53L0X模塊具有一個(gè)默認(rèn)地址為0x29的設(shè)備地址，這樣在多個(gè)I2C設(shè)備共享同一總線時(shí)，可以輕松管理和區(qū)分不同的模塊。

測(cè)量范圍

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接口

VL53L0X模塊接口的示意圖如下所示。
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接口說明

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最小系統(tǒng)圖

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IIC配置

在這個(gè)應(yīng)用中，VL53L0X模塊通過I2C（IIC）接口與主控器通信。具體來說，VL53L0X 模塊的I2C引腳連接到主控器的PB6（引腳B6）和PB7（引腳B7）兩個(gè)IO口。
這種連接方式確保了模塊與主控器之間的可靠數(shù)據(jù)傳輸和通信。PB6作為I2C總線的串行數(shù)據(jù)線（SDA），負(fù)責(zé)數(shù)據(jù)的傳輸和接收。而PB7則充當(dāng)I2C總線的串行時(shí)鐘線（SCL），用于同步數(shù)據(jù)傳輸?shù)臅r(shí)序。

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配置IIC為快速模式，速度為400k。
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串口重定向

打開魔術(shù)棒，勾選MicroLIB

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在main.c中，添加頭文件，若不添加會(huì)出現(xiàn) identifier "FILE" is undefined報(bào)錯(cuò)。

/* USER CODE BEGIN Includes */
#include "stdio.h"
/* USER CODE END Includes */

函數(shù)聲明和串口重定向：

/* USER CODE BEGIN PFP */
int fputc(int ch, FILE *f){
	HAL_UART_Transmit(&huart1 , (uint8_t *)&ch, 1, 0xFFFF);
	return ch;
}
/* USER CODE END PFP */

模塊片選

根據(jù)提供的表格信息，我們可以得知VL53L0X模塊的XSHUT 引腳用作片選腳（Chip Enable），這是Xshutdown引腳，它是一個(gè)數(shù)字輸入，當(dāng)處于低電平狀態(tài)（Active LOW）時(shí)，可以用來關(guān)閉（即"shutdown"）傳感器。這通常用于重置傳感器或在不需要傳感器測(cè)量時(shí)將其關(guān)閉以節(jié)省功耗。
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查看手冊(cè)可以得知，對(duì)應(yīng)的IO為PB2和PB4。

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在STM32CUBEMX中配置如下所示。
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模塊地址

VL53L0X模塊的默認(rèn)設(shè)備地址為0x29。設(shè)備地址是用來識(shí)別和通信特定設(shè)備的標(biāo)識(shí)符。通過將VL53L0X模塊的設(shè)備地址設(shè)置為0x29，您可以確保與該模塊進(jìn)行正常的通信和控制。
若添加讀寫位，寫地址為0x52，讀地址為0x53。
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對(duì)于VL53L0X模塊，默認(rèn)的7位地址是0x29（二進(jìn)制為010 1001），加上寫位后為0x52（二進(jìn)制為0101 0010），加上讀位后為0x53（二進(jìn)制為0101 0011）。
這意味著當(dāng)主設(shè)備與VL53L0X模塊進(jìn)行通信時(shí)，要發(fā)送0x52地址字節(jié)進(jìn)行寫操作，或發(fā)送0x53地址字節(jié)進(jìn)行讀取操作。

extern I2C_HandleTypeDef hi2c1;

void VL53L0X_WriteByte(uint8_t add,uint8_t reg,uint8_t data)
{
	HAL_I2C_Mem_Write(&hi2c1 ,(add< 1)|0,reg,I2C_MEMADD_SIZE_8BIT,&data,1,0xffff);
	
}
void VL53L0X_WriteByte_16Bit(uint8_t add,uint8_t reg,uint16_t data)
{
	uint8_t data2[2]={0,0};
	data2[0]=data >>8;
	data2[1]=data;
	HAL_I2C_Mem_Write(&hi2c1 ,(add< 1)|0,reg,I2C_MEMADD_SIZE_8BIT,data2,2,0xffff);
	
}

void VL53L0X_WriteByte_32Bit(uint8_t add,uint8_t reg,uint32_t data)
{
	uint8_t data2[4]={0,0,0,0};
	data2[0]=data >>24;
	data2[1]=data >>16;
	data2[2]=data >>8;
	data2[3]=data;
	HAL_I2C_Mem_Write(&hi2c1 ,(add< 1)|0,reg,I2C_MEMADD_SIZE_8BIT,data2,4,0xffff);
	
