vamoosebbf / sp_tof

VL53L0X tof 测距在 K210 的 C 和 MaixPy 驱动

SP_TOF Module User Guide

中文

Directory Structure

Directory	Description
doc	Reference documentation
img	Images
script	Maixpy script example
src	C program example based on the standalone sdk

Introduce

The VL53L0X sensor used in this module is an I2C interface and a long distance single point flight time measurement (ToF) sensor. It has high performance and high reliability, with the longest distance of 4m and the highest refresh rate of 50Hz. With the red laser pointer, the laser is activated through XSHUT and connected by SP_MOD.

See 模块规格书 for more information.

Pin figure

Mode of connection

MCU:FUN(IO)	SP_RFID
I2C:SDA(IO_7)	SDA
NC(IO_15)	NC
NC(IO_20)	IRQ
NC(IO_21)	NC
GPIOHS(IO_8)	SHT
I2C:SCL(IO_6)	SCL
2.8~3.5V	3.3V
GND	GND

MCU configuration

IO Port configuration

Configure the IO port corresponding to the schematic diagram as I2C function

• C

    //set io mux
    fpioa_set_function(VL53L0X_SCL, FUNC_I2C0_SCLK + VL53L0X_I2C_DEVICE * 2);
    fpioa_set_function(VL53L0X_SDA, FUNC_I2C0_SDA + VL53L0X_I2C_DEVICE * 2);
    fpioa_set_function(VL53L0X_SHT, FUNC_GPIOHS0 + VL53L0X_SHT);
  
    gpiohs_set_drive_mode(VL53L0X_SHT, GPIO_DM_OUTPUT);

• MaixPy

    fm.register(VL53L0X_SHT, fm.fpioa.GPIOHS0, force=True)
    XSHUT = GPIO(GPIO.GPIOHS0, GPIO.OUT)  

I2C initalization

• C

   //i2c init
    maix_i2c_init(VL53L0X_I2C_DEVICE, 7, VL53L0X_I2C_FREQ_KHZ * 1000);

• MaixPy

    i2c = I2C(VL53L0X_I2C_NUM, freq=VL53L0X_FREQ, scl=VL53L0X_SCL, sda=VL53L0X_SDA)

Method of application

• Process

  1. Initializatin
  2. Adjust(option)
  3. Get distance

• C

    while (vl53l0x_init(&vl53l0x_dev)) {
          printf("VL53L0X init error!!!\r\n");
          msleep(500);
    }
  
    printf("VL53L0X init success!\r\n");
  
    // adjusting
    printf("VL53L0X adjusting\r\n");
    vl53l0x_calibration_test(&vl53l0x_dev);
  
    // get distance
    printf("VL53L0X start work\r\n");
    vl53l0x_general_test(&vl53l0x_dev);

• MaixPy

    # create obj and read distance
      tof = VL53L0X(i2c)
      while True:
      mm = tof.read()
      utime.sleep_ms(100)
      print(mm)

Runtime enviroments

Language	Boards	SDK/firmware version
C	MaixCube	kendryte-standalone-sdk v0.5.6
MaixPy	MaixCube	maixpy v0.5.1

Result

• C

  

• MaixPy

  

Transplant

Modify the following parameters to fit other K210 boards.

• C

  // board_config.h
  #define VL53L0X_I2C_DEVICE 0 // i2c device number
  #define VL53L0X_I2C_FREQ_KHZ 100 // i2c frequence
  #define VL53L0X_SCL 6 // scl
  #define VL53L0X_SDA 7 // sda
  #define VL53L0X_SHT 8 // sht

• MaixPy

  ################### config ###################
  VL53L0X_I2C_NUM = const(I2C.I2C0)
  VL53L0X_FREQ = const(100000)
  VL53L0X_SCL = const(6)
  VL53L0X_SDA = const(7)
  VL53L0X_SHT = const(8)
  ##############################################

LICENSE

See LICENSE file

Othre information

Version	Editor	Date
v1.0	vamoosebbf	2020.12.2