}

uint8_t VL53L0X_ReadByte(uint8_t add,uint8_t reg)
{
	uint8_t data=0;
	HAL_I2C_Mem_Read(&hi2c1 ,(add< 1)|1,reg,I2C_MEMADD_SIZE_8BIT,&data,1,0xffff);
	return data;
}




uint16_t VL53L0X_ReadBytee_16Bit(uint8_t add,uint16_t reg)
{
	uint16_t data=0;
	uint8_t data2[2];
	HAL_I2C_Mem_Read(&hi2c1 ,(add< 1)|1,reg,I2C_MEMADD_SIZE_8BIT,data2,2,0xffff);
	data=data2[0];
	data=data< 8;
	data+=data2[1];
	
	return data;

}

參考文檔

這里參考的文檔問arduino的驅(qū)動(dòng)代碼。
https://github.com/pololu/vl53l0x-arduino/tree/master

初始化

參考程序中給出的初始化如下所示。
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其中sensor.init()是VL53L0X的模塊初始設(shè)置。

// Initialize sensor using sequence based on VL53L0X_DataInit(),
// VL53L0X_StaticInit(), and VL53L0X_PerformRefCalibration().
// This function does not perform reference SPAD calibration
// (VL53L0X_PerformRefSpadManagement()), since the API user manual says that it
// is performed by ST on the bare modules; it seems like that should work well
// enough unless a cover glass is added.
// If io_2v8 (optional) is true or not given, the sensor is configured for 2V8
// mode.
bool VL53L0X::init(bool io_2v8)
{
  // check model ID register (value specified in datasheet)
  if (readReg(IDENTIFICATION_MODEL_ID) != 0xEE) { return false; }

  // VL53L0X_DataInit() begin

  // sensor uses 1V8 mode for I/O by default; switch to 2V8 mode if necessary
  if (io_2v8)
  {
    writeReg(VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV,
      readReg(VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV) | 0x01); // set bit 0
  }

  // "Set I2C standard mode"
  writeReg(0x88, 0x00);

  writeReg(0x80, 0x01);
  writeReg(0xFF, 0x01);
  writeReg(0x00, 0x00);
  stop_variable = readReg(0x91);
  writeReg(0x00, 0x01);
  writeReg(0xFF, 0x00);
  writeReg(0x80, 0x00);

  // disable SIGNAL_RATE_MSRC (bit 1) and SIGNAL_RATE_PRE_RANGE (bit 4) limit checks
  writeReg(MSRC_CONFIG_CONTROL, readReg(MSRC_CONFIG_CONTROL) | 0x12);

  // set final range signal rate limit to 0.25 MCPS (million counts per second)
  setSignalRateLimit(0.25);

  writeReg(SYSTEM_SEQUENCE_CONFIG, 0xFF);

  // VL53L0X_DataInit() end

  // VL53L0X_StaticInit() begin

  uint8_t spad_count;
  bool spad_type_is_aperture;
  if (!getSpadInfo(&spad_count, &spad_type_is_aperture)) { return false; }

  // The SPAD map (RefGoodSpadMap) is read by VL53L0X_get_info_from_device() in
  // the API, but the same data seems to be more easily readable from
  // GLOBAL_CONFIG_SPAD_ENABLES_REF_0 through _6, so read it from there
  uint8_t ref_spad_map[6];
  readMulti(GLOBAL_CONFIG_SPAD_ENABLES_REF_0, ref_spad_map, 6);

  // -- VL53L0X_set_reference_spads() begin (assume NVM values are valid)

  writeReg(0xFF, 0x01);
  writeReg(DYNAMIC_SPAD_REF_EN_START_OFFSET, 0x00);
  writeReg(DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD, 0x2C);
  writeReg(0xFF, 0x00);
  writeReg(GLOBAL_CONFIG_REF_EN_START_SELECT, 0xB4);

  uint8_t first_spad_to_enable = spad_type_is_aperture ? 12 : 0; // 12 is the first aperture spad
  uint8_t spads_enabled = 0;

  for (uint8_t i = 0; i < 48; i++)
  {
    if (i < first_spad_to_enable || spads_enabled == spad_count)
    {
      // This bit is lower than the first one that should be enabled, or
      // (reference_spad_count) bits have already been enabled, so zero this bit
      ref_spad_map[i / 8] &= ~(1 < < (i % 8));
    }
    else if ((ref_spad_map[i / 8] > > (i % 8)) & 0x1)
    {
      spads_enabled++;
    }
  }

  writeMulti(GLOBAL_CONFIG_SPAD_ENABLES_REF_0, ref_spad_map, 6);

  // -- VL53L0X_set_reference_spads() end

  // -- VL53L0X_load_tuning_settings() begin
  // DefaultTuningSettings from vl53l0x_tuning.h

  writeReg(0xFF, 0x01);
  writeReg(0x00, 0x00);

  writeReg(0xFF, 0x00);
  writeReg(0x09, 0x00);
  writeReg(0x10, 0x00);
  writeReg(0x11, 0x00);

  writeReg(0x24, 0x01);
  writeReg(0x25, 0xFF);
  writeReg(0x75, 0x00);

  writeReg(0xFF, 0x01);
  writeReg(0x4E, 0x2C);
  writeReg(0x48, 0x00);
  writeReg(0x30, 0x20);

  writeReg(0xFF, 0x00);
  writeReg(0x30, 0x09);
  writeReg(0x54, 0x00);
  writeReg(0x31, 0x04);
  writeReg(0x32, 0x03);
  writeReg(0x40, 0x83);
  writeReg(0x46, 0x25);
  writeReg(0x60, 0x00);
  writeReg(0x27, 0x00);
  writeReg(0x50, 0x06);
  writeReg(0x51, 0x00);
  writeReg(0x52, 0x96);
  writeReg(0x56, 0x08);
  writeReg(0x57, 0x30);
  writeReg(0x61, 0x00);
  writeReg(0x62, 0x00);
  writeReg(0x64, 0x00);
  writeReg(0x65, 0x00);
  writeReg(0x66, 0xA0);

  writeReg(0xFF, 0x01);
  writeReg(0x22, 0x32);
  writeReg(0x47, 0x14);
  writeReg(0x49, 0xFF);
  writeReg(0x4A, 0x00);

  writeReg(0xFF, 0x00);
  writeReg(0x7A, 0x0A);
  writeReg(0x7B, 0x00);
  writeReg(0x78, 0x21);

  writeReg(0xFF, 0x01);
  writeReg(0x23, 0x34);
  writeReg(0x42, 0x00);
  writeReg(0x44, 0xFF);
  writeReg(0x45, 0x26);
  writeReg(0x46, 0x05);
  writeReg(0x40, 0x40);
  writeReg(0x0E, 0x06);
  writeReg(0x20, 0x1A);
  writeReg(0x43, 0x40);

  writeReg(0xFF, 0x00);
  writeReg(0x34, 0x03);
  writeReg(0x35, 0x44);

  writeReg(0xFF, 0x01);
  writeReg(0x31, 0x04);
  writeReg(0x4B, 0x09);
  writeReg(0x4C, 0x05);
  writeReg(0x4D, 0x04);

  writeReg(0xFF, 0x00);
  writeReg(0x44, 0x00);
  writeReg(0x45, 0x20);
  writeReg(0x47, 0x08);
  writeReg(0x48, 0x28);
  writeReg(0x67, 0x00);
  writeReg(0x70, 0x04);
  writeReg(0x71, 0x01);
  writeReg(0x72, 0xFE);
  writeReg(0x76, 0x00);
  writeReg(0x77, 0x00);

  writeReg(0xFF, 0x01);
  writeReg(0x0D, 0x01);

  writeReg(0xFF, 0x00);
  writeReg(0x80, 0x01);
  writeReg(0x01, 0xF8);

  writeReg(0xFF, 0x01);
  writeReg(0x8E, 0x01);
  writeReg(0x00, 0x01);
  writeReg(0xFF, 0x00);
  writeReg(0x80, 0x00);

  // -- VL53L0X_load_tuning_settings() end

  // "Set interrupt config to new sample ready"
  // -- VL53L0X_SetGpioConfig() begin

  writeReg(SYSTEM_INTERRUPT_CONFIG_GPIO, 0x04);
  writeReg(GPIO_HV_MUX_ACTIVE_HIGH, readReg(GPIO_HV_MUX_ACTIVE_HIGH) & ~0x10); // active low
  writeReg(SYSTEM_INTERRUPT_CLEAR, 0x01);

  // -- VL53L0X_SetGpioConfig() end

  measurement_timing_budget_us = getMeasurementTimingBudget();

  // "Disable MSRC and TCC by default"
  // MSRC = Minimum Signal Rate Check
  // TCC = Target CentreCheck
  // -- VL53L0X_SetSequenceStepEnable() begin

  writeReg(SYSTEM_SEQUENCE_CONFIG, 0xE8);

  // -- VL53L0X_SetSequenceStepEnable() end

  // "Recalculate timing budget"
  setMeasurementTimingBudget(measurement_timing_budget_us);

  // VL53L0X_StaticInit() end

  // VL53L0X_PerformRefCalibration() begin (VL53L0X_perform_ref_calibration())

  // -- VL53L0X_perform_vhv_calibration() begin

  writeReg(SYSTEM_SEQUENCE_CONFIG, 0x01);
  if (!performSingleRefCalibration(0x40)) { return false; }

  // -- VL53L0X_perform_vhv_calibration() end

  // -- VL53L0X_perform_phase_calibration() begin

  writeReg(SYSTEM_SEQUENCE_CONFIG, 0x02);
  if (!performSingleRefCalibration(0x00)) { return false; }

  // -- VL53L0X_perform_phase_calibration() end

  // "restore the previous Sequence Config"
  writeReg(SYSTEM_SEQUENCE_CONFIG, 0xE8);

  // VL53L0X_PerformRefCalibration() end

  return true;
}

由于一些宏定義都是注釋掉了的，所以可以不去執(zhí)行下面紅框的指令。
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單次讀取距離長(zhǎng)度

在主程序中，主要執(zhí)行的是單次獲取數(shù)據(jù)。

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對(duì)應(yīng)源碼如下所示。

// Returns a range reading in millimeters when continuous mode is active
// (readRangeSingleMillimeters() also calls this function after starting a
// single-shot range measurement)
uint16_t VL53L0X::readRangeContinuousMillimeters()
{
  startTimeout();
  while ((readReg(RESULT_INTERRUPT_STATUS) & 0x07) == 0)
  {
    if (checkTimeoutExpired())
    {
      did_timeout = true;
      return 65535;
    }
  }

  // assumptions: Linearity Corrective Gain is 1000 (default);
  // fractional ranging is not enabled
  uint16_t range = readReg16Bit(RESULT_RANGE_STATUS + 10);

  writeReg(SYSTEM_INTERRUPT_CLEAR, 0x01);

  return range;
}

// Performs a single-shot range measurement and returns the reading in
// millimeters
// based on VL53L0X_PerformSingleRangingMeasurement()
uint16_t VL53L0X::readRangeSingleMillimeters()
{
  writeReg(0x80, 0x01);
  writeReg(0xFF, 0x01);
  writeReg(0x00, 0x00);
  writeReg(0x91, stop_variable);
  writeReg(0x00, 0x01);
  writeReg(0xFF, 0x00);
  writeReg(0x80, 0x00);

  writeReg(SYSRANGE_START, 0x01);

  // "Wait until start bit has been cleared"
  startTimeout();
  while (readReg(SYSRANGE_START) & 0x01)
  {
    if (checkTimeoutExpired())
    {
      did_timeout = true;
      return 65535;
    }
  }

  return readRangeContinuousMillimeters();
}

修改后如下所示。

// Returns a range reading in millimeters when continuous mode is active
// (readRangeSingleMillimeters() also calls this function after starting a
// single-shot range measurement)
uint16_t VL53L0X_readRangeContinuousMillimeters(uint8_t add)
{
  startTimeout();
uint16_t range;
  while ( (VL53L0X_ReadByte(add,RESULT_INTERRUPT_STATUS) & 0x07) == 0)
  {
    if (checkTimeoutExpired())
    {
      did_timeout = true;
      return 65535;
    }
  }
  // assumptions: Linearity Corrective Gain is 1000 (default);
  // fractional ranging is not enabled
   range= VL53L0X_ReadBytee_16Bit(add,RESULT_RANGE_STATUS + 10);

  VL53L0X_WriteByte(add,SYSTEM_INTERRUPT_CLEAR, 0x01);

  return range;
}


// Performs a single-shot range measurement and returns the reading in
// millimeters
// based on VL53L0X_PerformSingleRangingMeasurement()
uint16_t VL53L0X_readRangeSingleMillimeters(uint8_t add)
{
  VL53L0X_WriteByte(add,0x80, 0x01);
  VL53L0X_WriteByte(add,0xFF, 0x01);
  VL53L0X_WriteByte(add,0x00, 0x00);
  VL53L0X_WriteByte(add,0x91, stop_variable);
  VL53L0X_WriteByte(add,0x00, 0x01);
  VL53L0X_WriteByte(add,0xFF, 0x00);
  VL53L0X_WriteByte(add,0x80, 0x00);

  VL53L0X_WriteByte(add,SYSRANGE_START, 0x01);

  // "Wait until start bit has been cleared"
  startTimeout();
  while (VL53L0X_ReadByte(add,SYSRANGE_START) & 0x01)
  {
    if (checkTimeoutExpired())
    {
      did_timeout = true;
      return 65535;
    }
  }

  return VL53L0X_readRangeContinuousMillimeters(add);
}

測(cè)試結(jié)果

測(cè)試結(jié)果如下所示。
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